Clamp instrument and control method thereof

Abstract

The embodiment of the invention provides a clip instrument and a control method thereof, the clip instrument comprises a clip device and a conveying device, the clip device is releasably arranged at the far end of the conveying device, and the clip device comprises a clamping part; the conveying device comprises a sheathing canal and a deflection assembly, the deflection assembly is connected with the far end of the sheathing canal, and the clamp device is releasably connected with the far end of the deflection assembly; and the deflection assembly provides a degree of freedom for the clamping part to deflect relative to the sheath tube. The control method comprises the steps that the clamping part is controlled to abut against a clamping target, so that the clamping part deflects under the acting force of the clamping target, and a deflection angle is formed between the axis of the clamping part and the axis of the far end of the sheathing canal; and the mandrel is controlled to move from the far end to the near end to drive the clamping part to be closed so as to clamp the clamped target.

Description

Technical Field

[0001] This specification relates to the field of medical devices, and particularly to a clip device and a control method thereof. Background Art

[0002] With the wide application of endoscopic technology in the medical field, higher requirements have been put forward for the clip devices used in endoscopic surgeries. During clinical operations, when the distal end of the endoscope reaches near the wound, the clamping direction of the clip device may not be perpendicular to the clamping target. Therefore, it is necessary to adjust the clip device to face the clamping target for effective clamping. Usually, the clamping direction of the clip device is changed by adjusting the distal swing of the endoscope (or sheath), but this method is difficult to operate and the positioning is inaccurate, resulting in an extended operation time and an increased surgical risk.

[0003] Therefore, it is desirable to provide a clip device and a control method thereof to make the position adjustment operation of the clip device more convenient and accurate, so as to simplify the surgical operation and reduce the surgical risk. Summary of the Invention

[0004] One embodiment of this specification provides a clip device, which includes a clip device and a delivery device. The clip device is releasably disposed at the distal end of the delivery device. The clip device includes a clamping portion. The delivery device includes a sheath and a deflection assembly. The deflection assembly is connected to the distal end of the sheath. The clip device is releasably connected to the distal end of the deflection assembly. And the deflection assembly provides the clamping portion with a degree of freedom of deflection relative to the sheath.

[0005] In some embodiments, the delivery device includes a mandrel. The distal end of the mandrel is releasably connected to the clamping portion. And when the clamping portion is deflected by the acting force of the clamping target, the mandrel is driven to bend towards the clamping target. The axis of the clip device forms a deflection angle with the axis of the distal end of the sheath.

[0006] In some embodiments, the mandrel moves from the distal end towards the proximal end, driving the clamping portion to close. And after the clamping portion is closed, the mandrel continues to move from the distal end towards the proximal end, driving the clip device to deflect until the axis of the clip device coincides with the axis of the distal end of the sheath.

[0007] In some embodiments, the clamping device includes a receiving tube, a part of the clamping portion is disposed within the receiving tube, the receiving tube includes a locking portion, and the clamping portion includes a locked portion. When the locking portion cooperates with the locked portion, before the clamping device locks the cooperation between the locking portion and the locked portion, the force generated by the movement of the mandrel from the distal end to the proximal end acts on the clamping portion to drive the clamping portion to close; and after the locking portion cooperates with the locked portion, the force generated by the movement of the mandrel from the distal end to the proximal end acts on the receiving tube to drive the clamping portion to deflect relative to the sheath tube.

[0008] In some embodiments, after the axis of the clamping device coincides with the axis of the distal end of the sheath tube, the mandrel moves from the distal end to the proximal end, driving the release of the connection between the mandrel and the clamping portion; and the mandrel continues to move from the distal end to the proximal end, driving the release of the connection between the clamping device and the deflection assembly.

[0009] In some embodiments, the deflection assembly includes an upper connection end and a lower connection end. The upper connection end is disposed at the distal end of the deflection assembly, and the lower connection end is disposed at the proximal end of the deflection assembly. The upper connection end and the lower connection end are deflectably connected.

[0010] In some embodiments, the upper connection end includes a ball socket, and the lower connection end includes a spherical end. The ball socket includes an inner cavity for installing the spherical end; or the upper connection end includes a spherical end, and the lower connection end includes a ball socket. The ball socket includes an inner cavity for installing the spherical end.

[0011] In some embodiments, the spherical end includes a slit.

[0012] In some embodiments, the spherical end and the ball socket are connected by interference fit.

[0013] In some embodiments, the ball socket includes a sealing edge. The sealing edge of the ball socket is in interference fit with the spherical end, and the inner diameter of the ball socket is in clearance fit with the spherical end; and the ball socket includes a slot, and the deflection axis is perpendicular to the longitudinal section of the slot.

[0014] In some embodiments, the upper connection end includes a first wing, and the lower connection end includes a second wing. The first wing includes a first pin hole, and the second wing includes a second pin hole. The first wing and the second wing are connected by a pin passing through the first pin hole and the second pin hole. The deflection axis is the straight line where the pin is located.

[0015] In some embodiments, the clamping device includes a receiving tube, a part of the clamping portion is disposed within the receiving tube, and the receiving tube is rotatable about the axis thereof; the receiving tube includes an annular groove, the upper connecting end includes an annular protrusion, and the annular groove and the annular protrusion are rotatably engaged; and the mandrel rotates about the axis of the mandrel, driving the receiving tube to rotate about the axis of the receiving tube relative to the upper connecting end.

[0016] One embodiment of the present specification provides a method for controlling a clip instrument. The clip instrument includes a clip device and a delivery device. The clip device is releasably disposed at the distal end of the delivery device. The clip device includes a clamping portion. The delivery device includes a sheath tube, a mandrel, and a deflection assembly. The deflection assembly is connected to the distal end of the sheath tube. The clip device is releasably connected to the distal end of the deflection assembly. The distal end of the mandrel is releasably connected to the clamping portion. And the deflection assembly provides a degree of freedom for the clamping portion to deflect relative to the sheath tube. The method includes: controlling the clamping portion to abut against a clamping target, causing the clamping portion to deflect due to the acting force of the clamping target, and an included angle is formed between the axis of the clamping portion and the axis of the distal end of the sheath tube; controlling the mandrel to move from the distal end to the proximal end, driving the clamping portion to close to clamp the clamping target.

[0017] In some embodiments, the method further includes: before the clamping portion closes, controlling the mandrel to rotate about the axis of the mandrel, driving the clip device to rotate about the axis of the clip device relative to the deflection assembly.

[0018] In some embodiments, the method further includes: after the clamping portion closes, controlling the mandrel to continue to move from the distal end to the proximal end, driving the clip device to deflect until the axis of the clip device coincides with the axis of the distal end of the sheath tube.

[0019] In some embodiments, the method further includes: after the axis of the clip device coincides with the axis of the distal end of the sheath tube, controlling the mandrel to move from the distal end to the proximal end, driving the mandrel to be released from the connection with the clamping portion; and controlling the mandrel to continue to move from the distal end to the proximal end, driving the clip device to be released from the connection with the deflection assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] This specification will be further described in the form of exemplary embodiments, and these exemplary embodiments will be described in detail through the drawings. These embodiments are not restrictive. In these embodiments, the same numbers represent the same structures, where:

[0021] Figure 1 is a schematic structural diagram of a clip instrument according to some embodiments of this specification;

[0022] Figure 2 is a cross-sectional view of the clip device and the distal end of the delivery device shown in some embodiments of this specification;

[0023] Figure 3A is a schematic structural view of a partial storage tube shown in some embodiments of this specification;

[0024] Figure 3B is a schematic structural view of a partial storage tube shown in some other embodiments of this specification;

[0025] Figure 4 is a schematic view of the clip device and the distal part of the delivery device shown in some embodiments of this specification;

[0026] Figure 5 is a schematic structural view of the distal end of the clip instrument shown in some embodiments of this specification;

[0027] Figure 6 is a schematic view of the deflection of the clip instrument shown in some embodiments of this specification;

[0028] Figure 7A is a schematic cross-sectional view of the deflection assembly shown in some embodiments of this specification;

[0029] Figure 7B is a schematic view of the deflection assembly shown in some embodiments of this specification;

[0030] Figure 8 is a schematic view of the lower connecting end shown in some embodiments of this specification;

[0031] Figure 9A is a schematic view of the upper connecting end shown in some embodiments of this specification;

[0032] Figure 9B is a partial schematic cross-sectional view of the deflection assembly shown in some embodiments of this specification;

[0033] Figure 10A is a schematic view of the deflection of the clip instrument shown in some embodiments of this specification;

[0034] Figure 10B is a schematic view of the rotation of the clip instrument shown in some embodiments of this specification;

[0035] Figure 11A is a schematic view of the deflection assembly shown in some other embodiments of this specification;

[0036] Figure 11B is a schematic cross-sectional view of the lower connecting end shown in some other embodiments of this specification;

[0037] Figure 11C is a schematic diagram of a lower connection end shown in some other embodiments of this specification;

[0038] Figure 12 is a schematic diagram of a deflection assembly shown in some other embodiments of this specification;

[0039] Figure 13 is a schematic diagram of a lower connection end shown in some other embodiments of this specification;

[0040] Figure 14 is a schematic diagram of an upper connection end shown in some other embodiments of this specification;

[0041] Figure 15 is a schematic diagram of the deflection and / or rotation of a clip instrument shown in some embodiments of this specification;

[0042] Figure 16 is a schematic diagram of the open state of a clip instrument shown in some embodiments of this specification;

[0043] Figure 17 is a schematic diagram of the deflected state of a clip instrument shown in some embodiments of this specification;

[0044] Figure 18 is a schematic diagram of the clamped state of a clip instrument shown in some embodiments of this specification;

[0045] Figure 19A is a schematic diagram of the clamped state of a clip instrument shown in some other embodiments of this specification;

[0046] Figure 19B is according to Figure 19A a partial enlarged schematic diagram of a clip instrument shown in some embodiments of;

[0047] Figure 20A is a schematic diagram of the locked state of a clip instrument and the release states of the clamping portion and the control line shown in some embodiments of this specification;

[0048] Figure 20B is according to Figure 20A a partial enlarged schematic diagram of a clip instrument shown in some embodiments of;

[0049] Figure 21A is a schematic diagram of the release state of a clip device and a deflection assembly shown in some embodiments of this specification;

[0050] Figure 21B is according to Figure 21A a partial enlarged schematic diagram of a clip instrument shown in some embodiments of;

[0051] Figure 22It is a flowchart of a control method for a clip device shown in some embodiments of this specification.

[0052] The reference numerals are:

[0053] 10. Clip device;

[0054] 100. Control device; 120. Handle;

[0055] 200. Delivery device; 210. Deflection assembly; 211. Upper connection end; 212. Lower connection end; 213. Ball sleeve; 213-1. Sealing edge; 213-2. Groove; 214. Spherical end; 214-1. Slit; 215. Guide post; 216. First flank; 216-1. First pin hole; 217. Second flank; 217-1. Second pin hole; 218. Pin; 219. Annular protrusion; 220. Core shaft; 221. Connecting piece; 230. Sheath tube; 240. Elastic pin;

[0056] 300. Clip assembly; 310. Clamping part; 311. First clamping arm; 312. Second clamping arm; 313. Locked part; 314. Pin shaft; 320. Receiving tube; 321. Annular groove; 322. Locking part; 323. Elastic piece; 324. Base ring; 325. Mounting plate; 326. Blocking structure; 327. Blocking device; 327-1. Limiting piece;

[0057] 400. Clamping target; 410. Wound. Detailed implementation mode

[0058] Here, the exemplary embodiments or implementation manners will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numerals in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with this application. On the contrary, they are only examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0059] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms "a", "the" and "said" used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0060] It should be understood that the terms "first", "second" and similar terms used in the description and claims of this application do not denote any order, quantity or importance, but are merely used to distinguish different components. Similarly, terms such as "a" or "an" do not denote a quantity limitation, but rather indicate the presence of at least one. Unless otherwise specified, terms such as "front", "rear", "lower" and / or "upper" are for convenience of description only and are not limited to a particular position or spatial orientation. The terms "comprising" or "including" and similar terms mean that the elements or items appearing before "comprising" or "including" encompass the elements or items listed after "comprising" or "including" and their equivalents, and do not exclude other elements or items.

[0061] Figure 1 is a schematic structural view of a clip device according to some embodiments of this specification.

[0062] As Figure 1 shown, the clip device 10 can be applied to a medical endoscope to perform operations such as clamping, hemostasis, and suturing during endoscopic surgery. In some embodiments, the clip device 10 can include a delivery device 200 and a clip device 300.

[0063] The clip device 300 can be used to perform medical operations on a clamping target 400. The clamping target 400 refers to the organs and tissues of the human body or other organisms that need to be surgically treated. For example, blood vessels in the human body, fallopian tubes of animals, etc. In some embodiments, the medical operations performed by the clip device 300 can include surgical hemostasis, wound healing, tissue fixation, etc., and the clip device 300 can achieve these medical operations by closing the clamping portion 310. In some embodiments, in order to maintain the medical operations performed by the clip device 300, the clip device 300 includes a locked state. When the clip device 300 is in the locked state, the clamping portion 310 of the clip device 300 can be kept in a closed state. In some embodiments, the clip device 300 remains on the medical operation object (e.g., clamped on tissue) by maintaining the locked state.

[0064] In some embodiments, the clip device 300 is releasably connected to the delivery device 200. A releasable connection means a connection method in which the connection relationship between multiple components (e.g., the clip device 300 and the delivery device 200) can be detachably released. For example, the clip device 300 can be releasably provided at the distal end of the delivery device 200.

[0065] In some embodiments of this specification, "proximal" and "distal" involved may represent orientations. It refers to the side closer to the operator and farther from the clamping target 400 along the axial direction of the clamping instrument 10 (for example, the extending direction of the delivery device 200), or along the direction in which the clamping instrument 10 enters the human body, and this side is the "proximal" orientation; the side closer to the clamping target 400 and farther from the operator is the "distal" orientation. "Proximal" and "distal" should not be understood as only referring to the ends. "Proximal" and "distal" can represent the endpoints, end faces, ends, parts near the ends with a certain length, etc. of the clip instrument 10 or its components. The "axis of the clip device 300", "axis of the distal end of the sheath 230", "axis of the receiving tube 320", "axis of the mandrel 220", and "axis of the clamping portion 310" involved in the embodiments of this specification respectively refer to the central axes in the extending directions of the clip device 300, the sheath 230, the receiving tube 320, the mandrel 220, and the clamping portion 310.

[0066] In some embodiments, the clip device 300 may include a clamping portion 310. The clamping portion 310 refers to the component for clamping the wound 410 of the clamping target 400.

[0067] In some embodiments, the clamping portion 310 is disposed at the distal end of the clip device 300.

[0068] In some embodiments, the clamping portion 310 includes a first clip arm 311, a second clip arm 312, and a pin shaft 314. The proximal ends of the first clip arm 311 and the second clip arm 312 are connected by the pin shaft 314. In some embodiments, a first hole is provided at the proximal end of the first clip arm 311, a second hole is provided at the proximal end of the second clip arm 312, and the pin shaft 314 passes through the first hole and the second hole to connect the first clip arm 311 and the second clip arm 312. The first clip arm 311 and the second clip arm 312 can move towards each other to close the clamping portion 310; the first clip arm 311 and the second clip arm 312 can move away from each other to open the clamping portion 310. In some embodiments, the clip arms can have various shapes. For example, an irregular sheet-like structure with a serrated structure at the edge, etc. It can be understood that the clamping portion 310 may also include more than two clip arms, for example, three clip arms, four clip arms, etc.

[0069] In some embodiments, the clip device 300 may include a receiving tube 320. The receiving tube 320 may refer to a hollow tubular component capable of accommodating other components of the clip device 300 (e.g., the clamping portion 310). In some embodiments, the clamping portion 310 may be partially disposed within the receiving tube 320. For example, a portion of the clamping portion 310 near the proximal end may be disposed within the receiving tube 320. In some embodiments, the clamping portion 310 has different states at different positions within the receiving tube 320. For example, when the clamping portion 310 extends out of the distal end of the receiving tube 320, it has an open state; when the proximal end of the clamping portion 310 is retracted into the receiving tube 320, it has a closed state and / or a locked state, etc.

[0070] In some embodiments, the receiving tube 320 may include a locking portion 322, and the clamping portion 310 may include a locked portion 313.

[0071] The locking portion 322 may be used to lock the clip device 300 and restrict its displacement. The locked portion 313 may be used to cooperate with the locking portion 322 to lock the clip device 300. In some embodiments, the locking portion 322 and the locked portion 313 may be various shaped structures that can cooperate with each other. For example, the locking portion 322 is a concave structure, and the locked portion 313 is a protruding structure. Another example is that the locking portion 322 is a hook groove structure, and the locked portion 313 is a hook structure.

[0072] Figure 2 is a cross-sectional view of the distal end of the clip device and the conveying device shown in some embodiments of this specification. In some embodiments, the radially extending end of the pin shaft 314 constitutes the locked portion 313. When the pin shaft 314 is configured to cross the locking portion 322 from the distal end to the proximal end, it forms a cooperation with the locking portion 322. The pin shaft 314 has both the function of connecting the first clamping arm 311 and the second clamping arm 312 and the function of locking the clamping portion 310, which simplifies the structure. In some embodiments, a protruding portion is provided at the proximal end of the clamping portion 310. For example, protruding portions are respectively provided at the proximal ends of the first clamping arm 311 and the second clamping arm 312. The protruding portions constitute the locked portion 313. When the protruding portions cross the locking portion 322 from the distal end to the proximal end, they form a cooperation with the locking portion 322.

[0073] In some embodiments, when the locking portion 322 cooperates with the locked portion 313, the clamping portion 310 cannot move from the proximal end to the distal end relative to the receiving tube 320, and the clip device 300 is locked.

[0074] Figure 3A is a schematic structural diagram of a partial receiving tube shown in some embodiments of this specification; Figure 3B is a schematic structural diagram of a partial receiving tube shown in some other embodiments of this specification.

[0075] In some embodiments, as Figure 3AAs shown, the locking portion 322 includes at least one elastic piece 323. The distal end of the elastic piece 323 is connected to the receiving tube 320, and the proximal end of the elastic piece 323 extends into the interior of the receiving tube 320. The elastic piece 323 has the ability of elastic deformation. When the clamping portion 310 moves from the distal end to the proximal end, when the locked portion 313 on the clamping portion 310 passes by the elastic piece 323, the locked portion 313 radially extrudes the proximal end of the elastic piece 323 outward, and the elastic piece 323 undergoes elastic deformation to avoid the locked portion 313. After the locked portion 313 passes over the proximal end of the elastic piece 323, the elastic piece 323 returns to its original shape, the proximal end of the elastic piece 323 extends into the interior of the receiving tube 320 again, and forms a stop with the locked portion 313, restricting the movement of the locked portion 313 from the proximal end to the distal end, thereby restricting the movement of the clamping portion 310 from the proximal end to the distal end, and the clamping portion 310 is locked in the receiving tube 320.

[0076] In some embodiments, the locking portion 322 includes two elastic pieces 323, which are respectively arranged at a circumferential interval of 180° or substantially 180° with respect to the receiving tube 320. Among them, substantially 180° may mean that the interval angle range between the two elastic pieces 323 is between 170° and 190°, such as 175°, etc.

[0077] In some embodiments, the receiving tube 320 includes a base ring 324 and at least one mounting plate 325. The mounting plate 325 is configured as an arc-shaped plate extending axially from the base ring 324, and the mounting plate 325 is arranged at the distal end of the base ring 324. The locking portion 322 is arranged on the mounting plate 325. For example, the locking portion 322 is cut from the wall of the mounting plate 325, or the locking portion 322 is fixed to the mounting plate 325 by means of welding or the like.

[0078] Figure 4 is a schematic diagram of a clip device and a distal portion of a conveying device according to some embodiments of the present specification.

[0079] Combined Figure 3B and Figure 4As shown, in some embodiments, the proximal end of the receiving tube 320 includes a blocking structure 326 configured to limit the movement of the clamping portion 310 from the distal end to the proximal end within a certain distance after the pin shaft 314 crosses the locking portion 322. In some embodiments, after the pin shaft 314 crosses the locking portion 322, the locking portion 322 can lock the locked portions 313 at both ends of the pin shaft 314 to limit the movement of the clip device 300 from the proximal end to the distal end. After the clip device 300 continues to move a certain distance from the distal end to the proximal end, it cooperates with the blocking structure 326, and the blocking structure 326 can limit the movement of the clamping portion 310 from the distal end to the proximal end, thus avoiding the locking failure caused by the too narrow distance between the locking portion 322 and the blocking structure 326. In addition, the pin shaft 314 of the clamping portion 310 moves within a certain distance between the locking portion 322 and the blocking structure 326. The operator can operate the sliding portion 420 so that after the clamping portion 310 cooperates with the blocking structure 326, the clamping portion 310 remains stationary, and the connecting piece 221 continues to be stressed and released from the pin shaft 314.

[0080] In some embodiments, after the pin shaft 314 crosses the locking portion 322, it continues to move until it abuts against the blocking structure 326, and the blocking structure 326 limits the movement of the clamping portion 310 from the distal end to the proximal end. In some embodiments, the blocking structure 326 includes, but is not limited to, protrusions, retaining tabs, etc. In some embodiments, the blocking structure 326 is provided corresponding to the locking portion 322 of the pin shaft 314 and forms an abutment at the proximal end of the locking portion 322.

[0081] In some embodiments, the clip device 300 further includes a blocking device 327, and the blocking device 327 is arranged radially across the pin shaft 314. After the pin shaft 314 crosses the locking portion 322, it continues to move until the blocking device 327 abuts against the blocking structure 326, and the blocking structure 326 limits the movement of the clamping portion 310 from the distal end to the proximal end. In some embodiments, the blocking device 327 includes, but is not limited to, a limiting rod, a limiting tab and other structures. In some embodiments, the blocking device 327 includes a limiting tab 327-1, and an installation hole is formed on the limiting tab 327-1. The limiting tab 327-1 is arranged between the first clamping arm 311 and the second clamping arm 312 and is aligned with the pin hole. The pin shaft 314 passes through the pin hole and the installation hole, so that the first clamping arm 311, the second clamping arm 312 and the limiting tab 327-1 are connected.

[0082] In some embodiments, after the blocking structure 326 restricts the movement of the clamping portion 310 from the distal end to the proximal end, when the distal end of the connecting piece 221 is deformed or broken under force, the connection with the pin shaft 314 is released. In some embodiments, after the blocking structure 326 restricts the movement of the clamping portion 310 from the distal end to the proximal end, if the mandrel 220 continues to move from the distal end to the proximal end, the tensile force between the connecting piece 221 of the mandrel 220 and the pin shaft 314 gradually increases. When the tensile force reaches a certain threshold, the distal end of the connecting piece 221 is deformed or broken, releasing the connection between the mandrel 220 and the clamping portion 310.

[0083] In some embodiments, other parts on the clamping portion 310 (such as the proximal ends of the first clamping arm 311 and the second clamping arm 312 or the proximal protrusions, etc.) can also cooperate with the blocking structure 326 to restrict the movement of the clamping portion 310 from the distal end to the proximal end.

[0084] In some embodiments of the present specification, by providing that the clip device 300 includes a receiving tube 320, a part of the clamping portion 310 is disposed in the receiving tube 320. The receiving tube 320 includes a locking portion 322, and the clamping portion 310 includes a locked portion 313. The cooperation between the locking portion 322 and the locked portion 313 enables the clip device 300 to be locked when needed. The locking of the locked portion 313 and the locking portion 322 is controlled by an axial force, without the need to provide additional forces and actions in other directions, simplifying the structure and operation of the clip device 300, and the probability of failure during the locking process is small.

[0085] The conveying device 200 can be used to convey the clip device 300 to the position of the target area. Among them, the target area can be an area in the clamping target 400 where a specified operation needs to be performed (for example, the wound 410). In some embodiments, the specified operation can be a medical operation performed in a surgical procedure, such as hemostasis, ligation, etc. In some embodiments, the clamping target 400 can be an object to receive a medical operation. In some embodiments, the clamping target 400 can include a biological object or a non-biological object. Among them, the biological object can include a human (such as a patient), an animal or a plant, etc., and the non-biological object can include an experimental model (such as an organ model, etc.). In some embodiments, the conveying device 200 can also be used to operate the clip device 300 to perform a specified operation in the target area.

[0086] In some embodiments, the delivery device 200 may include a sheath 230 and a mandrel 220. In some embodiments, the sheath 230 may be a tubular structure that provides an internal passage for other components (e.g., the mandrel 220). In some embodiments, the mandrel 220 may be a long-axis structure disposed within the internal passage of the sheath 230 and configured to drive the clip device 300 to move. In some embodiments, the mandrel 220 may be made of a flexible material, i.e., the mandrel 220 may have the ability to deform. In some embodiments, the distal end of the mandrel 220 may be releasably connected to the clamping portion 310; the proximal end of the mandrel 220 may be connected to the handle 120, and a doctor may control the mandrel 220 to move proximally or distally within the sheath 230 to control the clamping portion 310. In some embodiments, the delivery device 200 may be connected to the clip device 300 through the sheath 230 and the mandrel 220.

[0087] In some embodiments, the clip instrument 10 may further include a control device 100 configured to terminate operations such as opening, closing, deflecting, rotating, and releasing of the clip instrument 10. In some embodiments, the control device 100 includes a handle 120 that is connected to the mandrel 220, and the handle 120 may drive the clip device 300 to perform designated operations. The handle 120 may include a fixed portion and a sliding portion, the sliding portion being movable relative to the fixed portion, and the fixed portion being disposed at the proximal end of the sheath 230. The proximal end of the mandrel 220 is connected to the sliding portion, and the sliding portion slides relative to the fixed portion, causing the mandrel 220 to move relative to the sheath 230, thereby driving the clamping portion 310 to move. Specifically, an operator (e.g., a doctor) may perform operations such as hemostasis and ligation on the clip device 300 through the sliding portion 420.

[0088] Figure 5 is a schematic structural view of the distal end of a clip instrument according to some embodiments of the present specification. Figure 6 is a schematic view of the deflection of a clip instrument according to some embodiments of the present specification. The distal end of the clip instrument 10 may include a clip device 300, a deflection assembly 210, and a portion of the sheath 230.

[0089] The deflection assembly 210 may be configured to provide the clamping portion 310 with a degree of freedom of deflection relative to the sheath 230. Providing the clamping portion 310 with a degree of freedom of deflection relative to the sheath 230 means that through the deflection assembly 210, the axis of the clip device 300 can be deflected by a preset angle range relative to the axis of the distal end of the sheath 230. As Figure 6 shown, the deflection angle refers to the angle α between the axis M-M of the clamping portion 310 after deflection and the axis N-N of the distal end of the sheath 230. For more information about the structure of the deflection assembly 210 and the preset range, reference can be made to Figure 1 、 Figures 5 - 6 and its related descriptions.

[0090] In some embodiments, the clamping portion 310 is deflected by the acting force of the clamping target 400, driving the mandrel 220 to bend towards the clamping target 400; the axis of the clamping portion 310 and the axis of the distal end of the sheath 230 present a deflection angle. In some cases, when the mandrel 220 bends towards the clamping target 400, it also elongates towards the distal end.

[0091] The acting force of the clamping target 400 refers to the reaction force generated by the clamping target 400 on the clamping arms of the clamping portion 310 when the clamping portion 310 squeezes the clamping target 400. Deflection means that a component moves in a direction deviating from the preset axis. The preset axis refers to the axis of the distal end of the sheath 230, etc.

[0092] It can be understood that, as Figure 13 shown, when the clamping portion 310 does not contact the clamping target 400, it is not affected by the acting force of the clamping target 400, the axis of the clamping portion 310 is the same as the axis of the distal end of the sheath 230, and the clamping portion 310 is not deflected. When the clamping portion 310 contacts the clamping target 400, one clamping arm is affected by the acting force of the clamping target 400 and deflects in the direction of the acting force, driving the mandrel 220 to bend towards the clamping target 400, and the axis of the clamping portion 310 and the axis of the distal end of the sheath 230 present a deflection angle.

[0093] In some embodiments, the deflection assembly 210 is connected to the distal end of the sheath 230, and the clip device 300 is releasably connected to the distal end of the deflection assembly 210. In some embodiments, the deflection assembly 210 and the clip device 300 are releasably connected by an elastic pin 240.

[0094] In some embodiments, the proximal end of the elastic pin 240 is inserted into the distal end of the sheath 230, the distal end of the elastic pin 240 is a convex structure, and the convex structure is inserted into the proximal end of the receiving tube 320. The connection methods include but are not limited to bonding, welding, interference fit, etc. In some embodiments, the central position of the elastic pin 240 has a hole structure for the mandrel 220 to pass through.

[0095] In some embodiments, the distal end of the mandrel 220 has a limiting portion. The limiting portion is used to cooperate with the elastic pin 240 to achieve a releasable connection between the deflection assembly 210 and the clip device 300. In some embodiments, the distal end of the limiting portion is connected to the pin shaft 314, and the proximal end of the limiting portion is connected to the mandrel 220. In some embodiments, the connection method between the distal end of the limiting portion and the pin shaft 314 can be various. For example, the distal end of the limiting portion can be provided with a hook structure and connected to the part of the pin shaft 314 protruding from the first clamping arm 311 and the second clamping arm 312, etc. In some embodiments, the connection method between the proximal end of the limiting portion and the mandrel 220 can be various. For example, bonding, welding, interference fit, etc. In some embodiments, the limiting portion can include a connecting piece 221. For more content about the connecting piece 221, reference can be made toFigure 4 and its related descriptions.

[0096] In some embodiments, the mandrel 220 moves from the distal end to the proximal end, applying a force to the distal end of the limiting portion, causing the distal end of the limiting portion to break, deform, or displace, etc., so that the connection between the mandrel 220 and the pin shaft 314 is released.

[0097] In some embodiments, after the connection between the mandrel 220 and the pin shaft 314 is released, the mandrel 220 continues to move from the distal end to the proximal end. When passing over the elastic pin 240, a force is applied to the elastic pin 240 through the limiting portion. When the force on the distal end of the elastic pin 240 reaches a certain threshold, the connection between the elastic pin 240 and the receiving tube 320 is released through breaking, deforming, or displacing, etc., realizing a releasable connection between the deflection assembly 210 and the clip device 300.

[0098] In some embodiments, the deflection assembly 210 includes an upper connection end 211 and a lower connection end 212.

[0099] The upper connection end 211 can be used to cooperate with the lower connection end 212 to realize the deflection process of the deflection assembly 210. In some embodiments, the upper connection end 211 can be arranged at the distal end of the deflection assembly 210.

[0100] The lower connection end 212 can be used to cooperate with the upper connection end 211 to realize the deflection process of the deflection assembly 210. In some embodiments, the lower connection end 212 can be arranged at the proximal end of the deflection assembly 210.

[0101] In some embodiments, the upper connection end 211 and the lower connection end 212 can be deflectably connected. A deflectable connection means a connection mode in which the axes of multiple components can deflect. It can be understood that after the two clamping arms of the clamping portion 310 are opened and contact the clamping target 400, the deflection device can be caused to deflect the upper connection end 211 relative to the lower connection end 212 under the action of the force applied by the clamping target 400, and further cause the clamping portion 310 to deflect in the same direction to face the clamping target 400, which is beneficial to effectively clamping the wound 410 of the clamping target 400 and ensuring the clamping effect.

[0102] In some embodiments, the upper connection end 211 and the lower connection end 212 can have various mutually cooperating shape structures. For example, the upper connection end 211 is a concave structure and the lower connection end 212 is a protruding structure; or, the two are cooperating pin-shaped structures, etc. In some embodiments, the connection modes between the upper connection end 211 and the lower connection end 212 can include but are not limited to riveting, pin connection, interference fit, etc.

[0103] In some embodiments of the present specification, by providing that the deflection assembly 210 includes an upper connection end 211 and a lower connection end 212 that are deflectably connected, the deflection assembly 210 can more flexibly adjust the deflection angle when facing different clamping targets, improving the adaptability of the clip instrument 10 to different clamping targets.

[0104] Figure 7A is a schematic cross-sectional view of the deflection assembly shown in some embodiments of the present specification; Figure 7B is a schematic view of the deflection assembly shown in some embodiments of the present specification.

[0105] In some embodiments, as Figures 7A - 9B shown, the upper connection end 211 may include a ball socket 213, and the lower connection end 212 includes a spherical end 214.

[0106] Figure 9A is a schematic view of the upper connection end shown in some embodiments of the present specification. The ball socket 213 can be used to accommodate the spherical end 214. In some embodiments, the ball socket 213 can have various shapes that cooperate with the spherical end 214. For example, as Figure 9A shown, a hollow tubular shape, etc. In some embodiments, the ball socket 213 includes an inner cavity for mounting the spherical end 214.

[0107] Figure 8 is a schematic view of the lower connection end 212 shown in some embodiments of the present specification. The spherical end 214 can be used to cooperate with the ball socket 213 to achieve deflectable connection between the two. In some embodiments, as Figure 9A shown, the spherical end 214 can be disposed in the inner cavity of the ball socket 213. In some embodiments, the spherical end 214 can have various shapes that cooperate with the ball socket 213. For example, the spherical end 214 can be a solid spherical shape, a hollow hemispherical shape, etc.

[0108] In some embodiments, the lower connection end 212 may include a guide post 215. In some embodiments, the guide post 215 can be used to support the spherical end 214. In some embodiments, the distal end of the guide post 215 can be connected to the proximal end of the spherical end 214, and the proximal end of the guide post 215 can be connected to the distal end of the sheath 230. In some embodiments, the guide post 215 can have various shape structures. For example, the guide post 215 can be a hollow cylindrical structure.

[0109] In some embodiments, the spherical end 214 may include a slit 214-1. The slit 214-1 can be used to install the spherical end 214 into the inner cavity of the ball socket 213. It can be understood that when assembling the spherical end 214 and the ball socket 213, the spherical end 214 can be subjected to the force of the ball socket 213, causing deformation at the slit 214-1, reducing the outer diameter, and entering the inner cavity of the ball socket 213. After losing the force, the deformation at the slit 214-1 of the spherical end 214 is restored, and the outer diameter is restored, realizing the assembly of the spherical end 214 and the ball socket 213.

[0110] In some embodiments of the present specification, by providing that the spherical end 214 includes a slit 214-1, the assembly process of the spherical end 214 and the ball socket 213 can be made smoother and more convenient, avoiding assembly difficulties caused by the mismatch between the outer diameter of the spherical end 214 and the inner diameter of the ball socket 213 required for interference fit.

[0111] Figure 9B It is a partial cross-sectional schematic view of the deflection assembly shown in some embodiments of the present specification.

[0112] In some embodiments, the spherical end 214 and the ball socket 213 can be connected by interference fit. For example, as Figure 9A , Figure 9B shown, the ball socket 213 includes a sealing edge 213-1 and a slotted opening 213-2. The sealing edge 213-1 of the ball socket 213 is in interference fit with the spherical end 214, and the inner diameter of the ball socket 213 is in clearance fit with the spherical end 214.

[0113] Interference fit means compressing a component elastically through the material into another mating part to achieve a tight fit. The sealing edge 213-1 refers to a closed structure at the end edge of the ball socket 213. For example, as Figure 9B shown, the proximal edge of the ball socket 213 has a closed strip structure. In some embodiments, the sealing edge 213-1 of the ball socket 213 can be in interference fit with the spherical end 214. For example, the inner diameter of the sealing edge 213-1 of the ball socket 213 is larger than the outer diameter of the spherical end 214, thus achieving an interference fit. It can be understood that when the sealing edge 213-1 of the ball socket 213 is in interference fit with the spherical end 214, the spherical end 214 can be restricted in the inner cavity of the ball socket 213 by the sealing edge 213-1 and is not easily disengaged.

[0114] In some embodiments, the inner diameter of the ball socket 213 may have a clearance fit with the spherical end 214. A clearance fit means that there is a clearance between the mating components. For example, the inner diameter of the ball socket 213 may be larger than the outer diameter of the spherical end 214, that is, there is a clearance between the two. It can be understood that when the inner diameter of the ball socket 213 has a clearance fit with the spherical end 214, there is a clearance between the spherical end 214 and the ball socket 213, so that when the spherical end 214 rotates relative to the ball socket 213, it is subjected to less frictional force. It can be understood that the deflection of the deflection assembly 210 requires a certain degree of force to deflect, that is, the frictional force between the ball socket 213 and the spherical end 214 cannot be too small, otherwise when the clamping portion 310 does not abut against the clamping target 400, the clamping portion 310 may deflect under the action of gravity; or, after the clamping portion 310 has deflected, during the process of the mandrel 220 moving from the distal end to the proximal end, before the clamping portion 310 closes, the force generated by the mandrel 220 moving from the distal end to the proximal end has acted on the receiving tube 320, causing the clamping portion 310 to deflect back prematurely, thereby affecting the clamping of the clamping target 400.

[0115] In some embodiments of the present specification, by providing an interference fit between the slotted opening 213-2 and the spherical end 214, the deflection and / or rotation of the spherical end 214 can be made more smooth, avoiding deflection jamming caused by the influence of frictional force.

[0116] Figure 10A It is a schematic diagram of the deflection of the clip instrument shown in some embodiments of the present specification. Deflection refers to the movement process of a component deviating from the original axis based on the deflection axis B-B. In some embodiments, as Figure 10A shown, the clamping arms of the clamping portion 310 are subjected to the force of the clamping target 400, and the ball socket 213 deflects relative to the spherical end 214 around the deflection axis B-B through the slotted opening 213-2, driving the clamping portion 310 to deflect. It can be understood that during the deflection of the clamping portion 310, the distal end of the mandrel 220 bends towards the clamping target 400.

[0117] In some embodiments, the ball socket 213 may include a slot 213-2, and the deflection axis B-B is perpendicular to the longitudinal section S of the slot 213-2. The slot 213-2 refers to an open slot-like structure. In some embodiments, the ball socket 213 may include at least one slot 213-2. For example, when the number of slots 213-2 is 1, the ball socket 213 may deflect relative to the spherical end 214 to one side around the deflection axis B-B through the slot 213-2. Another example is that when the number of slots 213-2 is 2, the ball socket 213 may deflect relative to the spherical end 214 to both sides around the deflection axis B-B through the slot 213-2. At this time, the centers of the two slots 213-2 may be circumferentially spaced 180° or substantially 180° relative to the ball socket 213. Among them, substantially 180° may refer to the interval angle range between the centers of the two slots 213-2 being between 170° and 190°, such as 175°.

[0118] For more information about deflection, see Figure 1 、 Figure 5 and Figure 6 their related descriptions.

[0119] The deflection axis B-B refers to the axis around which the deflection assembly 210 deflects. In some embodiments, the deflection axis B-B may be perpendicular to the longitudinal section S of the slot 213-2.

[0120] Figure 10B is a schematic diagram of the rotation of the clip instrument shown in some embodiments of this specification. Rotation refers to the movement process in which a component rotates based on the rotation axis A-A. In some embodiments, as Figure 10B shown, since the ball socket 213 in the deflection component can rotate relative to the spherical end 214 around the axis of the ball socket 213, by controlling the mandrel 220 to rotate around the axis of the mandrel 220 through the handle 120, the rotation of the mandrel 220 acts on the clip device 300 (for example, the receiving tube 320), driving the clip device 300 (for example, the receiving tube 320) to rotate relative to the spherical end 214 around the axis of the clip device 300 (for example, the axis of the receiving tube 320). Rotation can make the closing direction of the two clip arms consistent with the closing direction of the wound 410 of the clamping target 400, so as to effectively achieve the clamping of the wound 410 of the clamping target 400.

[0121] The rotation axis A-A refers to the axis around which the clip device 300 rotates. It can be understood that in the above embodiments, the axis of the ball socket 213, the axis of the clip device 300, and the axis of the receiving tube 320 coincide and can all be used as the rotation axis A-A.

[0122] In some embodiments of the present specification, by setting the upper connecting end 211 to include a ball socket 213 and the lower connecting end 212 to include a spherical end 214, the ball socket 213 includes an inner cavity for installing the spherical end 214, and the two form an interference fit through components such as a slotted groove 213-2 and a slit 214-1, which can effectively realize the deflection and rotation processes of the deflection device, ensure the accurate clamping of the clamping target 400, and the installation and disassembly of this structure are relatively simple.

[0123] Figure 11A is a schematic diagram of a deflection assembly shown in some other embodiments of the present specification; Figure 11B is a cross-sectional schematic diagram of a lower connecting end shown in some other embodiments of the present specification; Figure 11C is a schematic diagram of a lower connecting end shown in some other embodiments of the present specification.

[0124] In some embodiments, as Figures 11A - 11C shown, the upper connecting end 211 may include a spherical end 214, the lower connecting end 212 may include a ball socket 213, and the ball socket 213 may include an inner cavity for installing the spherical end 214. In some embodiments, the spherical end 214 may be connected to the receiving tube 320.

[0125] For more content about the spherical end 214 and the ball socket 213, reference can be made to Figures 7A - 10B the relevant content. It can be understood that the difference between this embodiment and the foregoing Figures 7A - 10B described embodiment is that the structures of the upper connecting end 211 and the lower connecting end 212 are interchanged (that is, from the upper connecting end 211 including the ball socket 213 and the lower connecting end 212 including the spherical end 214, it is changed to the upper connecting end 211 including the spherical end 214 and the lower connecting end 212 including the ball socket 213), and the other components (for example, the slit 214-1 of the spherical end 214, the slotted groove 213-2 of the ball socket 213, etc.) and the principles of the deflection and rotation processes are the same. For details, reference can be made to the foregoing relevant content, and details will not be repeated here.

[0126] In some embodiments of the present specification, by setting the upper connecting end 211 to include a spherical end 214, the lower connecting end 212 to include a ball socket 213, and the ball socket 213 to include an inner cavity for installing the spherical end 214, the deflection and rotation processes of the deflection assembly 210 can be effectively realized, and the accurate clamping of the clamping target 400 can be ensured.

[0127] Figure 12 is a schematic diagram of the deflection assembly 210 shown in some other embodiments of the present specification; Figure 13 is a schematic diagram of a lower connecting end shown in some other embodiments of the present specification; Figure 14 is a schematic diagram of an upper connecting end shown in some other embodiments of the present specification.

[0128] In some embodiments, such as Figures 12 - 14 shown, the upper connection end 211 may include a first wing 216, and the lower connection end 212 may include a second wing 217.

[0129] In some embodiments, the first wing 216 may be used to cooperate with the second wing 217 to achieve the deflection of the deflection assembly 210. In some embodiments, the first wing 216 may be disposed at the proximal end of the upper connection end 211. In some embodiments, the first wing 216 may include a first pin hole 216-1. In some embodiments, such as Figure 14 shown, the upper connection end 211 may include two first wings 216, and the two first wings 216 are respectively disposed at a circumferential interval of 180° or substantially 180° with respect to the upper connection end 211. Among them, substantially 180° may mean that the interval angle range between the two wings is between 170° and 190°, such as 175°. Each of the two first wings 216 includes a first pin hole 216-1, and the first pin holes 216-1 are on a straight line. In some embodiments, the upper connection end 211 may include three or more first wings 216, and each first wing 216 includes a first pin hole 216-1, and the first pin holes 216-1 are on a straight line.

[0130] In some embodiments, the first pin hole 216-1 may be used to cooperate with the second pin hole 217-1 and the pin 218 to achieve the pin connection between the first wing 216 and the second wing 217. In some embodiments, the first pin hole 216-1 may be opened on the first wing 216. For example, the first pin hole 216-1 may be opened at the geometric center of the first wing 216. It can be understood that in order to achieve the deflectable connection between the upper connection end 211 and the lower connection end 212, the first pin holes 216-1 need to be arranged on a straight line.

[0131] In some embodiments, the second wing 217 may be used to cooperate with the first wing 216 to achieve the deflection of the deflection assembly 210. In some embodiments, the second wing 217 may be disposed at the distal end of the lower connection end 212. In some embodiments, the second wing 217 may include a second pin hole 217-1. The number and positional relationship of the second wing 217 and the second pin hole 217-1 are similar to those of the first wing 216 and the first pin hole 216-1, and will not be elaborated here.

[0132] In some embodiments, the first wing 216 and the second wing 217 may be connected by a pin 218 passing through the first pin hole 216-1 and the second pin hole 217-1.

[0133] The pin 218 can be used to connect the first pin hole 216-1 and the second pin hole 217-1 to achieve the deflectable connection of the first side wing 216 and the second side wing 217.

[0134] In some embodiments, the pin 218 can be integrally formed with the first side wing 216. For example, a protruding pin structure can be provided inside the first side wing 216 to directly connect with the second pin hole 217-1 of the second side wing 217. In some embodiments, the pin 218 can be integrally formed with the second side wing 217. For example, a protruding pin structure can be provided outside the second side wing 217 to directly connect with the first pin hole 216-1 of the first side wing 216.

[0135] Figure 15 It is a schematic diagram of the deflection and / or rotation of the clip device according to some embodiments shown in this specification.

[0136] In some embodiments, as Figure 15 shown, the clamping arms of the clamping portion 310 are subjected to the acting force of the clamping target 400, and the relative positions of the first side wing 216 and the second side wing 217 deflect along the deflection axis B-B through the pin 218, driving the clip device 300 to deflect.

[0137] In some embodiments, the deflection axis B-B can be the straight line where the pin 218 is located (the direction perpendicular to the paper surface).

[0138] In some embodiments, as Figure 15 shown, the control handle 120 rotates, the mandrel 220 rotates and transmits torque to the receiving tube 320, driving the receiving tube 320 to rotate relative to the upper connecting end 211 around the axis of the receiving tube 320 to drive the clip device 300 to rotate.

[0139] It can be understood that in the above embodiments, the axes of the clip device 300 and the receiving tube 320 coincide and can both be used as the rotation axis A-A.

[0140] In some embodiments, the clip device 300 includes a receiving tube 320, a part of the clamping portion 310 is disposed inside the receiving tube 320, and the receiving tube 320 is rotatable around the axis of the sheath tube 230. For example, as Figure 15 shown, the receiving tube 320 includes an annular groove 321, the upper connecting end 211 includes an annular protrusion 219, and the annular groove 321 and the annular protrusion 219 are rotatably matched; and the mandrel 220 rotates around the axis of the mandrel 220, driving the receiving tube 320 to rotate relative to the upper connecting end 211 around the axis of the receiving tube 320.

[0141] In some embodiments, the annular groove 321 and the annular protrusion 219 can be used in cooperation with each other to achieve the rotational connection between the upper connecting end 211 and the receiving tube 320. In some embodiments, the annular groove 321 can be provided at the proximal end of the receiving tube 320. In some embodiments, the annular protrusion 219 can be provided at the distal end of the upper connecting end 211. The rotatable fit can refer to a connection method in which rotation can occur between multiple components. It can be understood that after the annular groove 321 and the annular protrusion 219 are in abutment, the receiving tube 320 can rotate relative to the deflection assembly 210 under the torque applied by the mandrel 220.

[0142] In some embodiments of the present specification, by providing that the receiving tube 320 includes an annular groove 321, the upper connecting end 211 includes an annular protrusion 219, and the annular groove 321 and the annular protrusion 219 are rotatably fitted, the rotation of the receiving tube 320 is further realized, so that the closing direction of the two clamping arms is consistent with the closing direction of the wound 410 of the clamping target 400, thereby effectively realizing the clamping of the wound 410 of the clamping target 400. Moreover, it can be ensured that the receiving tube 320 rotates while the sheath tube 230 remains stationary, which not only ensures that the clamping portion 310 can rotate based on the position of the wound 410 of the clamping target 400, but also ensures the relative stability of the entire delivery device 200.

[0143] In some embodiments of the present specification, by providing that the upper connecting end 211 includes a first wing 216, the lower connecting end 212 includes a second wing 217, the first wing 216 includes a first pin hole 216-1, the second wing 217 includes a second pin hole 217-1, and the first wing 216 and the second wing 217 are connected by a pin 218 passing through the first pin hole 216-1 and the second pin hole 217-1, the deflection and rotation processes of the deflection assembly 210 can be effectively realized, ensuring the accurate clamping of the clamping target 400.

[0144] In some embodiments of the present specification, the above-mentioned clip instrument 10 can, while ensuring the stability of the clip instrument 10, enable the clip to perform deflection and / or rotation functions after being opened, and can accurately and efficiently adjust the position of the clip in the case where the clamping target 400 is not directly facing the clip device 300, reducing the difficulty of surgical operation under clinical conditions, and being able to better clamp the clamping target 400, providing convenience for doctors / nurses.

[0145] Figures 16 to 21B is a schematic diagram of the movement process of the clip instrument 10 shown in some embodiments of the present specification. The following will be combined with Figures 16 to 21B This paper introduces the operating steps of the clip instrument 10 for opening, overall deflection, closing, locking, releasing, etc. However, the following operating steps are only illustrative, and the operating process is not limited to only following these steps.

[0146] Step 1, asFigure 16 As shown, after the clamping portion 310 is transported to the target position (e.g., near the wound 410 of the clamping target 400) by the conveying device 200, the first clamping arm 311 and the second clamping arm 312 are opened. In some embodiments, the mandrel 220 is connected to the pin shafts 314 corresponding to the first clamping arm 311 and the second clamping arm 312. The mandrel 220 moves from the proximal end to the distal end, applying a force to the pin shafts 314 to drive the first clamping arm 311 and the second clamping arm 312 to move away from each other, being away from each other and in an open state. A clamping space is formed between the first clamping arm 311 and the second clamping arm 312, capable of clamping the clamping target 400.

[0147] Step two, after the clamping portion 310 is opened, under the action of the clamping target 400, the clamping portion 310 as a whole deflects, and / or the operator (e.g., a doctor) combines an endoscope and controls the clamping portion 310 to rotate to a position facing the clamping target 400 through the handle 120, and the closing direction of the clamping portion 310 is consistent with the closing direction of the wound 410 of the clamping target 400.

[0148] In some embodiments, as Figure 17 shown, one of the clamping arms of the clamping portion 310 deflects in the direction of the acting force under the action of the clamping target 400. The mandrel 220 moves from the proximal end to the distal end, and the upper connection end 211 deflects relative to the lower connection end 212, driving the clip device 300 to deflect. In some embodiments, the operator (e.g., a doctor) can control the mandrel 220 to rotate around the axis of the mandrel 220 through the handle 120, driving the clip device 300 to rotate relative to the deflection assembly 210 around the axis of the clip device 300. The clamping direction of the overall deflected and / or rotated clamping portion 310 can face the clamping target 400, and the closing directions of the two clamping arms are consistent with the closing direction of the wound 410 of the clamping target 400, achieving effective clamping.

[0149] Step three, as Figure 18 shown, the clamping portion 310 is converted from an open state to a closed state to clamp the target tissue.

[0150] In some embodiments, the mandrel 220 can be controlled to move from the distal end to the proximal end through the handle 120, so that both the first clamping arm 311 and the second clamping arm 312 move toward the proximal end until the first clamping arm 311 and the second clamping arm 312 are closed.

[0151] When the first clamping arm 311 and the second clamping arm 312 are closed, the distal ends of the first clamping arm 311 and the second clamping arm 312 can receive part of the clamping target 400 into the clamping space.

[0152] In some embodiments, before the locking portion 322 cooperates with the locked portion 313, the force generated by the movement of the mandrel 220 from the distal end to the proximal end acts on the clamping portion 310 to drive the clamping portion 310 to close. It can be understood that, as Figure 19A shown, the mandrel 220 moves from the distal end to the proximal end, driving the proximal ends of the first clamping arm 311 and the second clamping arm 312 of the clamping assembly to retract into the receiving tube 320, and closing under the action of the receiving tube 320. In some embodiments, the first clamping arm 311 and the second clamping arm 312 are elastic. When the proximal ends of the first clamping arm 311 and the second clamping arm 312 retract into the receiving tube 320, the distal end of the receiving tube 320 generates a squeezing force on the first clamping arm 311 and the second clamping arm 312, causing the first clamping arm 311 and the second clamping arm 312 to elastically deform and close.

[0153] In some embodiments, after the clamping portion 310 is closed, the mandrel 220 continues to move from the distal end to the proximal end, so that the locked portion 313 of the clamping portion 310 cooperates with the locking portion 322 of the receiving tube 320 along the axis, and the clamping portion 310 is in a locked state.

[0154] In some embodiments of this specification, by setting that before the locking portion 322 cooperates with the locked portion 313, the force generated by the movement of the mandrel 220 from the distal end to the proximal end acts on the clamping portion 310 to drive the clamping portion 310 to close, the clamping portion 310 can be effectively closed under the cooperation of the receiving tube 320 and the force of the mandrel 220.

[0155] Step Four, as Figure 19A and 19B shown, after the clamping portion 310 is locked, the mandrel 220 continues to move from the distal end to the proximal end, driving the clip device 300 to deflect until the axis of the clip device 300 coincides with the axis of the distal end of the sheath tube 230.

[0156] In some embodiments, after the clamping portion 310 is closed, the mandrel 220 can be controlled to continue moving from the distal end to the proximal end, driving the clamping portion 310 to deflect until the axis of the clamping portion 310 coincides with the axis of the distal end of the sheath tube 230. It can be understood that when the clamping portion 310 deflects under the action of the force of the clamping target 400, with the mandrel 220 capable of moving from the distal end to the proximal end, the clamping portion 310 closes. By controlling the mandrel 220 to continue moving from the distal end to the proximal end, the clamping portion 310 that was previously deflected due to the force of the clamping target 400 is driven to deflect back to the initial position until the axis of the clamping portion 310 coincides with the axis of the distal end of the sheath tube 230.

[0157] In some embodiments, after the locking portion 322 cooperates with the locked portion 313, the force generated by the movement of the mandrel 220 from the distal end to the proximal end can act on the receiving tube 320 to drive the clamping portion 310 to deflect relative to the sheath tube 230. It can be understood that after the locked portion 313 of the clamping portion 310 passes over the locking portion 322, the mandrel 220 continues to move from the distal end to the proximal end, driving the clamping portion 310 to cooperate with the blocking structure 326 of the receiving tube 320, restricting the movement of the clamping portion 310 from the distal end to the proximal end. Since the clamping portion 310 is locked at this time and the clamping portion 310 cooperates with the blocking structure 326, the force generated by the movement of the mandrel 220 from the distal end to the proximal end can further act on the receiving tube 320. As the mandrel 220 continues to move from the distal end to the proximal end, the clamping portion 310 is driven to deflect relative to the sheath tube 230.

[0158] By setting that after the locking portion 322 cooperates with the locked portion 313, the force generated by the movement of the mandrel 220 from the distal end to the proximal end acts on the receiving tube 320 to drive the clamping portion 310 to deflect relative to the sheath tube 230, it can be ensured that the force of the mandrel 220 acts on the receiving tube 320 under the locked condition, realizing the return of the clamping portion 310 after deflection. The operation is simple and the success rate is high.

[0159] Step five, as Figure 20A and Figure 20B shown, after the clamping portion 310 is locked, the mandrel 220 continues to move from the distal end to the proximal end, releasing the connection between the mandrel 220 and the clamping portion 310. In some embodiments, when the mandrel 220 moves from the distal end to the proximal end, the distal end of the limiting portion is deformed, displaced or broken, then the connection between the distal end of the limiting portion and the pin shaft 314 is released, and the connection between the mandrel 220 and the clamping portion 310 is released.

[0160] In some embodiments, after the axis of the clamping portion 310 coincides with the axis of the distal end of the sheath tube 230, the mandrel 220 can move from the distal end to the proximal end, driving the release of the connection between the mandrel 220 and the clamping portion 310. For example, it can be controlled that the mandrel 220 moves from the distal end to the proximal end, applying a force to the distal end of the limiting portion connected to the pin shaft 314 of the clamping portion 310 until the distal end of the limiting portion is broken, deformed or displaced, etc., so that the connection between the mandrel 220 and the pin shaft 314 is released, thereby realizing the release connection between the mandrel 220 and the clamping portion 310.

[0161] In some embodiments of this specification, by setting that after the axis of the clamping portion 310 coincides with the axis of the distal end of the sheath tube 230, the mandrel 220 moves from the distal end to the proximal end, driving the release of the connection between the mandrel 220 and the clamping portion 310, it can ensure that the connection between the mandrel 220 and the clamping portion 310 can be effectively released, providing a prerequisite for the separation of the clip device 300 and the deflection assembly 210.

[0162] Step six, as Figure 21A andFigure 21B As shown, after the mandrel 220 is disconnected from the clamping portion 310, the mandrel 220 continues to move from the distal end to the proximal end. After the proximal end of the limiting portion abuts against the elastic pin 240, a force is applied to the elastic pin 240 until the convex structure of the elastic pin 240 breaks, deforms, or displaces, etc., so that the receiving tube 320 is disconnected from the elastic pin 240, thereby realizing the disconnection between the clip device 300 and the deflection assembly 210.

[0163] In some embodiments, the mandrel 220 can continue to move from the distal end to the proximal end, driving the disconnection between the clip device 300 and the deflection assembly 210. For example, the mandrel 220 can be controlled to continue to move from the distal end to the proximal end. After the proximal end of the limiting portion abuts against the elastic pin 240, a force is applied to the elastic pin 240 until the convex structure of the elastic pin 240 breaks, deforms, or displaces, etc., so that the receiving tube 320 is disconnected from the elastic pin 240, thereby realizing the disconnection between the clip device 300 and the deflection assembly 210.

[0164] By setting the mandrel 220 to continue to move from the distal end to the proximal end, driving the disconnection between the clip device 300 and the deflection assembly 210, the separation between the clip device 300 and the deflection assembly 210 can be realized with the cooperation of the elastic pin 240. The operation is simple and effective, and the failure rate is low.

[0165] Some embodiments of this specification also provide a control method for a clip instrument. This control method is applied to the clip instrument 10 described in any of the above embodiments. This control method is executed by the control device 100. The operations of the following processes are only for illustrative purposes. In some embodiments, the process can be completed by using one or more additional operations not described and / or without one or more of the operations discussed. Additionally, the order of the operations of the following described process is not intended to be restrictive.

[0166] Figure 22 It is a flowchart of the control method for a clip instrument shown in some embodiments of this specification. In some embodiments, the process 2200 of the control method includes the following steps.

[0167] Step 2210, control the clamping portion 310 to abut against the clamping target 400, so that the clamping portion 310 is deflected by the force of the clamping target 400, and the axis of the clip device 300 and the axis of the distal end of the sheath tube 230 present a deflection angle.

[0168] In some embodiments, the clamping portion 310 can be controlled to abut against the clamping target 400 through the handle 120 in the control device 100, and the first clamping arm 311 and / or the second clamping arm 312 of the clamping portion 310 can be affected by the force of the clamping target 400.

[0169] In some embodiments, when the position where the clamping target 400 is located is not on the axial direction of the clip device 300, one of the clamping arms in the clamping portion 310 (such as the first clamping arm 311 or the second clamping arm 312) will first contact the clamping target 400, so that one side of the clamping arm of the clamping portion 310 is stressed, driving the clip device 300 to deflect relative to the sheath 230. In some embodiments, under the action of the clamping target 400, the first clamping arm 311 or the second clamping arm 312 of the clamping portion 310 drives the upper connection end 211 on the deflection assembly 210 to deflect relative to the lower connection end 212, and the distal end of the mandrel 220 bends towards the clamping target 400, and the axis of the clip device 300 and the axis of the distal end of the sheath 230 present a deflection angle.

[0170] For example, when the upper connection end 211 includes a ball sleeve 213 and the lower connection end 212 includes a spherical end 214, under the action of the clamping target 400, the ball sleeve 213 can deflect relative to the spherical end 214 at the slotted position 213-2 along the deflection axis B-B, driving the clip device 300 to deflect.

[0171] For another example, when the upper connection end 211 includes a spherical end 214 and the lower connection end 212 includes a ball sleeve 213, under the action of the clamping target 400, the spherical end 214 can deflect relative to the ball sleeve 213 at the slotted position 213-2 along the deflection axis B-B, driving the clip device 300 to deflect.

[0172] For yet another example, when the upper connection end 211 includes a first wing 216 and the lower connection end 212 includes a second wing 217, under the action of the clamping target 400, the first wing 216 deflects relative to the second wing 217 along the deflection axis B-B, driving the clip device 300 to deflect.

[0173] For more content about the deflection of the clip device 300, reference can be made to Figures 6 - 15 、 Figure 17 and its related descriptions.

[0174] When the clip device 300 deflects until both the first clamping arm 311 and the second clamping arm 312 are in contact with the clamping target 400, the forces on the two clamping arms of the clip device 300 reach equilibrium. At this time, the clip device 300 no longer deflects, and at this time, the clip device 300 is already near the clamping target 400.

[0175] In some embodiments, before the clamping portion 310 closes, the control device 100 can control the mandrel 220 to rotate around the axis of the mandrel 220, driving the clip device 300 to rotate relative to the deflection assembly 210 around the axis of the clip device 300, and the clamping position and clamping angle of the clamping portion 310 on the clamping target 400 can be further adjusted.

[0176] In some embodiments, the mandrel 220 can be controlled by the handle 120 to rotate about the axis of the mandrel 220, transmitting a torque to the receiving tube 320 and driving the receiving tube 320 to rotate about the axis of the receiving tube 320, so as to achieve the rotation of the clip device 300 relative to the deflection assembly 210 about the axis of the clip device 300.

[0177] For example, when the upper connection end 211 of the deflection assembly 210 includes a ball socket 213 and the lower connection end 212 includes a spherical end 214, under the acting force of the rotation of the mandrel 220, the ball socket 213 rotates around the spherical end 214, making a circumferential motion around the central axis of the ball socket 213, driving the clip device 300 to rotate.

[0178] For another example, when the upper connection end 211 of the deflection assembly 210 includes a spherical end 214 and the lower connection end 212 includes a ball socket 213, under the acting force of the rotation of the mandrel 220, the spherical end 214 rotates in the ball socket 213, making a circumferential motion around the central axis of the spherical end 214, driving the clip device 300 to rotate.

[0179] For still another example, when the upper connection end 211 includes a first wing 216 and the lower connection end 212 includes a second wing 217, under the acting force of the rotation of the mandrel 220, the receiving tube 320 rotates along the rotation axis A-A through the annular groove 321 at the contact with the annular protrusion 219 of the upper connection end 211, so as to drive the clip device 300 to rotate.

[0180] For more content about the rotation of the clip device 300, reference can be made to Figure 10B 、 Figure 15 and its related description.

[0181] Step 2220, control the mandrel 220 to move from the distal end to the proximal end, driving the clamping portion 310 to close, so as to clamp the clamping target 400.

[0182] In some embodiments, after the position of the clip device 300 is adjusted, the mandrel 220 can be controlled by the handle 120 in the control device 100 to move from the distal end to the proximal end. The distal end of the mandrel 220 is connected to the proximal end of the clamping arm of the clamping portion 310, transmitting an acting force to the clamping arm of the clamping portion 310, so that the two clamping arms move towards each other along the direction of the pin shaft 314, driving the clamping portion 310 to close, so as to clamp the clamping target 400. For more content about the closing of the clamping portion 310, reference can be made to Figure 18 and its related description.

[0183] In some embodiments, after the clamping portion 310 is closed, the control mandrel 220 continues to move from the distal end towards the proximal end. When the movement of the clamping portion 310 towards the proximal end is restricted by the receiving tube 320 (such as a limiting structure), the force exerted by the mandrel 220 on the clamping portion 310 is transmitted to the receiving tube 320. Since the mandrel 220 generates a straightening force during the movement of retracting from the distal end towards the proximal end, this force can drive the clip device 300 to deflect until the axis of the clip device 300 coincides with the axis of the distal end of the sheath tube 230.

[0184] In some embodiments, when the clamping portion 310 deflects under the action of the force of the clamping target 400, under the action of the force of the mandrel 220 moving from the distal end towards the proximal end, the clamping portion 310 closes; the control mandrel 220 continues to move from the distal end towards the proximal end, and through the retracting force of the mandrel 220, drives the clamping portion 310 that previously deflected under the action of the force of the clamping target 400 to deflect back towards the initial position until the axis of the clip device 300 coincides with the axis of the distal end of the sheath tube 230. For more details about the deflection of the clip device 300 until the axis of the clip device 300 coincides with the axis of the distal end of the sheath tube 230, reference can be made to Figures 19A - 19B and its related description.

[0185] In some embodiments, after the axis of the clip device 300 coincides with the axis of the distal end of the sheath tube 230, the control mandrel 220 is moved from the distal end towards the proximal end, driving the release of the connection between the mandrel 220 and the clamping portion 310; and the control mandrel 220 continues to move from the distal end towards the proximal end, driving the release of the connection between the clip device 300 and the deflection assembly 210.

[0186] In some embodiments, after the axis of the clip device 300 coincides with the axis of the distal end of the sheath tube 230, the control mandrel 220 can be moved from the distal end towards the proximal end through the handle 120, applying a force to the distal end of the limiting portion connected to the pin shaft 314 of the clamping portion 310 until the distal end of the limiting portion breaks, deforms or displaces, etc., so that the connection between the mandrel 220 and the pin shaft 314 is released, thereby realizing the release connection between the mandrel 220 and the clamping portion 310. For more details about the release connection between the mandrel 220 and the clamping portion 310, reference can be made to Figures 20A - 20B and its related description.

[0187] In some embodiments, the control mandrel 220 can continue to be moved from the distal end towards the proximal end through the handle 120, so that after the proximal end of the limiting portion abuts against the elastic pin 240, a force is applied to the elastic pin 240 until the convex structure of the elastic pin 240 breaks, deforms or displaces, etc., so that the connection between the receiving tube 320 and the elastic pin 240 is released, thereby realizing the release connection between the clip device 300 and the deflection assembly 210. For more details about the release connection between the clip device 300 and the deflection assembly 210, reference can be made to Figures 21A - 21B and its related description.

[0188] In some embodiments of this specification, by setting the control clamping portion 310 to abut against the clamping target 400, the clamping portion 310 is deflected by the acting force of the clamping target 400, and the axis of the clip device 300 and the axis of the distal end of the sheath tube 230 present a deflection angle. The force directly acting on the clamping portion 310 by the clamping target 400 can drive the frame device to deflect through the structure of the deflection assembly 210 without applying a force manually, which is more in line with the actual clamping situation of the clamping target 400 and realizes accurate position adjustment. The control mandrel 220 moves from the distal end to the proximal end, driving the clamping portion 310 to close to clamp the clamping target 400, which can effectively control the closing of the clamping portion 310, ensure that the clamping portion 310 accurately clamps the clamping target 400, and is conducive to the normal progress of the surgical procedure.

[0189] The beneficial effects that the embodiments of this application may bring include but are not limited to:

[0190] (1) In clinical operations, after the two clamping arms are opened, they are deflected under the influence of the acting force exerted by the clamping target on the clamping arms of the clamping portion without manual application, making the deflection more in line with the actual situation of the clamping target and the position more accurate;

[0191] (2) By setting the deflection assembly to include an upper connection end and a lower connection end that can be deflected and connected, the deflection assembly can more flexibly adjust the connection angle when facing different working conditions or clamping targets, improving the adaptability of the clip instrument in diverse working environments;

[0192] (3) By setting the upper connection end to include a ball sleeve and the lower connection end to include a spherical end, the ball sleeve includes an inner cavity for installing the spherical end, and the two form an interference fit through components such as slots and slits, which can effectively realize the deflection and rotation processes of the deflection device, ensure the accurate clamping of the clamping target, and the installation and disassembly of this structure are relatively simple;

[0193] (4) By setting the upper connection end to include a first flank, the lower connection end to include a second flank, the first flank to include a first pin hole, the second flank to include a second pin hole, and the first flank and the second flank are connected by a pin passing through the first pin hole and the second pin hole, the deflection and rotation processes of the deflection assembly can be effectively realized, ensuring the accurate clamping of the clamping target.

[0194] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only an example and does not constitute a limitation to this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are proposed in this specification, so such modifications, improvements, and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

[0195] Meanwhile, this specification uses specific terms to describe the embodiments of this specification. For example, "an embodiment", "one embodiment", and / or "some embodiments" mean a certain feature, structure, or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that the "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more at different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0196] Moreover, unless clearly stated in the claims, the order of the processing elements and sequences, the use of numerical and alphabetical characters, or the use of other names in this specification are not used to limit the order of the processes and methods in this specification. Although some currently useful embodiments of the invention are discussed through various examples in the above disclosure, it should be understood that such details only serve the purpose of illustration. The appended claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that conform to the essence and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only through software solutions, such as installing the described system on existing servers or mobile devices.

[0197] Similarly, it should be noted that, in order to simplify the presentation of the disclosure in this specification and thus help the understanding of one or more embodiments of the invention, in the previous description of the embodiments of this specification, sometimes multiple features are grouped into one embodiment, drawing, or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this specification are more than those mentioned in the claims. In fact, the features of the embodiments are fewer than all the features of the individual embodiments disclosed above.

[0198] In some embodiments, numbers describing the components and the quantity of attributes are used. It should be understood that such numbers used for the description of the embodiments are modified by the modifiers "about", "approximate", or "substantially" in some examples. Unless otherwise stated, "about", "approximate", or "substantially" indicate that the said numbers allow a variation of ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and the claims are approximate values, and these approximate values can change according to the characteristics required by individual embodiments. In some embodiments, the numerical parameters should consider the specified significant digits and adopt the method of retaining the general number of digits. Although the numerical ranges and parameters used in some embodiments of this specification to confirm the breadth of their scope are approximate values, in specific embodiments, such numerical settings are made as precise as possible within the feasible range.

[0199] For each patent, patent application, patent application publication, and other materials cited in this specification, such as articles, books, specifications, publications, documents, etc., their entire contents are hereby incorporated by reference into this specification. This excludes application history files that are inconsistent with or conflict with the content of this specification, as well as files that limit the broadest scope of the claims of this specification (currently or subsequently appended to this specification). It should be noted that if there are any inconsistencies or conflicts between the descriptions, definitions, and / or uses of terms in the supplementary materials of this specification and the content described in this specification, the descriptions, definitions, and / or uses of terms in this specification shall prevail.

[0200] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, by way of example and not limitation, alternative configurations of the embodiments of this specification may be considered to be consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A clip device, characterized in that, It includes a clip device and a delivery device. The clip device is releasably provided at the distal end of the delivery device. The clip device includes a clamping part; The delivery device includes a sheath tube and a deflection assembly. The deflection assembly is connected to the distal end of the sheath tube. The clip device is releasably connected to the distal end of the deflection assembly; and The deflection assembly provides the clamping part with a degree of freedom of deflection relative to the sheath tube.

2. The clip device according to claim 1, wherein, The delivery device includes a mandrel. The distal end of the mandrel is releasably connected to the clamping part; and The clamping part deflects under the action of the force of the clamping target, driving the mandrel to bend towards the clamping target; the axis of the clip device and the axis of the distal end of the sheath tube present a deflection angle.

3. The clip device according to claim 2, wherein, The mandrel moves from the distal end to the proximal end, driving the clamping part to close; and After the clamping part is closed, the mandrel continues to move from the distal end to the proximal end, driving the clip device to deflect until the axis of the clip device coincides with the axis of the distal end of the sheath tube.

4. The clip device according to claim 3, characterized in that, The clip device includes a receiving tube. The clamping part is partially arranged in the receiving tube. The receiving tube includes a locking part. The clamping part includes a locked part. When the locking part cooperates with the locked part, the clip device is locked; Before the locking part cooperates with the locked part, the force generated by the mandrel moving from the distal end to the proximal end acts on the clamping part to drive the clamping part to close; and After the locking part cooperates with the locked part, the force generated by the mandrel moving from the distal end to the proximal end acts on the receiving tube to drive the clamping part to deflect relative to the sheath tube.

5. The clip device according to claim 3, wherein, After the axis of the clip device coincides with the axis of the distal end of the sheath tube, the mandrel moves from the distal end to the proximal end, driving the release connection between the mandrel and the clamping part; and The mandrel continues to move from the distal end to the proximal end, driving the release connection between the clip device and the deflection assembly.

6. The clip device according to any one of claims 1 to 5, characterized in that, The deflection assembly includes an upper connection end and a lower connection end. The upper connection end is arranged at the distal end of the deflection assembly. The lower connection end is arranged at the proximal end of the deflection assembly. The upper connection end and the lower connection end are deflectably connected.

7. The clip device according to claim 6, wherein The upper connection end includes a ball socket. The lower connection end includes a spherical head. The ball socket includes an inner cavity for installing the spherical head; or The upper connection end includes a spherical head. The lower connection end includes a ball socket. The ball socket includes an inner cavity for installing the spherical head.

8. The clip device according to claim 7, wherein, The spherical head includes a slit.

9. The clip device according to claim 7, wherein, The spherical head and the ball socket are connected by interference fit.

10. The clip device according to claim 9, wherein The ball socket includes a sealing edge. The sealing edge of the ball socket is in interference fit with the spherical head. The inner diameter of the ball socket is in clearance fit with the spherical head; and The ball socket includes a slot. The deflection axis is perpendicular to the longitudinal section of the slot.

11. The clip device according to claim 6, wherein, The upper connection end includes a first wing. The lower connection end includes a second wing. The first wing includes a first pin hole. The second wing includes a second pin hole. The first wing and the second wing are connected by a pin passing through the first pin hole and the second pin hole. The deflection axis is the straight line where the pin is located.

12. The clip device according to claim 11, wherein The clip device includes a receiving tube, a part of the clamping portion is disposed within the receiving tube, and the receiving tube is rotatable about the axis of the receiving tube; The receiving tube includes an annular groove, the upper connection end includes an annular protrusion, and the annular groove is rotatably engaged with the annular protrusion; and The mandrel rotates about the axis of the mandrel, driving the receiving tube to rotate relative to the upper connection end about the axis of the receiving tube.

13. A control method for a clip device, characterized in that, The control method is applied to the clip instrument according to any one of claims 1-12, and the control method includes: Controlling the clamping portion to abut against the clamping target, causing the clamping portion to deflect under the action of the force of the clamping target, and the axis of the clamping portion and the axis of the distal end of the sheath tube present a deflection angle; Controlling the mandrel to move from the distal end to the proximal end, driving the clamping portion to close to clamp the clamping target.

14. The control method of the clip device according to claim 13, characterized in that, The control method further includes: Before the clamping portion closes, controlling the mandrel to rotate about the axis of the mandrel, driving the clip device to rotate relative to the deflection assembly about the axis of the clip device.

15. The control method of the clip device according to any one of claims 13 or 14, characterized in that, The control method further includes: After the clamping portion closes, controlling the mandrel to continue to move from the distal end to the proximal end, driving the clip device to deflect until the axis of the clip device coincides with the axis of the distal end of the sheath tube.

16. The control method of the clip device according to claim 15, wherein, The control method further includes: After the axis of the clip device coincides with the axis of the distal end of the sheath tube, controlling the mandrel to move from the distal end to the proximal end, driving the mandrel and the clamping portion to release the connection; and Controlling the mandrel to continue to move from the distal end to the proximal end, driving the clip device and the deflection assembly to release the connection.

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