A clip device and method of controlling the same

Abstract

The embodiment of the specification provides a clip device and a control method thereof. The clip device comprises a clip device and a delivery device. The clip device is releasably arranged at the distal end of the delivery device. The clip device comprises a clamping part. The delivery device comprises a sheath and a deflection assembly. The deflection assembly is connected with the distal end of the sheath. The clip device is releasably connected with the distal end of the deflection assembly. The deflection assembly provides the clamping part with a deflection freedom relative to the sheath. The control method comprises the following steps: controlling the clamping part to abut against a clamping target, so that the clamping part is deflected by the force of the clamping target, and the axis of the clamping part and the axis of the distal end of the sheath form a deflection angle; and controlling the mandrel to move from the distal end to the proximal end, so as to drive the clamping part to close and clamp the clamping target.

Description

Technical Field

[0001] This manual relates to the field of medical devices, and in particular to a clamp device and its control method. Background Technology

[0002] With the widespread application of endoscopic technology in the medical field, higher demands have been placed on the clamping devices used in endoscopic surgery. In clinical practice, when the distal endoscope reaches the vicinity of the wound, the clamping direction of the clamping device may not be perpendicular to the target. Therefore, it is necessary to adjust the clamping device to be aligned with the target to achieve effective clamping. Typically, the clamping direction is changed by adjusting the distal swing of the endoscope (or sheath), but this method is difficult to perform, prone to inaccurate positioning, leading to prolonged operation time and increased surgical risks.

[0003] Therefore, it is desirable to provide a clamping instrument and its control method to make the position adjustment of the clamping device more convenient and accurate, thereby simplifying surgical procedures and reducing surgical risks. Summary of the Invention

[0004] One embodiment of this specification provides a clamping device, the clamping device including a clamping assembly and a conveying device, the clamping assembly being releasably disposed at the distal end of the conveying device, the clamping assembly including a clamping portion; the conveying device including a sheath and a deflection assembly, the deflection assembly being connected to the distal end of the sheath, the clamping assembly being releasably connected to the distal end of the deflection assembly; and the deflection assembly providing the clamping portion with a degree of freedom of deflection relative to the sheath.

[0005] In some embodiments, the conveying device includes a mandrel, the distal end of which is releasably connected to the clamping portion; and the clamping portion is deflected by a force exerted on the clamping target, causing the mandrel to bend toward the clamping target; the axis of the clamping device is deflected at an angle to the axis of the distal end of the sheath.

[0006] In some embodiments, the mandrel moves from the distal end to the proximal end, causing the clamping portion to close; and after the clamping portion closes, the mandrel continues to move from the distal end to the proximal end, causing the clamping device to deflect until the axis of the clamping device coincides with the axis of the distal end of the sheath.

[0007] In some embodiments, the clamping device includes a receiving tube, the clamping portion is partially disposed within the receiving tube, the receiving tube includes a locking portion, and the clamping portion includes a locked portion. When the locking portion engages with the locked portion, before the clamping device locks the locking portion and the locked portion, the force generated by the movement of the spindle 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 engages with the locked portion, the force generated by the movement of the spindle from the distal end to the proximal end acts on the receiving tube to drive the clamping portion to deflect relative to the sheath.

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

[0009] In some embodiments, the deflection component includes an upper connection end and a lower connection end, the upper connection end being located at the distal end of the deflection component and the lower connection end being located at the proximal end of the deflection component, and the upper connection end and the lower connection end being deflectably connected.

[0010] In some embodiments, the upper connecting end includes a ball sleeve, and the lower connecting end includes a spherical end, the ball sleeve including an inner cavity for mounting the spherical end; or the upper connecting end includes a spherical end, and the lower connecting end includes a ball sleeve, the ball sleeve including an inner cavity for mounting the spherical end.

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

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

[0013] In some embodiments, the ball sleeve includes a sealing edge, the sealing edge of the ball sleeve being interference-fitted with the spherical end, the inner diameter of the ball sleeve being clearance-fitted with the spherical end; and the ball sleeve includes a slot, the deflection axis being perpendicular to the longitudinal section of the slot.

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

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

[0016] One embodiment of this specification provides a control method for a clamping device, the clamping device including a clamping device and a conveying device, the clamping device being releasably disposed at the distal end of the conveying device, the clamping device including a clamping part, the conveying device including a sheath, a mandrel and a deflection assembly, the deflection assembly being connected to the distal end of the sheath, the clamping device being releasably connected to the distal end of the deflection assembly, the distal end of the mandrel being releasably connected to the clamping part, and the deflection assembly providing the clamping part with a degree of freedom of deflection relative to the sheath; the method includes: controlling the clamping part to abut against a clamping target, causing the clamping part to deflect under the force of the clamping target, the axis of the clamping part presenting a deflection angle with the axis of the distal end of the sheath; controlling the mandrel to move from the distal end to the proximal end, causing the clamping part to close, thereby clamping the clamping target.

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

[0018] In some embodiments, the method further includes: after the clamping portion is closed, controlling the spindle to continue moving from the distal end to the proximal end, causing the clamping device to deflect until the axis of the clamping device coincides with the axis of the distal end of the sheath.

[0019] In some embodiments, the method further includes: after the axis of the clamping device coincides with the axis of the distal end of the sheath, controlling the mandrel to move from the distal end to the proximal end, thereby releasing the connection between the mandrel and the clamping part; and controlling the mandrel to continue moving from the distal end to the proximal end, thereby releasing the connection between the clamping device and the deflection assembly. Attached Figure Description

[0020] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0021] Figure 1 This is a schematic diagram of the clamping device shown in some embodiments of this specification;

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

[0023] Figure 3A This is a schematic diagram of the structure of a portion of the receiving tube according to some embodiments shown in this specification;

[0024] Figure 3B This is a schematic diagram of the structure of a portion of the storage tube according to some embodiments of this specification;

[0025] Figure 4 This is a schematic diagram of the distal portion of the clamping device and conveying device according to some embodiments of this specification;

[0026] Figure 5 This is a schematic diagram of the distal end of a clamping device according to some embodiments of this specification;

[0027] Figure 6 This is a schematic diagram of the deflection of a clamping device according to some embodiments of this specification;

[0028] Figure 7A This is a cross-sectional schematic diagram of a deflection assembly according to some embodiments of this specification;

[0029] Figure 7B This is a schematic diagram of a deflection assembly according to some embodiments of this specification;

[0030] Figure 8 This is a schematic diagram of the lower connection end according to some embodiments of this specification;

[0031] Figure 9A This is a schematic diagram of the upper connection end according to some embodiments of this specification;

[0032] Figure 9B This is a partial cross-sectional schematic diagram of a deflection assembly according to some embodiments of this specification;

[0033] Figure 10A This is a schematic diagram of the deflection of a clamping device according to some embodiments of this specification;

[0034] Figure 10B This is a schematic diagram of the rotation of a clamping device according to some embodiments of this specification;

[0035] Figure 11A This is a schematic diagram of a deflection assembly according to other embodiments of this specification;

[0036] Figure 11B This is a cross-sectional schematic diagram of the lower connecting end according to other embodiments of this specification;

[0037] Figure 11C This is a schematic diagram of the lower connection end according to other embodiments of this specification;

[0038] Figure 12 This is a schematic diagram of a deflection assembly according to some embodiments of this specification;

[0039] Figure 13 This is a schematic diagram of the lower connection end according to some embodiments of this specification;

[0040] Figure 14 This is a schematic diagram of the upper connection end according to some embodiments of this specification;

[0041] Figure 15 This is a schematic diagram illustrating the deflection and / or rotation of a clamping device according to some embodiments of this specification;

[0042] Figure 16 This is a schematic diagram of the open state of the clamping device according to some embodiments of this specification;

[0043] Figure 17 This is a schematic diagram illustrating the deflection state of a clamping device according to some embodiments of this specification;

[0044] Figure 18 This is a schematic diagram of the clamping state of a clamping device according to some embodiments of this specification;

[0045] Figure 19A This is a schematic diagram of the clamping state of the clamping device according to some embodiments of this specification;

[0046] Figure 19B It is based on Figure 19A A partially enlarged schematic diagram of a clamping device shown in some embodiments;

[0047] Figure 20A This is a schematic diagram showing the locked state of the clamping device and the released state of the clamping part and control line according to some embodiments of this specification;

[0048] Figure 20B It is based on Figure 20A A partially enlarged schematic diagram of a clamping device shown in some embodiments;

[0049] Figure 21A This is a schematic diagram of the released state of the clamping device and deflection assembly according to some embodiments of this specification;

[0050] Figure 21B It is based on Figure 21A A partially enlarged schematic diagram of a clamping device shown in some embodiments;

[0051] Figure 22This is a flowchart of a control method for a clamping device according to some embodiments of this specification.

[0052] The attached figures are labeled as follows:

[0053] 10. Clamping equipment;

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

[0055] 200. Conveying device; 210. Deflection assembly; 211. Upper connecting end; 212. Lower connecting end; 213. Ball sleeve; 213-1. Edge sealing; 213-2. Groove; 214. Spherical end; 214-1. Slit; 215. Guide post; 216. First side wing; 216-1. First pin hole; 217. Second side wing; 217-1. Second pin hole; 218. Pin; 219. Annular protrusion; 220. Mandrel; 221. Connecting piece; 230. Sheath; 240. Elastic pin;

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

[0057] 400. Target clamped; 410. Wound. Detailed Implementation

[0058] Exemplary embodiments or implementations will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0059] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” 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 this application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. Unless otherwise stated, the terms "front," "rear," "lower," and / or "upper" and similar terms are for illustrative purposes only and are not limited to a location or spatial orientation. The terms "comprising" or "including" and similar terms mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects.

[0061] Figure 1 This is a structural schematic diagram of a clamping device according to some embodiments of this specification.

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

[0063] The clamp device 300 can be used to perform medical operations on a clamped target 400. The clamped target 400 refers to the organ or tissue of a human or other organism requiring surgical treatment. For example, blood vessels in the human body or fallopian tubes in an animal. In some embodiments, the medical operations performed by the clamp device 300 may include surgical hemostasis, wound healing, tissue fixation, etc., and the clamp 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 clamp device 300, the clamp device 300 includes a locked state, in which the clamping portion 310 of the clamp device 300 can remain closed. In some embodiments, the clamp device 300 is retained on the object of medical operation (e.g., clamped on tissue) by maintaining the locked state.

[0064] In some embodiments, the clamp device 300 is releasably connected to the conveying device 200. A releasable connection refers to a connection method in which the connection between multiple components (e.g., the clamp device 300 and the conveying device 200) can be detached. For example, the clamp device 300 may be releasably disposed at the distal end of the conveying device 200.

[0065] In some embodiments of this specification, the terms "proximal end" and "distal end" can refer to orientation. They refer to the orientation along the axial direction of the clamping device 10 (e.g., the extension direction of the conveying device 200) or along the direction in which the clamping device 10 enters the human body, with the side closer to the operator and farther from the clamping target 400 being the "proximal end," and the side closer to the clamping target 400 and farther from the operator being the "distal end." "Proximal end" and "distal end" should not be understood as referring only to the end point. "Proximal end" and "distal end" can refer to the endpoint, end face, end point, or a portion near the end point and having a certain length of the clamping device 10 or its components. In the embodiments of this specification, the "axis of the clamping device 300," "axis of the distal end of the sheath 230," "axis of the receiving tube 320," "axis of the spindle 220," and "axis of the clamping part 310" refer to the central axes in the extension directions of the clamping device 300, sheath 230, receiving tube 320, spindle 220, and clamping part 310, respectively.

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

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

[0068] In some embodiments, the clamping portion 310 includes a first clamping arm 311, a second clamping arm 312, and a pin 314. The proximal ends of the first clamping arm 311 and the second clamping arm 312 are connected by the pin 314. In some embodiments, the proximal end of the first clamping arm 311 has a first hole, and the proximal end of the second clamping arm 312 has a second hole. The pin 314 passes through the first hole and the second hole, connecting the first clamping arm 311 and the second clamping arm 312. The first clamping arm 311 and the second clamping arm 312 can move towards each other to close the clamping portion 310; the first clamping arm 311 and the second clamping arm 312 can move away from each other to open the clamping portion 310. In some embodiments, the clamping arms can have various shapes. For example, an irregular sheet-like structure with serrated edges. Understandably, the clamping portion 310 can also include two or more clamping arms, such as three clamping arms, four clamping arms, etc.

[0069] In some embodiments, the clamp 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 clamp 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 its 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, the clamping portion 310 may be in an open state when it extends beyond the distal end of the receiving tube 320; or in a closed state and / or locked state after its proximal end is retracted into the receiving tube 320.

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

[0071] The locking part 322 can be used to lock the clamp device 300 and restrict its displacement. The locked part 313 can be used to cooperate with the locking part 322 to lock the clamp device 300. In some embodiments, the locking part 322 and the locked part 313 can be various shapes and structures that can cooperate with each other. For example, the locking part 322 is a recessed structure and the locked part 313 is a protruding structure. As another example, the locking part 322 is a hook groove structure and the locked part 313 is a hook structure.

[0072] Figure 2 This is a cross-sectional view of the distal end of the clamping device and conveying device according to some embodiments of this specification. In some embodiments, the radial end of the pin 314 constitutes a locking portion 313, and the pin 314 is configured to engage with the locking portion 322 as it passes from the distal end to the proximal end. The pin 314 serves both to connect the first clamping arm 311 and the second clamping arm 312 and to lock the clamping portion 310, thus simplifying the structure. In some embodiments, a proximal end of the clamping portion 310 is provided with a protrusion, for example, a protrusion is provided at the proximal end of the first clamping arm 311 and the second clamping arm 312, and the protrusion constitutes the locking portion 313, which engages with the locking portion 322 as it passes from the distal end to the proximal end.

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

[0074] Figure 3A This is a schematic diagram of the structure of a portion of the storage tube as shown in some embodiments of this specification; Figure 3B This is a schematic diagram of the structure of a portion of the storage tube according to some embodiments of this specification.

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

[0076] In some embodiments, the locking part 322 includes two spring pieces 323, which are respectively disposed at a circumferential distance of 180° or substantially 180° relative to the receiving tube 320. Here, substantially 180° may mean that the angle between the two spring pieces 323 is between 170° and 190°, such as 175°.

[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 arcuate plate extending axially from the base ring 324 and is located at the distal end of the base ring 324. A locking portion 322 is provided 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 welding or other means.

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

[0079] Combination Figure 3B and Figure 4As shown, in some embodiments, the proximal end of the receiving tube 320 includes a blocking structure 326, which is configured to restrict the movement of the clamping portion 310 from the distal end to the proximal end within a certain distance after the pin 314 passes the locking portion 322. In some embodiments, after the pin 314 passes the locking portion 322, the locking portion 322 can lock the locked portions 313 at both ends of the pin 314, restricting the movement of the clamping device 300 from the proximal end to the distal end. The clamping device 300 continues to move a certain distance from the distal end to the proximal end before engaging with the blocking structure 326. The blocking structure 326 can restrict the movement of the clamping portion 310 from the distal end to the proximal end, thus avoiding locking failure due to the excessively narrow distance between the locking portion 322 and the blocking structure 326. In addition, the pin 314 of the clamping part 310 moves within a certain distance between the locking part 322 and the blocking structure 326. The operator can operate the sliding part 420 so that after the clamping part 310 is engaged with the blocking structure 326, the clamping part 310 remains stationary, and the connecting piece 221 continues to be subjected to force and released from the pin 314.

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

[0081] In some embodiments, the clamping device 300 further includes a blocking device 327, which is radially intersecting with the pin 314. After passing the locking part 322, the pin 314 continues to move until the blocking device 327 abuts against the blocking structure 326, which restricts the clamping part 310 from moving 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 piece, or other structures. In some embodiments, the blocking device 327 includes a limiting piece 327-1, on which a mounting hole is formed. The limiting piece 327-1 is disposed between the first clamping arm 311 and the second clamping arm 312 and aligned with the pin hole. The pin 314 passes through the pin hole and the mounting hole, thereby connecting the first clamping arm 311, the second clamping arm 312, and the limiting piece 327-1.

[0082] In some embodiments, after the blocking structure 326 restricts the clamping portion 310 from moving from the distal end to the proximal end, the connection between the distal end of the connecting piece 221 and the pin 314 is released after the force deforms or breaks. In some embodiments, after the blocking structure 326 restricts the clamping portion 310 from moving from the distal end to the proximal end, the spindle 220 continues to move from the distal end to the proximal end, and the tension between the connecting piece 221 and the pin 314 of the spindle 220 gradually increases. When the tension reaches a certain threshold, the distal end of the connecting piece 221 deforms or breaks, releasing the connection between the spindle 220 and the clamping portion 310.

[0083] In some embodiments, other parts of the clamping portion 310 (e.g., the proximal ends or proximal protrusions of the first clamping arm 311 and the second clamping arm 312) may 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 this specification, the clamp device 300 includes a receiving tube 320, with a clamping part 310 partially disposed within the receiving tube 320. The receiving tube 320 includes a locking part 322, and the clamping part 310 includes a locked part 313. The cooperation between the locking part 322 and the locked part 313 allows the clamp device 300 to be locked when needed. Furthermore, the locking of the locked part 313 and the locking part 322 is controlled by axial force, eliminating the need for additional force or action in other directions. This simplifies the structure and operation of the clamp device 300 and reduces the probability of failure during locking.

[0085] The delivery device 200 can be used to deliver the clamp device 300 to a target area. The target area can be an area within the clamping target 400 where a specific operation needs to be performed (e.g., wound 410). In some embodiments, the specified operation can be a medical procedure performed during surgery, such as hemostasis or ligation. In some embodiments, the clamping target 400 can be an object receiving the medical operation. In some embodiments, the clamping target 400 can include a biological object or a non-biological object, wherein biological objects can include humans (e.g., patients), animals, or plants, and non-biological objects can include experimental models (e.g., organ models). In some embodiments, the delivery device 200 can also be used to operate the clamp device 300 to perform the 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 providing an internal passage for other components (e.g., the mandrel 220). In some embodiments, the mandrel 220 may be a long shaft-like structure disposed within the internal passage of the sheath 230 for moving the clamp device 300. In some embodiments, the mandrel 220 may be made of a flexible material, i.e., the mandrel 220 may be deformable. 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, allowing the physician to control the movement of the mandrel 220 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 clamp device 300 via the sheath 230 and the mandrel 220.

[0087] In some embodiments, the clamping device 10 may further include a control device 100 for terminating operations such as opening, closing, deflecting, rotating, and releasing of the clamping device 10. In some embodiments, the control device 100 includes a handle 120 connected to a spindle 220, and the handle 120 can drive the clamping device 300 to perform a specified operation. The handle 120 may include a fixing part and a sliding part, the sliding part being movable relative to the fixing part, and the fixing part being located at the proximal end of the sheath 230. The proximal end of the spindle 220 is connected to the sliding part, the sliding part sliding relative to the fixing part, and the spindle 220 moving relative to the sheath 230, thereby driving the clamping part 310 to move. Specifically, the operator (e.g., a doctor) can perform operations such as hemostasis and ligation on the clamping device 300 through the sliding part 420.

[0088] Figure 5 This is a schematic diagram of the distal end of a clamping device according to some embodiments of this specification. Figure 6 This is a schematic diagram illustrating the deflection of a clamping device according to some embodiments of this specification. The distal end of the clamping device 10 may include a clamping device 300, a deflection assembly 210, and a portion of a sheath 230.

[0089] The deflection assembly 210 can be used to provide the clamping part 310 with a degree of freedom of deflection relative to the sheath 230. Providing the clamping part 310 with a degree of freedom of deflection relative to the sheath 230 means that the deflection assembly 210 can make the axis of the clamping device 300 and the axis of the distal end of the sheath 230 present a deflection angle within a preset range. Figure 6 As shown, the deflection angle refers to the angle α between the axis MM of the clamping part 310 after deflection and the axis NN of the distal end of the sheath 230. More information about the structure and preset range of the deflection assembly 210 can be found in [link to relevant documentation]. Figure 1 , Figures 5-6 And its related descriptions.

[0090] In some embodiments, the clamping portion 310 is deflected by the force exerted by the clamping target 400, causing the spindle 220 to bend toward the clamping target 400; the axis of the clamping portion 310 is deflected at an angle to the axis of the distal end of the sheath 230. In some cases, the spindle 220 may also extend distally when it bends toward the clamping target 400.

[0091] The force applied to the clamping target 400 refers to the reaction force generated by the clamping target 400 on the clamping arm of the clamping part 310 when the clamping part 310 squeezes and clamps the target 400. Deflection refers to the movement of the component in a direction deviating from the preset axis. The preset axis refers to the axis at the distal end of the sheath 230, etc.

[0092] Understandably, such as Figure 13 As shown, when the clamping part 310 is not in contact with the clamping target 400, it is not subject to the force of the clamping target 400, and the axis of the clamping part 310 is the same as the axis of the distal end of the sheath 230, and the clamping part 310 does not deflect. When the clamping part 310 contacts the clamping target 400, one side of the clamping arm is subjected to the force of the clamping target 400, and deflects in the direction of the force, causing the spindle 220 to bend toward the clamping target 400, and the axis of the clamping part 310 and the axis of the distal end of the sheath 230 form a deflection angle.

[0093] In some embodiments, the deflection assembly 210 is connected to the distal end of the sheath 230, and the clamp device 300 is releasably connected to the distal end of the deflection assembly 210. In some embodiments, the deflection assembly 210 and the clamp device 300 are releasably connected via a resilient pin 240.

[0094] In some embodiments, the proximal end of the elastic pin 240 is inserted into the distal end of the sheath 230, and the distal end of the elastic pin 240 is a protruding structure inserted into the proximal end of the receiving tube 320. The connection method includes, but is not limited to, bonding, welding, interference fit, etc. In some embodiments, the center of the elastic pin 240 has a hole structure for the passage of the mandrel 220.

[0095] In some embodiments, the distal end of the mandrel 220 has a limiting portion. The limiting portion engages with the resilient pin 240 to achieve a releasable connection between the deflection assembly 210 and the clamping device 300. In some embodiments, the distal end of the limiting portion is connected to the pin 314, and the proximal end of the limiting portion is connected to the mandrel 220. In some embodiments, the connection between the distal end of the limiting portion and the pin 314 can be varied. For example, the distal end of the limiting portion can be provided with a hook structure, connecting to the portion of the pin 314 protruding from the first clamping arm 311 and the second clamping arm 312, etc. In some embodiments, the connection between the proximal end of the limiting portion and the mandrel 220 can be varied. For example, bonding, welding, interference fit, etc. In some embodiments, the limiting portion may include a connecting piece 221. More information about the connecting piece 221 can be found in [link to relevant documentation]. Figure 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, thereby releasing the connection between the mandrel 220 and the pin 314.

[0097] In some embodiments, after the spindle 220 is released from the pin 314, the spindle 220 continues to move from the distal end to the proximal end. When it passes the elastic pin 240, it applies a force to the elastic pin 240 through the limiting part, so that when the force on the distal end of the elastic pin 240 reaches a certain threshold, it is released from the storage tube 320 by means of breakage, deformation or displacement, so as to realize a releasable connection between the deflection component 210 and the clamp device 300.

[0098] In some embodiments, the deflection component 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 component 210. In some embodiments, the upper connection end 211 can be located at the far end of the deflection component 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 component 210. In some embodiments, the lower connection end 212 can be located near the deflection component 210.

[0101] In some embodiments, the upper connecting end 211 and the lower connecting end 212 are rotatably connected. A rotatable connection refers to a connection method in which the axes of multiple components can be deflected. Understandably, after the two clamping arms of the control clamping part 310 open and contact the clamping target 400, the deflection device can cause the upper connecting end 211 to deflect relative to the lower connecting end 212 under the force applied by the clamping target 400, further causing the clamping part 310 to deflect in the same direction to the direction facing 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 connecting end 211 and the lower connecting end 212 may have various mutually cooperating shapes and structures. For example, the upper connecting end 211 may be a recessed structure, and the lower connecting end 212 may be a protruding structure; or, for example, they may be mating pin-like structures. In some embodiments, the connection method of the upper connecting end 211 and the lower connecting end 212 may include, but is not limited to, pinning, interference fit, etc.

[0103] In some embodiments of this specification, by providing the deflection component 210 with an upper connecting end 211 and a lower connecting end 212 that can be deflected, the deflection component 210 can more flexibly adjust the deflection angle when facing different gripping targets, thereby improving the adaptability of the gripping device 10 to different gripping targets.

[0104] Figure 7A This is a schematic cross-sectional view of a deflection assembly according to some embodiments of this specification; Figure 7B This is a schematic diagram of a deflection assembly according to some embodiments of this specification.

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

[0106] Figure 9A This is a schematic diagram of the upper connecting end according to some embodiments of this specification. The ball sleeve 213 can be used to receive the spherical end 214. In some embodiments, the ball sleeve 213 can have various shapes to mate with the spherical end 214. For example, as... Figure 9A As shown, it is a hollow tubular shape, etc. In some embodiments, the ball sleeve 213 includes an inner cavity on which a spherical end 214 can be installed.

[0107] Figure 8 This is a schematic diagram of the lower connecting end 212 according to some embodiments of this specification. The spherical end 214 can be used to mate with the ball sleeve 213 to achieve a deflectable connection between the two. In some embodiments, such as Figure 9A As shown, the spherical end 214 can be disposed in the inner cavity of the ball sleeve 213. In some embodiments, the spherical end 214 can have various shapes that mate with the ball sleeve 213. For example, the spherical end 214 can be a solid sphere, a hollow hemisphere, etc.

[0108] In some embodiments, the lower connecting end 212 may include a guide post 215. In some embodiments, the guide post 215 may be used to support the spherical end 214. In some embodiments, the distal end of the guide post 215 may be connected to the proximal end of the spherical end 214, and the proximal end of the guide post 215 may be connected to the distal end of the sheath 230. In some embodiments, the guide post 215 may have various shapes and structures. For example, the guide post 215 may 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 mount the spherical end 214 into the inner cavity of the ball sleeve 213. Understandably, during the assembly of the spherical end 214 and the ball sleeve 213, the spherical end 214 can be subjected to the force of the ball sleeve 213, causing it to deform at the slit 214-1, reducing its outer diameter, and entering the inner cavity of the ball sleeve 213. After the force is released, the deformation at the slit 214-1 of the spherical end 214 recovers, and the outer diameter returns to normal, thus achieving the assembly of the spherical end 214 and the ball sleeve 213.

[0110] In some embodiments of this specification, by providing a slit 214-1 for the spherical end 214, the assembly process of the spherical end 214 and the ball sleeve 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 sleeve 213 due to interference fit requirements.

[0111] Figure 9B This is a partial cross-sectional schematic diagram of a deflection assembly according to some embodiments of this specification.

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

[0113] An interference fit refers to the tight fit achieved by compressing one component into another through the elasticity of the material. Edge sealing 213-1 refers to the closed structure at the end edge of the ball sleeve 213. For example, as... Figure 9B As shown, the proximal edge of the ball sleeve 213 has a closed strip structure. In some embodiments, the sealing edge 213-1 of the ball sleeve 213 can be interference-fitted with the spherical end 214. For example, the inner diameter of the sealing edge 213-1 of the ball sleeve 213 is larger than the outer diameter of the spherical end 214, thereby achieving an interference fit. Understandably, when the sealing edge 213-1 of the ball sleeve 213 is interference-fitted with the spherical end 214, the spherical end 214 can be confined within the inner cavity of the ball sleeve 213 by the sealing edge 213-1, making it difficult for it to come out.

[0114] In some embodiments, the inner diameter of the ball sleeve 213 can be clearance-fitted with the spherical end 214. A clearance fit means that there is a gap between the mating components. For example, the inner diameter of the ball sleeve 213 can be larger than the outer diameter of the spherical end 214, i.e., there is a gap between them. Understandably, when the inner diameter of the ball sleeve 213 is clearance-fitted with the spherical end 214, there is a gap between the spherical end 214 and the ball sleeve 213, resulting in a smaller frictional force when the spherical end 214 and the ball sleeve 213 rotate relative to each other. Understandably, the deflection of the deflection component 210 requires a certain amount of force to deflect. That is, the friction between the ball sleeve 213 and the spherical end 214 cannot be too small. Otherwise, before the clamping part 310 comes into contact with the clamping target 400, the clamping part 310 may have already deflected under the action of gravity. Or, after the clamping part 310 has deflected, during the process of the spindle 220 moving from the far end to the near end, before the clamping part 310 closes, the force generated by the movement of the spindle 220 from the far end to the near end has already acted on the receiving tube 320, causing the clamping part 310 to deflect back too early, thereby affecting the clamping of the clamping target 400.

[0115] In some embodiments of this specification, by setting the slot 213-2 to be in an interference fit with the spherical end 214, the deflection and / or rotation of the spherical end 214 can be made smoother, avoiding deflection sluggishness caused by friction.

[0116] Figure 10A This is a schematic diagram illustrating the deflection of a clamping device according to some embodiments of this specification. Deflection refers to the movement of a component away from its original axis based on the deflection axis BB. In some embodiments, such as Figure 10A As shown, the clamping arm of the clamping part 310 is subjected to the force of the clamping target 400. The ball sleeve 213 deflects relative to the spherical end 214 around the deflection axis BB through the slot 213-2, causing the clamping part 310 to deflect as well. Understandably, during the deflection of the clamping part 310, the distal end of the spindle 220 bends toward the clamping target 400.

[0117] In some embodiments, the ball sleeve 213 may include a slot 213-2, with the deflection axis BB perpendicular to the longitudinal section S of the slot 213-2. The slot 213-2 refers to an open, groove-like structure. In some embodiments, the ball sleeve 213 may include at least one slot 213-2. For example, when the number of slots 213-2 is one, the ball sleeve 213 can deflect to one side relative to the spherical end 214 around the deflection axis BB via the slot 213-2. As another example, when the number of slots 213-2 is two, the ball sleeve 213 can deflect to both sides relative to the spherical end 214 around the deflection axis BB via the slot 213-2. In this case, the centers of the two slots 213-2 can be respectively set at a circumferential interval of 180° or substantially 180° relative to the ball sleeve 213. Here, substantially 180° can mean that the angle between the centers of the two slots 213-2 is between 170° and 190°, for example, 175°.

[0118] For more information on deflection, please refer to [link / reference]. Figure 1 , Figure 5 and Figure 6 And its related descriptions.

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

[0120] Figure 10B This is a schematic diagram illustrating the rotation of a clamping device according to some embodiments of this specification. Rotation refers to the movement of a component rotating about a rotation axis AA. In some embodiments, such as Figure 10B As shown, since the ball sleeve 213 in the deflection component can rotate relative to the spherical end 214 about its axis, the mandrel 220 is controlled to rotate about its axis via the handle 120. The rotation of the mandrel 220 acts on the clamping device 300 (e.g., the storage tube 320), causing the clamping device 300 (e.g., the storage tube 320) to rotate relative to the spherical end 214 about its axis (e.g., the axis of the storage tube 320). This rotation can make the closing direction of the two clamping arms consistent with the closing direction of the wound 410 of the target 400, thereby effectively clamping and closing the wound 410 of the target 400.

[0121] The rotation axis AA refers to the axis around which the clamp device 300 rotates. Understandably, in the above embodiments, the axis of the ball sleeve 213, the axis of the clamp device 300, and the axis of the receiving tube 320 coincide, and can all serve as the rotation axis AA.

[0122] In some embodiments of this specification, by setting the upper connecting end 211 to include a ball sleeve 213 and the lower connecting end 212 to include a spherical end 214, the ball sleeve 213 includes an inner cavity for installing the spherical end 214, and the two are formed by interference fit through components such as slot 213-2 and slit 214-1, which can effectively realize the deflection and rotation process 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 This is a schematic diagram of a deflection assembly according to other embodiments of this specification; Figure 11B This is a cross-sectional schematic diagram of the lower connecting end according to other embodiments of this specification; Figure 11C This is a schematic diagram of the lower connection end according to other embodiments of this specification.

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

[0125] For more information on the spherical end cap 214 and the spherical sleeve 213, please refer to [link / reference needed]. Figures 7A-10B The relevant content. It is understood that this embodiment is similar to the foregoing... Figures 7A-10B The described embodiment differs in that the structures of the upper connecting end 211 and the lower connecting end 212 are interchanged (i.e., the upper connecting end 211 includes a ball sleeve 213 and the lower connecting end 212 includes a spherical end 214, while the upper connecting end 211 includes a spherical end 214 and the lower connecting end 212 includes a ball sleeve 213). The remaining components (e.g., the slit 214-1 of the spherical end 214, the slot 213-2 of the ball sleeve 213, etc.) and the principles of deflection and rotation are the same. For details, please refer to the aforementioned related content, which will not be repeated here.

[0126] In some embodiments of this specification, by setting the upper connecting end 211 to include a spherical end 214 and the lower connecting end 212 to include a ball sleeve 213, the ball sleeve 213 may include an inner cavity for mounting the spherical end 214, which can effectively realize the deflection and rotation process of the deflection component 210 and ensure the accurate clamping of the clamping target 400.

[0127] Figure 12 This is a schematic diagram of the deflection assembly 210 according to some embodiments of this specification; Figure 13 This is a schematic diagram of the lower connection end according to some embodiments of this specification; Figure 14 This is a schematic diagram of the upper connection end according to some embodiments of this specification.

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

[0129] In some embodiments, the first side wing 216 can be used to cooperate with the second side wing 217 to achieve deflection of the deflection assembly 210. In some embodiments, the first side wing 216 can be disposed near the proximal end of the upper connecting end 211. In some embodiments, the first side wing 216 may include a first pin hole 216-1. In some embodiments, such as Figure 14 As shown, the upper connecting end 211 may include two first side wings 216, which are respectively disposed at a circumferential distance of 180° or substantially 180° relative to the upper connecting end 211. Here, substantially 180° may refer to the angle between the two side wings being between 170° and 190°, for example, 175°. Each of the two first side wings 216 includes a first pin hole 216-1, which are aligned in a straight line. In some embodiments, the upper connecting end 211 may include three or more first side wings 216, each of which includes a first pin hole 216-1, which are aligned in a straight line.

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

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

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

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

[0134] In some embodiments, pin 218 may be integrally formed with the first side wing 216. For example, a protruding pin structure may be provided on the inner side of the first side wing 216, directly connecting to the second pin hole 217-1 of the second side wing 217. In some embodiments, pin 218 may be integrally formed with the second side wing 217. For example, a protruding pin structure may be provided on the outer side of the second side wing 217, directly connecting to the first pin hole 216-1 of the first side wing 216.

[0135] Figure 15 This is a schematic diagram illustrating the deflection and / or rotation of a clamping device according to some embodiments of this specification.

[0136] In some embodiments, such as Figure 15 As shown, the clamping arm of the clamping part 310 is subjected to the force of the clamping target 400. The relative positions of the first side wing 216 and the second side wing 217 are deflected along the deflection axis BB by the pin 218, which drives the clamping device 300 to deflect.

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

[0138] In some embodiments, such as Figure 15 As shown, when the control handle 120 is rotated, the spindle 220 rotates and transmits torque to the storage tube 320, causing the storage tube 320 to rotate relative to the upper connecting end 211 around the axis of the storage tube 320, thereby causing the clamp device 300 to rotate.

[0139] Understandably, in the above embodiments, the axis of the clamp device 300 and the axis of the storage tube 320 coincide and can both serve as the rotation axis AA.

[0140] In some embodiments, the clamping device 300 includes a receiving tube 320, with a clamping portion 310 partially disposed within the receiving tube 320, and the receiving tube 320 is rotatable about the axis of the sheath tube 230. For example, as Figure 15 As shown, the storage tube 320 includes an annular groove 321, the upper connecting end 211 includes an annular protrusion 219, the annular groove 321 and the annular protrusion 219 are rotatably engaged; and the spindle 220 rotates around the axis of the spindle 220, causing the storage tube 320 to rotate relative to the upper connecting end 211 around the axis of the storage tube 320.

[0141] In some embodiments, the annular groove 321 and the annular protrusion 219 can be used to cooperate with each other to achieve a rotatable connection between the upper connecting end 211 and the receiving tube 320. In some embodiments, the annular groove 321 can be disposed at the proximal end of the receiving tube 320. In some embodiments, the annular protrusion 219 can be disposed at the distal end of the upper connecting end 211. Rotatable cooperation can refer to a connection method in which multiple components can rotate. It is understood that after the annular groove 321 and the annular protrusion 219 abut, the receiving tube 320 can rotate relative to the deflection assembly 210 under the torque applied by the spindle 220.

[0142] In some embodiments of this specification, the receiving tube 320 includes an annular groove 321, and the upper connecting end 211 includes an annular protrusion 219. The annular groove 321 and the annular protrusion 219 are rotatably engaged, further enabling the receiving tube 320 to rotate. This ensures 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 clamping and closing the wound 410 of the clamping target 400. Furthermore, the receiving tube 320 can rotate while the sheath 230 remains stationary, ensuring that the clamping part 310 can rotate based on the position of the wound 410 of the clamping target 400, while also maintaining the relative stability of the entire delivery device 200.

[0143] In some embodiments of this specification, by setting the upper connecting end 211 to include a first side wing 216 and the lower connecting end 212 to include a second side wing 217, the first side wing 216 to include a first pin hole 216-1 and the second side wing 217 to include a second pin hole 217-1, and connecting the first side wing 216 and the second side wing 217 through a pin 218 passing through the first pin hole 216-1 and the second pin hole 217-1, the deflection and rotation process of the deflection component 210 can be effectively realized, ensuring the accurate clamping of the clamping target 400.

[0144] In some embodiments of this specification, the clamp device 10 can ensure the stability of the clamp device 10 while enabling the clamp to deflect and / or rotate after opening. It can accurately and efficiently adjust the position of the clamp when the clamped target 400 is not directly facing the clamp device 300. Under clinical conditions, it can reduce the difficulty of surgical operation, better clamp the target 400, and provide convenience for doctors / nurses.

[0145] Figures 16 to 21B This is a schematic diagram illustrating the movement process of the clamping device 10 according to some embodiments of this specification. The following will be combined with... Figures 16 to 21B The clamping device 10 is described to perform operations such as opening, overall deflection, closing, locking, and releasing. However, the following operation steps are only illustrative and the operation process is not limited to following these steps.

[0146] Step 1, as follows Figure 16 As shown, after the clamping part 310 is conveyed 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 open. In some embodiments, the spindle 220 is connected to the pin 314 corresponding to the first clamping arm 311 and the second clamping arm 312. The spindle 220 moves from the proximal end to the distal end, applying a force to the pin 314, which causes the first clamping arm 311 and the second clamping arm 312 to move away from each other, thus opening the clamping position. A clamping space is formed between the first clamping arm 311 and the second clamping arm 312, which can clamp the clamping target 400.

[0147] Step 2: After the clamping part 310 is opened, the clamping part 310 is deflected as a whole under the force of the clamping target 400, and / or the operator (e.g., doctor) controls the clamping part 310 to rotate to a position facing the clamping target 400 through the handle 120 in conjunction with the endoscope, and the closing direction of the clamping part 310 is consistent with the closing direction of the wound 410 of the clamping target 400.

[0148] In some embodiments, such as Figure 17 As shown, one of the clamping arms of the clamping part 310 is deflected in the direction of the force exerted by the clamping target 400, the spindle 220 moves from the proximal end to the distal end, and the upper connecting end 211 deflects relative to the lower connecting end 212, causing the clamping device 300 to deflect. In some embodiments, the operator (e.g., a doctor) can control the spindle 220 to rotate around its axis via the handle 120, causing the clamping device 300 to rotate relative to the deflection assembly 210 around its axis. The clamping direction of the clamping part 310 after overall deflection and / or rotation is aligned with the clamping target 400, and the closing direction of the two clamping arms is consistent with the closing direction of the wound 410 of the clamping target 400, achieving effective clamping.

[0149] Step 3, as Figure 18 As shown, the clamping part 310 changes from an open state to a closed state to clamp the target tissue.

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

[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 distal ends of the second clamping arm 312 can accommodate part of the clamped target 400 into the clamping space.

[0152] In some embodiments, before the locking part 322 engages with the locked part 313, the force generated by the movement of the spindle 220 from the distal end to the proximal end acts on the clamping part 310, thereby causing the clamping part 310 to close. It can be understood that, as Figure 19A As shown, the spindle 220 moves from the distal end to the proximal end, causing 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 to close 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 exerts a compressive 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 undergo elastic deformation and close.

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

[0154] In some embodiments of this specification, before the locking part 322 engages with the locked part 313, the force generated by the movement of the spindle 220 from the distal end to the proximal end acts on the clamping part 310 to drive the clamping part 310 to close. This allows the clamping part 310 to be effectively closed under the combined force of the receiving tube 320 and the spindle 220.

[0155] Step four, as Figure 19A and 19B As shown, after the clamping part 310 is locked, the spindle 220 continues to move from the distal end to the proximal end, causing the clamping device 300 to deflect until the axis of the clamping device 300 coincides with the axis of the distal end of the sheath 230.

[0156] In some embodiments, after the clamping portion 310 closes, the spindle 220 can be controlled to continue moving from the distal end to the proximal end, causing the clamping portion 310 to deflect until its axis coincides with the axis of the distal end of the sheath 230. Understandably, when the clamping portion 310 is deflected by the force of the clamping target 400, and the spindle 220 can move from the distal end to the proximal end, the clamping portion 310 closes, and the spindle 220 continues to move from the distal end to the proximal end, causing the clamping portion 310, which was previously deflected by the force of the clamping target 400, to deflect back to its initial position until its axis coincides with the axis of the distal end of the sheath 230.

[0157] In some embodiments, after the locking part 322 engages with the locked part 313, the force generated by the movement of the spindle 220 from the distal end to the proximal end can act on the receiving tube 320 to cause the clamping part 310 to deflect relative to the sheath 230. Understandably, after the locked part 313 of the clamping part 310 passes the locking part 322, the spindle 220 continues to move from the distal end to the proximal end, causing the clamping part 310 to engage with the blocking structure 326 of the receiving tube 320, restricting the movement of the clamping part 310 from the distal end to the proximal end. Since the clamping part 310 is locked at this time and engages with the blocking structure 326, the force generated by the movement of the spindle 220 from the distal end to the proximal end can further act on the receiving tube 320. As the spindle 220 continues to move from the distal end to the proximal end, the clamping part 310 is driven to deflect relative to the sheath 230.

[0158] After the locking part 322 and the locked part 313 are engaged, the force generated by the movement of the spindle 220 from the distal end to the proximal end acts on the storage tube 320, thereby causing the clamping part 310 to deflect relative to the sheath tube 230. This allows the force of the spindle 220 to act on the storage tube 320 when locked, and enables the clamping part 310 to return to its original position after deflection. The operation is simple and has a high success rate.

[0159] Step 5, as Figure 20A and Figure 20B As shown, after the clamping part 310 is locked, the spindle 220 continues to move from the distal end to the proximal end, releasing the connection between the spindle 220 and the clamping part 310. In some embodiments, the movement of the spindle 220 from the distal end to the proximal end causes deformation, displacement, or breakage of the distal end of the limiting part, thereby releasing the connection between the distal end of the limiting part and the pin 314, and releasing the connection between the spindle 220 and the clamping part 310.

[0160] In some embodiments, after the axis of the clamping part 310 coincides with the axis of the distal end of the sheath 230, the spindle 220 can move from the distal end to the proximal end, causing the spindle 220 to release from the clamping part 310. For example, the spindle 220 can be controlled to move from the distal end to the proximal end, applying a force to the distal end of the limiting part connected to the pin 314 of the clamping part 310, until the distal end of the limiting part breaks, deforms, or displaces, thereby releasing the connection between the spindle 220 and the pin 314, thus realizing the release connection between the spindle 220 and the clamping part 310.

[0161] In some embodiments of this specification, by aligning the axis of the clamping part 310 with the axis of the distal end of the sheath 230, the spindle 220 moves from the distal end to the proximal end, causing the spindle 220 to release from the clamping part 310, thus effectively releasing the spindle 220 from the clamping part 310 and providing a prerequisite for the separation of the clamp device 300 and the deflection assembly 210.

[0162] Step six, as follows Figure 21A and Figure 21B As shown, after the spindle 220 is released from the clamping part 310, the spindle 220 continues to move from the distal end to the proximal end, so that the proximal end of the limiting part abuts against the elastic pin 240 and applies a force to the elastic pin 240 until the protruding structure of the elastic pin 240 breaks, deforms or displaces, thereby releasing the connection between the storage tube 320 and the elastic pin 240, thus realizing the release connection between the clamp device 300 and the deflection assembly 210.

[0163] In some embodiments, the spindle 220 can continue to move from the distal end to the proximal end, causing the clamp device 300 to release its connection with the deflection assembly 210. For example, the spindle 220 can be controlled to continue moving from the distal end to the proximal end, 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 protruding structure of the elastic pin 240 breaks, deforms, or displaces, thereby releasing the connection between the storage tube 320 and the elastic pin 240, thus realizing the release connection between the clamp device 300 and the deflection assembly 210.

[0164] By setting the spindle 220 to continue moving from the far end to the near end, the clamp device 300 and the deflection component 210 are released from connection. With the cooperation of the elastic pin 240, the clamp device 300 and the deflection component 210 can be separated. The operation is simple and effective with a low failure rate.

[0165] Some embodiments of this specification also provide a method for controlling a clamping device applied to the clamping device 10 as described in any of the preceding embodiments. This control method is executed by a control device 100, and the operation of the processes described below is for illustrative purposes only. In some embodiments, the process may be accomplished using one or more additional operations not described and / or without the one or more operations discussed. Furthermore, the order of operations in the processes described below is not intended to be limiting.

[0166] Figure 22 This is a flowchart of a control method for a clamping device according to some embodiments of this specification. In some embodiments, the control method flow 2200 includes the following steps.

[0167] Step 2210: Control the clamping part 310 to abut against the clamping target 400, so that the clamping part 310 is deflected by the force of the clamping target 400, and the axis of the clamping device 300 and the axis of the distal end of the sheath tube 230 are deflected at an angle.

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

[0169] In some embodiments, when the clamping target 400 is not located in the axial direction of the clamping device 300, one of the clamping arms (such as the first clamping arm 311 or the second clamping arm 312) in the clamping part 310 will first contact the clamping target 400, thereby causing one side of the clamping arm of the clamping part 310 to be subjected to force, driving the clamping device 300 to deflect relative to the sheath 230. In some embodiments, under the force of the clamping target 400, the first clamping arm 311 or the second clamping arm 312 of the clamping part 310 causes the upper connecting end 211 of the deflection assembly 210 to deflect relative to the lower connecting end 212, and the distal end of the spindle 220 bends toward the clamping target 400, and the axis of the clamping device 300 and the axis of the distal end of the sheath 230 present a deflection angle.

[0170] For example, when the upper connecting end 211 includes a ball sleeve 213 and the lower connecting end 212 includes a spherical end 214, under the force of clamping the target 400, the ball sleeve 213 can deflect relative to the spherical end 214 at the slot 213-2 position along the deflection axis BB, thereby causing the clamping device 300 to deflect.

[0171] For example, when the upper connecting end 211 includes a spherical end 214 and the lower connecting end 212 includes a ball sleeve 213, under the force of clamping the target 400, the spherical end 214 can deflect relative to the ball sleeve 213 at the slot 213-2 position along the deflection axis BB, thereby causing the clamping device 300 to deflect.

[0172] For example, when the upper connecting end 211 includes a first side wing 216 and the lower connecting end 212 includes a second side wing 217, under the force of clamping the target 400, the first side wing 216 deflects relative to the second side wing 217 along the deflection axis BB, causing the clamping device 300 to deflect.

[0173] For more information on the 300° deflection of the clamping device, please refer to [link / reference needed]. Figures 6-15 , Figure 17 And its related descriptions.

[0174] When the clamping 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 clamping device 300 reach equilibrium. At this time, the clamping device 300 no longer deflects, and the clamping device 300 is now near the clamping target 400.

[0175] In some embodiments, before the clamping part 310 closes, the control device 100 can control the spindle 220 to rotate around the axis of the spindle 220, thereby driving the clamping device 300 to rotate relative to the deflection assembly 210 around the axis of the clamping device 300, which can further adjust the clamping position and clamping angle of the clamping part 310 on the clamping target 400.

[0176] In some embodiments, the mandrel 220 can be rotated around its axis by the handle 120 to transmit torque to the storage tube 320, thereby causing the storage tube 320 to rotate around its axis, so that the clamp device 300 rotates relative to the deflection assembly 210 around its axis.

[0177] For example, when the upper connecting end 211 of the deflection assembly 210 includes a ball sleeve 213 and the lower connecting end 212 includes a spherical end 214, under the force of the rotation of the spindle 220, the ball sleeve 213 rotates around the spherical end 214 and makes a circumferential movement around the central axis of the ball sleeve 213, which drives the clamp device 300 to rotate.

[0178] For example, when the upper connecting end 211 of the deflection assembly 210 includes a spherical end 214 and the lower connecting end 212 includes a ball sleeve 213, under the force of the rotation of the spindle 220, the spherical end 214 rotates in the ball sleeve 213 and makes a circumferential movement around the central axis of the spherical end 214, which drives the clamp device 300 to rotate.

[0179] For example, when the upper connecting end 211 includes a first side wing 216 and the lower connecting end 212 includes a second side wing 217, under the force of the rotation of the spindle 220, the storage tube 320 rotates along the rotation axis AA through the annular groove 321 at the point where it abuts against the annular protrusion 219 of the upper connecting end 211, thereby driving the clamp device 300 to rotate.

[0180] For more information on the 300-degree rotation of the clamping device, please refer to [link / reference needed]. Figure 10B , Figure 15 And its related descriptions.

[0181] Step 2220: Control the spindle 220 to move from the distal end to the proximal end, causing the clamping part 310 to close, so as to clamp the target 400.

[0182] In some embodiments, after the clamping device 300 has been positioned, the mandrel 220 can be moved from its distal end to its proximal end via the handle 120 in the control device 100. The distal end of the mandrel 220 is connected to the proximal end of the clamping arm of the clamping part 310, transmitting force to the clamping arm of the clamping part 310. This causes the two clamping arms to move towards each other along the direction of the pin 314, thereby closing the clamping part 310 to clamp the target 400. More information regarding the closing of the clamping part 310 can be found in [link to relevant documentation]. Figure 18 And its related descriptions.

[0183] In some embodiments, after the clamping portion 310 is closed, the control spindle 220 continues to move from the distal end to 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 spindle 220 on the clamping portion 310 is transmitted to the receiving tube 320. Since the spindle 220 generates a straightening force during its retraction movement from the distal end to the proximal end, this force can cause the clamping device 300 to deflect until the axis of the clamping device 300 coincides with the axis of the distal end of the sheath 230.

[0184] In some embodiments, when the clamping part 310 is deflected by the force of the clamping target 400, the clamping part 310 closes under the force of the spindle 220 moving from the distal end to the proximal end. The spindle 220 is then controlled to continue moving from the distal end to the proximal end. Through the retraction force of the spindle 220, the clamping part 310, which was previously deflected by the force of the clamping target 400, is driven to deflect back to its initial position until the axis of the clamping device 300 coincides with the axis of the distal end of the sheath 230. More information regarding the deflection of the clamping device 300 until its axis coincides with the axis of the distal end of the sheath 230 can be found in [link to relevant documentation]. Figures 19A-19B And its related descriptions.

[0185] In some embodiments, after the axis of the clamping device 300 coincides with the axis of the distal end of the sheath 230, the control spindle 220 moves from the distal end to the proximal end, causing the spindle 220 to release the connection with the clamping part 310; and the control spindle 220 continues to move from the distal end to the proximal end, causing the clamping device 300 to release the connection with the deflection assembly 210.

[0186] In some embodiments, after the axis of the clamping device 300 coincides with the axis of the distal end of the sheath 230, the mandrel 220 can be controlled by the handle 120 to move from the distal end to the proximal end, applying force to the distal end of the limiting part connected to the pin 314 of the clamping part 310, until the distal end of the limiting part breaks, deforms, or displaces, thereby releasing the connection between the mandrel 220 and the pin 314, thus realizing the release connection between the mandrel 220 and the clamping part 310. More information regarding the release connection between the mandrel 220 and the clamping part 310 can be found in [link to relevant documentation]. Figures 20A-20B And its related descriptions.

[0187] In some embodiments, the mandrel 220 can be further controlled by the handle 120 to move from the distal end to the proximal end, so that after the proximal end of the limiting part abuts against the elastic pin 240, a force is applied to the elastic pin 240 until the protruding structure of the elastic pin 240 breaks, deforms, or displaces, thereby releasing the connection between the storage tube 320 and the elastic pin 240, thus realizing the release connection between the clamp device 300 and the deflection assembly 210. More information regarding the release connection between the clamp device 300 and the deflection assembly 210 can be found in [link to relevant documentation]. Figures 21A-21B And its related descriptions.

[0188] In some embodiments of this specification, by setting the clamping part 310 to abut against the clamping target 400, the clamping part 310 is deflected by the force exerted by the clamping target 400. The axis of the clamping device 300 and the axis of the distal end of the sheath 230 are deflected at an angle. The force exerted directly on the clamping part 310 by the clamping target 400 is used to drive the frame device to deflect through the deflection component 210 structure, without the need for manual force application. This better matches the actual clamping situation of the clamping target 400 and achieves accurate position adjustment. The control spindle 220 moves from the distal end to the proximal end, causing the clamping part 310 to close to clamp the clamping target 400. This can effectively control the closing of the clamping part 310, ensuring that the clamping part 310 accurately clamps the clamping target 400, which is conducive to the normal progress of the surgery.

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

[0190] (1) In clinical operation, after the two clamping arms are opened, they are deflected by the force exerted by the clamping target on the clamping arms without the need for manual application, so that the deflection is more in line with the actual situation of the clamping target and the position is more accurate.

[0191] (2) By setting the deflection component to include a deflectable upper connection end and a lower connection end, the deflection component can adjust the connection angle more flexibly when facing different working conditions or clamping targets, thus improving the adaptability of the clamping device in diverse working environments.

[0192] (3) By setting the upper connecting end to include a ball sleeve and the lower connecting end to include a spherical end, the ball sleeve includes an inner cavity for installing the spherical end. The two are formed by the slot, slit and other components to form an interference fit, which can effectively realize the deflection and rotation process 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 connecting end to include a first side wing and the lower connecting end to include a second side wing, the first side wing includes a first pin hole and the second side wing includes a second pin hole. The first side wing and the second side wing are connected by a pin passing through the first pin hole and the second pin hole, which can effectively realize the deflection and rotation process of the deflection component and ensure the accurate clamping of the clamping target.

[0194] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

[0195] Furthermore, this specification uses specific terms to describe embodiments thereof. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Moreover, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0196] Furthermore, unless expressly stated in the claims, the order of processing elements and sequences, the use of numbers and letters, or other names described in this specification are not intended to limit the order of the processes and methods described herein. Although various examples have been discussed in the foregoing disclosure of some embodiments of the invention that are currently considered useful, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments; rather, the claims are intended to cover all modifications and equivalent combinations that conform to the spirit and scope of the embodiments described herein. For example, while the system components described above can be implemented using hardware devices, they can also be implemented solely using 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 description disclosed herein and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of embodiments in this specification may sometimes combine multiple features into a single embodiment, drawing, or description thereof. However, this method of disclosure does not imply that the subject matter of this specification requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of a single embodiment disclosed above.

[0198] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this specification are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0199] For each patent, patent application, patent application publication, and other material, such as articles, books, specifications, publications, and documents, referenced in this specification, the entire contents of which are incorporated herein by reference. This excludes historical application documents that are inconsistent with or conflict with the content of this specification, as well as documents that limit the broadest scope of the claims in this specification (currently or subsequently appended to this specification). It should be noted that in the event of any inconsistency or conflict between the descriptions, definitions, and / or terminology used in the supplementary materials to this specification and the content of this specification, the descriptions, definitions, and / or terminology used in this specification shall prevail.

[0200] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and should be considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. A clamping device, characterized in that, It includes a clamping device and a conveying device, wherein the clamping device is releasably disposed at the distal end of the conveying device, and the clamping device includes a clamping part; The delivery device includes a sheath and a deflection assembly, the deflection assembly being connected to the distal end of the sheath, and the clamp device being releasably connected to the distal end of the deflection assembly. The deflection assembly provides the clamping portion with a degree of freedom to deflect relative to the sheath. The conveying device further includes a mandrel, the distal end of which is releasably connected to the clamping portion; and The clamping part is deflected by the force exerted on the clamping target, causing the core axis to bend towards the clamping target; the axis of the clamping device is deflected at an angle to the axis of the distal end of the sheath.

2. The clamping device as described in claim 1, characterized in that, The mandrel moves from the distal end to the proximal end, causing the clamping part to close; and After the clamping part closes, the spindle continues to move from the distal end to the proximal end, causing the clamping device to deflect until the axis of the clamping device coincides with the axis of the distal end of the sheath.

3. The clamping device as described in claim 2, characterized in that, The clamping device includes a storage tube, and the clamping part is partially disposed inside the storage tube. The storage tube includes a locking part, and the clamping part includes a locked part. When the locking part and the locked part are engaged, the clamping device is locked. Before the locking part engages with the locked part, the force generated by the movement of the spindle 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 engages with the locked part, the force generated by the movement of the spindle from the distal end to the proximal end acts on the receiving tube, thereby causing the clamping part to deflect relative to the sheath.

4. The clamping device as described in claim 2, characterized in that, After the axis of the clamping device coincides with the axis of the distal end of the sheath, the spindle moves from the distal end to the proximal end, causing the spindle to release from the clamping part; and The spindle continues to move from the distal end to the proximal end, causing the clamp device to release its connection with the deflection assembly.

5. The clamping device as described in any one of claims 1 to 4, characterized in that, The deflection assembly includes an upper connecting end and a lower connecting end. The upper connecting end is located at the far end of the deflection assembly, and the lower connecting end is located at the near end of the deflection assembly. The upper connecting end and the lower connecting end are deflectably connected.

6. The clamping device as described in claim 5, characterized in that, The upper connecting end includes a ball sleeve, and the lower connecting end includes a spherical end; the ball sleeve includes an inner cavity for mounting the spherical end; or The upper connecting end includes a spherical end, and the lower connecting end includes a ball sleeve, the ball sleeve including an inner cavity for mounting the spherical end.

7. The clamping device as described in claim 6, characterized in that, The spherical end includes a slit.

8. The clamping device as described in claim 6, characterized in that, The spherical end and the ball sleeve are connected by an interference fit.

9. The clamping device as described in claim 8, characterized in that, The ball sleeve includes a sealing edge, the sealing edge of the ball sleeve being interference-fitted with the spherical end, and the inner diameter of the ball sleeve being clearance-fitted with the spherical end; and The ball sleeve includes a slot, and the deflection axis is perpendicular to the longitudinal section of the slot.

10. The clamping device as described in claim 5, characterized in that, The upper connecting end includes a first side wing, and the lower connecting end includes a second side wing. The first side wing includes a first pin hole, and the second side wing includes a second pin hole. The first side wing and the second side 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.

11. The clamping device as described in claim 10, characterized in that, The clamping device includes a storage tube, and the clamping part is partially disposed inside the storage tube. The storage tube is rotatable about the axis of the storage tube. The receiving tube includes an annular groove, and the upper connecting end includes an annular protrusion; the annular groove and the annular protrusion are rotatably engaged. The spindle rotates about its axis, causing the storage tube to rotate about its axis relative to the upper connecting end.

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