Clip applier

Abstract

A clip applier of the present disclosure includes a clip cartridge, an end effector, a stop mechanism, and a firing mechanism. The clip bin is provided with clips. The stopping mechanism is provided with a first stopping part. And the firing mechanism comprises a limiting part and a wrench which are connected with each other. The wrench drives the clip into the end effector in response to movement of the wrench from the open position to the intermediate position. In response to movement of the wrench from the intermediate position to the closed position, the wrench drives the end effector to close to close the clip in the end effector. Before the wrench moves from the closing position to the opening position, in response to the movement of the wrench towards the closing position, the first stop part keeps abutting against the limiting part to limit the movement of the wrench towards the closing position, so that the wrench moves from the closing position to the opening position, and the wrench can move towards the closing position again; therefore, all the movement units of the clip applier are driven to move after being completely reset, internal disorder of the clip applier is avoided, and stable operation of the clip applier is guaranteed.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to a clip applier. Background Art

[0002] During surgical procedures, clips are often applied to tissue or blood vessels to ligate them and stop bleeding. A clip applier is a surgical instrument used to apply a clip to tissue or blood vessels. During use, the clip applier is inserted into the body through a trocar cannula to precisely apply a clip to the target tissue or blood vessel.

[0003] Clip applier generally comprises a spanner, and in use, manipulates the spanner of clip applier so that spanner motion drives clip applier to run.After clip applier clamping is finished, unclamping spanner is reset so that spanner is reset, thereby each motion unit of clip applier is reset. Summary of the Invention

[0004] Embodiments of the present disclosure are directed to providing a clip applier.

[0005] The present disclosure is achieved through the following technical solutions: A clip applier comprises a clip cartridge, an end effector, a stop mechanism, and a firing mechanism; the clip cartridge comprises a clip; the stop mechanism comprises a first stop portion; the firing mechanism comprises a limit portion and a wrench connected thereto; the wrench has an open position, an intermediate position, and a closed position; In response to the wrench moving from the open position to the intermediate position, the wrench drives the clip into the end effector; In response to the wrench moving from the intermediate position to the closed position, the wrench drives the end effector closed to close the clamp in the end effector; The wrench moves from the closed position toward the open position until the limiting portion passes over the first stop portion, and before the wrench reaches the open position, in response to the wrench moving toward the closed position, the first stop portion remains in contact with the limiting portion to limit the wrench from moving toward the closed position.

[0006] For example, the clip applier further includes a housing and a blocking portion; The stop mechanism includes a moving part, the moving part is movably connected to the housing, and the moving part has the first stop portion and the second stop portion; In response to the wrench moving from the open position to the closed position, the first stop portion is staggered with the limiting portion to avoid the limiting portion; In response to the wrench moving from the closed position towards the open position until the limiting portion abuts against the first stop portion, the moving member moves to cause the first stop portion to avoid the limiting portion, so that the limiting portion crosses over the first stop portion; When the wrench moves from the closed position towards the open position until the limiting portion crosses over the first stop portion, and before the wrench reaches the open position, in response to the wrench moving towards the closed position until the limiting portion abuts against the first stop portion, the blocking portion abuts against the second stop portion to restrict the movement of the moving member, so that the limiting portion remains in abutment with the first stop portion to restrict the wrench from moving towards the closed position.

[0007] For example, in response to the movement of the wrench, the limiting portion moves axially; When the wrench is in the open position, the projections of the limiting portion and the first stop portion along the axial direction are offset. In response to the wrench moving from the open position to the intermediate position, the limiting portion moves from the proximal side of the first stop portion to the distal side of the first stop portion; When the wrench is in the intermediate position, the projections of the limiting portion and the first stop portion along the axial direction at least partially overlap. In response to the wrench moving from the intermediate position to the closed position, the limiting portion moves on the distal side of the first stop portion; Before the wrench moves from the closed position towards the open position to reach the open position and the limiting portion reaches the proximal side of the first stop portion, the projections of the limiting portion and the first stop portion along the axial direction at least partially overlap. In response to the wrench moving towards the closed position, the limiting portion moves from the proximal side to the distal end of the first stop portion to remain in abutment with the first stop portion.

[0008] For example, the clip applicator further includes a clip feeding mechanism; The firing mechanism further includes a switching mechanism connected to the wrench; When the wrench is in the open position, the switching mechanism cooperates with the clip feeding mechanism; in response to the wrench moving from the open position to the intermediate position, the wrench drives the switching mechanism to move to drive the clip into the end effector; When the wrench reaches the intermediate position, the switching mechanism is disengaged from the clip feeding mechanism; in response to the wrench moving from the intermediate position to the closed position, the wrench drives the switching mechanism to move to drive the end effector to close; When the wrench reaches the closed position, the clip feeding mechanism is reset; in response to the wrench moving from the closed position to the open position, the switching mechanism is reset to cooperate with the clip feeding mechanism again.

[0009] For example, the clip feeding mechanism has a card slot; The switching mechanism includes a first clutch member having an engaging end and a switching end opposite to each other, and the limiting portion is provided at the switching end; In response to the engagement of the engaging end of the first clutch member with the engaging slot, the switching mechanism cooperates with the clamp feeding mechanism, and the projections of the limiting portion and the first stop portion along the axial direction are staggered; In response to the first clutch member moving away from the slot so that the engaging end is disengaged from the slot, the switching mechanism and the clamp feeding mechanism are released from engagement, and the projections of the limiting portion and the first stop portion along the axial direction at least partially overlap.

[0010] For example, the clip delivery mechanism includes a clip delivery drive tube and a clip delivery assembly connected thereto, and in response to the distal movement of the clip delivery drive tube, the clip delivery assembly moves distally to deliver the clip of the clip cartridge to the end effector; The outer wall of the clamp feeding drive tube is provided with the clamping slot; Before the wrench moves from the closed position to the open position, in response to the engaging end of the first clutch member moving along the outer wall of the clamp feeding drive tube, the projections of the limiting portion and the first stop portion along the axial direction at least partially overlap.

[0011] For example, the wrench has an extension arm extending toward the moving part, and the limiting portion is connected to the extension arm; The moving member includes a pivot body and a stop arm connected to each other, wherein the pivot body is rotatably connected to the housing; the stop arm has an avoidance side and an abutting side; the first stop portion is provided on the abutting side of the stop arm; In response to the wrench moving from the open position to the closed position, the limiting portion moves from the first position to the second position via the avoidance side of the stop arm; In response to the wrench moving from the closed position toward the open position, so that the limiting portion moves from the second position via the abutting side of the stop arm to abut against the first stop portion, the pivoting body rotates so that the first stop portion avoids the limiting portion so that the limiting portion passes over the first stop portion; The wrench moves from the closed position toward the open position until the limiting portion passes over the first stop portion, and before the wrench reaches the open position, in response to the wrench moving toward the closed position, the limiting portion moves toward the second position via the abutting side of the stop arm until it remains in abutment with the limiting portion, thereby limiting the movement of the wrench toward the closed position.

[0012] For example, the second stop portion is also provided on the abutting side of the stop arm; the blocking portion is provided on the limiting portion; The wrench moves from the closed position toward the open position until the limiting portion passes over the first stop portion, and before the wrench reaches the open position, in response to the wrench moving toward the closed position, the limiting portion moves toward the second position until the limiting portion abuts against the first stop portion, and the blocking portion abuts against the second stop portion to limit the movement of the moving part, so that the first stop portion and the limiting portion remain in abutment.

[0013] For example, the clip applier further has a stop portion; The stop arm has a connecting end and a free end, the connecting end is connected to the pivot body, and the free end can move relative to the pivot body; the free end of the stop arm is provided with a conversion portion; In response to the wrench moving from the open position to the closed position, the stop arm abuts against the stop portion to limit the pivot body from rotating in the first rotation direction. When the limiting portion moves from the first position via the avoidance side of the stop arm to abut against the conversion portion, the free end of the stop arm moves so that the conversion portion avoids the limit portion, thereby causing the limit portion to move to the second position. In response to the wrench moving from the closed position to the open position, when the limiting portion moves from the second position to abut against the conversion portion, the pivot member rotates along the second rotation direction to allow the conversion portion to avoid the limiting portion, thereby causing the limiting portion to move to the abutting side of the stop arm.

[0014] For example, the moving part is rotatably connected to the housing, and the movement of the moving part is rotation.

[0015] For example, the stop mechanism further includes an elastic member, one portion of the elastic member is connected to the housing, and another portion of the elastic member is connected to the moving member; the elastic member is configured to provide power for resetting the moving member.

[0016] For example, the clip applier further includes a clip delivery mechanism; The firing mechanism further includes a switching mechanism connected to the wrench; When the wrench is in the open position, the switching mechanism cooperates with the clamp feeding mechanism; in response to the wrench moving from the open position to the intermediate position, the wrench drives the switching mechanism to move so as to drive the clamp into the end actuator; When the wrench reaches the intermediate position, the switching mechanism is disengaged from the clip feeding mechanism; in response to the wrench moving from the intermediate position to the closed position, the wrench drives the switching mechanism to move to drive the end effector to close; When the wrench reaches the closed position, the clip feeding mechanism is reset; in response to the wrench moving from the closed position to the open position, the switching mechanism is reset to cooperate with the clip feeding mechanism again.

[0017] For example, the clip feeding mechanism has a card slot; the switching mechanism includes a first clutch member, and the first clutch member has a latching end; In response to the latching end of the first clutch member being latched in the card slot, the switching mechanism cooperates with the clip feeding mechanism; In response to the latching end of the first clutch member being disengaged from the card slot, the switching mechanism is disengaged from the clip feeding mechanism.

[0018] For example, the clip applicator further includes a switching member, a housing, and a guide rail provided on the housing; the first clutch member further has a switching end opposite to the latching end, and the switching member is provided at the switching end; In response to the wrench moving from the open position to the intermediate position, the switching member enters the guide rail, causing the first clutch member to move away from the card slot, so that the latching end is disengaged from the card slot.

[0019] For example, the clip applicator further includes a clip applying mechanism, and the clip applying mechanism includes a clip applying drive tube and a sleeve connected to each other; In response to the firing mechanism performing the driving movement to be disengaged from the clip feeding mechanism, the firing mechanism abuts against the clip applying drive tube to drive the clip applying drive tube to move, so that the sleeve moves to at least partially receive the end effector in the sleeve, thereby closing the end effector. Description of the Drawings

[0020] Figure 1 is a schematic structural view of a clip applicator provided by some embodiments of the present disclosure; Figure 2 is a partial area schematic view of a clip applicator provided by an embodiment of the present disclosure, wherein the clip applicator is in an initial state and the firing mechanism does not move; Figure 3-4 is a schematic structural view of a stop mechanism provided by an embodiment of the present disclosure; Figure 5 is a schematic structural view of the housing of a clip applicator provided by an embodiment of the present disclosure, mainly for showing the blocking portion; Figure 6It is a schematic diagram of a partial area of a clip applicator provided by an embodiment of the present disclosure. Among them, the clip applicator is in an initial state, and the seat body of the switching mechanism is not shown; Figure 7 It is a schematic diagram of a partial area of a clip applicator provided by an embodiment of the present disclosure. Among them, the wrench moves from the open position towards the middle position but does not reach the middle position; Figure 8-9 It is a schematic diagram of a partial area of a clip applicator provided by an embodiment of the present disclosure. Among them, the clip applicator is at the moment when clip feeding is completed; Figure 10 It is a schematic diagram of a partial area of a clip applicator provided by an embodiment of the present disclosure. Among them, the clip applicator is at the moment when clamping is completed; Figure 11-12 It is a schematic diagram of a partial area of a clip applicator provided by an embodiment of the present disclosure. Among them, the firing mechanism performs a reset movement such that the limiting portion passes through the moving member; Figure 13-14 It is a schematic diagram of a partial area of a clip applicator provided by an embodiment of the present disclosure. Among them, the wrench moves from the closed position to the open position and then moves towards the closed position again, such that the limiting portion remains in contact with the first stop portion; Figure 15-16 It is a schematic diagram of a partial area of a clip applicator provided by another embodiment of the present disclosure. Among them, the clip applicator is in an initial state and the firing mechanism is not moving; Figure 17 It is a schematic diagram of the structure of a wrench provided by another embodiment of the present disclosure; Figure 18-19 It is a schematic diagram of the structure of a moving member provided by another embodiment of the present disclosure; Figure 20 It is a schematic diagram of a partial area of a clip applicator provided by another embodiment of the present disclosure. Among them, the clip applicator is at the moment when clip feeding is completed; Figure 21 It is a schematic diagram of a partial area of a clip applicator provided by another embodiment of the present disclosure. Among them, the limiting portion moves from the first position to contact with the conversion portion via the avoiding side of the stop arm; Figure 22 It is a schematic diagram of a partial area of a clip applicator provided by another embodiment of the present disclosure. Among them, the clip applicator is at the moment when clamping is completed; Figure 23 It is a schematic diagram of a partial area of a clip applicator provided by another embodiment of the present disclosure. Among them, the limiting portion moves from the second position to contact with the conversion portion; Figure 24 It is a schematic diagram of a partial area of a clip applicator provided by another embodiment of the present disclosure. Among them, the limiting portion moves from the second position to contact with the first stop portion; Figure 25It is a schematic diagram of a partial area of a clip applicator provided by another embodiment of the present disclosure, wherein the limiting portion moves from the second position to the abutting side of the stop arm; Figure 26 It is a schematic diagram of a partial area of a clip applicator provided by another embodiment of the present disclosure. Before the wrench moves from the closed position to the open position, the wrench moves towards the closed position, and the first stop portion remains in contact with the limiting portion; Figures 27-28 It is a schematic structural diagram of a clip magazine provided by some embodiments of the present disclosure; Figure 29 It is a schematic structural diagram of a clip provided by a clip applicator according to some embodiments of the present disclosure; Figure 30-31 It is a cross-sectional view of a partial area of a clip applicator provided by some embodiments of the present disclosure, wherein the clip feeding assembly is not in contact with the clip; Figures 32-33 It is a cross-sectional view of a partial area of a clip applicator provided by some embodiments of the present disclosure, wherein the clip feeding assembly is in contact with the clip and pushes the clip into the jaw assembly; Figure 34 It is a cross-sectional view of a partial area of a clip applicator provided by some embodiments of the present disclosure, and the clip applicator is in an initial state; Figure 35 It is a schematic structural diagram of a clip pushing mechanism provided by some embodiments of the present disclosure; Figure 36 It is a schematic structural diagram of a switching mechanism provided by some embodiments of the present disclosure; Figures 37-38 It is a schematic structural diagram of a guiding pivot provided by some embodiments of the present disclosure; Figure 39 It is a schematic structural diagram of a wrench provided by some embodiments of the present disclosure; Figure 40 It is a schematic structural diagram of a guiding channel provided by some embodiments of the present disclosure; Reference numerals of the above-mentioned drawings: 100 - Head housing; 110 - Handle housing; 120 - Blocking portion; 130 - Stopping portion; 200 - Clip magazine; 201 - First side portion; 202 - Second side portion; 203 - Bottom; 204 - First transverse barb; 205 - Second transverse barb; 206 - Inlet; 210 - Clip; 211 - First clip arm; 212 - Second clip arm; 213 - Connecting portion; 214 - First ear portion; 215 - Second ear portion; 216 - Engaging portion; 220 - First clip; 300 - End effector; 310 - First jaw arm; 320 - Second jaw arm; 400 - Clip feeding drive tube; 401 - Card slot; 410 - Clip feeding rod; 420 - Elastic rod; 430 - Clip feeding block; 500 - Clip driving tube; 501 - Baffle; 510 - Sleeve; 600 - Clip pushing seat; 601 - Side cavity; 610 - Clip pushing block; 620 - Elastic element; 700 - Wrench; 710 - Guide channel; 711 - Main channel; 7111 - Opening; 712 - Sub - channel; 713 - Blocking wall; 714 - Guide wall; 715 - Extension arm; 716 - Notch; 720 - Seat body; 721 - Kidney - shaped hole; 722 - Contact portion; 730 - First clutch member; 731 - Engaging end; 732 - Switching end; 733 - Supporting portion; 740 - Second clutch member; 751 - Switching member; 752 - Guide rail; 760 - Biasing element; 810 - First rack; 820 - Intermediate member; 830 - Second rack; 900 - Moving member; 910 - First stop portion; 920 - Second stop portion; 930 - Pivoting portion; 940 - Elastic member; 941 - Spiral portion; 942 - Torsion arm; 950 - Pivoting body; 960 - Stop arm; 961 - Avoiding side; 962 - Contacting side; 970 - Conversion portion; 980 - Pin shaft; 1000 - Guiding pivot member; 1010 - First rotating arm; 1020 - Second rotating arm; 1030 - Third rotating arm; 1040 - Anti - reverse portion; 1050 - Guide member; 1060 - Biasing spring; 1070 - Pivoting joint portion; 1080 - Force - receiving portion; 1090 - Guiding portion; 1100 - Rod body assembly; 1110 - Base; 1111 - Guide groove; 1,112 - Guide surface; 1200 - First reset member; 1400 - Third reset member; 1500 - Fourth reset member; 1600 - Limiting portion. Detailed implementation manners

[0021] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not used to limit the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0022] It should be understood that the terms "proximal", "posterior" and "distal", "anterior" used herein are relative to a clinician who manipulates the handle assembly of the clip applicator. The terms "proximal", "posterior" refer to the parts close to the clinician, and the terms "distal", "anterior" refer to the parts far from the clinician. That is, the handle assembly is the proximal end, and the end effector is the distal end. For example, the proximal end of a certain component means the end relatively close to the handle assembly, and the distal end means the end relatively close to the end effector.

[0023] In the present disclosure, unless otherwise clearly defined and limited, terms such as "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, a movable connection, or integrated; it may be directly connected, or indirectly connected through an intermediate medium, and may be the communication inside two components or the interaction relationship between two components such as abutment. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances. It should be noted that when there are limiting terms before "connected" and "coupled", they have the meanings defined by the corresponding limiting terms, only excluding the obvious cases that need to be excluded, and not excluding other possible cases.

[0024] The term "axial direction" refers to the length direction of the rod body assembly 1100.

[0025] Please refer to Figure 1-26 , some embodiments of the present disclosure provide a clip applicator, including a clip cartridge 200, an end effector 300, a stop mechanism and a firing mechanism. The clip cartridge 200 has clips 210. The stop mechanism has a first stop portion 910. The firing mechanism includes a limiting portion 1600 and a wrench 700 that are connected.

[0026] The wrench 700 has an open position, an intermediate position and a closed position. In response to the wrench 700 moving from the open position to the intermediate position, the wrench 700 drives the clip 210 into the end effector 300. In response to the wrench 700 moving from the intermediate position to the closed position, the wrench 700 drives the end effector 300 to close so that the clip 210 in the end effector 300 closes.

[0027] When the wrench 700 moves from the closed position towards the open position until the limiting portion 1600 crosses the first stop portion 910, and before the wrench reaches the open position, in response to the wrench 700 moving towards the closed position, the first stop portion 910 remains in abutment with the limiting portion 1600 to limit the movement of the wrench 700 towards the closed position. The limiting portion 1600 remaining in abutment with the first stop portion 910 means that the limiting portion 1600 and the first stop portion 910 can stably abut against each other and there is no relative movement between the two.

[0028] The limiting portion 1600 crossing the first stop portion 910 means that during the process of the wrench 700 moving from the closed position to the open position, when the limiting portion 1600 moves from one side of the first stop portion 910 to abut against the first stop portion 910, the two can avoid each other. For example, the first stop portion 910 moves to avoid the limiting portion 1600 so that the limiting portion 1600 can continue to move to the other side of the first stop portion 910.

[0029] When the wrench 700 moves from the closed position toward the open position until the limit portion 1600 passes over the first stop portion 910, and before the wrench 700 reaches the open position, the wrench 700 has not been fully reset, resulting in the various moving units of the clamp applier not being fully reset. At this time, if the wrench 700 moves toward the closed position, it will cause internal turbulence in the clamp applier, causing operational malfunction of the clamp applier. In the clamp applier disclosed herein, the wrench 700 must be moved from the closed position to the open position before it can be moved again toward the closed position. This allows the various moving units of the clamp applier to be fully reset before being driven to move, avoiding internal turbulence in the clamp applier and ensuring stable operation of the clamp applier.

[0030] refer to Figure 2 and Figure 15 The clip applier further comprises a housing and a blocking portion 120. The blocking mechanism comprises a moving member 900. The moving member 900 is movably connected to the housing and has a first blocking portion 910 and a second blocking portion 920.

[0031] refer to Figure 2 、 Figure 6-10 、 Figure 15 and Figure 20-22 In response to the wrench 700 moving from the open position to the closed position, the first stop portion 910 is staggered with the limiting portion 1600 to avoid the limiting portion 1600. The staggered first stop portion 910 and the limiting portion 1600 means that during the movement of the wrench 700 from the open position to the closed position, the first stop portion 910 and the limiting portion 1600 do not contact each other. As a result, the first stop portion 910 can avoid the limiting portion 1600, thereby allowing the movement of the wrench to smoothly drive the clip into the end effector and drive the end effector to close.

[0032] The wrench 700 moves from the open position to the closed position, which means that the wrench 700 moves from the open position to the intermediate position and then to the closed position. The wrench 700 moves from the closed position to the open position, which means that the wrench 700 moves from the closed position to the intermediate position and then to the open position.

[0033] refer to Figure 11-12 and Figures 24-25 In response to the wrench 700 moving from the closed position toward the open position until the limit portion 1600 abuts against the first stop portion 910, the moving part 900 moves to allow the first stop portion 910 to avoid the limit portion 1600, thereby allowing the limit portion 1600 to pass over the first stop portion 910, thereby allowing the wrench 700 to continue to move toward the open position.

[0034] refer to Figure 13-14 and Figure 26, as the wrench 700 moves from the closed position towards the open position until the limiting portion 1600 passes over the first stop portion 910, and before the wrench 700 reaches the open position, in response to the wrench 700 moving towards the closed position until the limiting portion 1600 abuts against the first stop portion 910, the blocking portion 120 abuts against the second stop portion 920 to restrict the movement of the moving member 900, so that the first stop portion 910 cannot avoid the limiting portion 1600, and the limiting portion 1600 remains in contact with the first stop portion 910 to restrict the movement of the wrench 700 towards the closed position.

[0035] Reference Figure 2-4 、 Figure 15 and Figure 18-19 , the moving member 900 is rotatably connected to the housing. For example, the moving member 900 includes a pivot portion 930, and the pivot portion 930 is connected to the housing through a pin shaft 980. The movement of the moving member 900 is rotation.

[0036] The stop mechanism further includes an elastic member 940. One part of the elastic member 940 is connected to the housing, and the other part is connected to the moving member 900. The elastic member 940 is configured to provide power for the reset of the moving member 900. For example, the elastic member 940 is a torsion spring, and the torsion spring includes a spiral portion 941 and two torsion arms 942 extending from the spiral portion 941. One of the torsion arms 942 is one part of the elastic member 940, and the other torsion arm 942 is the other part of the elastic member 940. The spiral portion 941 of the torsion spring is sleeved on the pivot portion 930, one of the torsion arms 942 is connected to the housing, and the other torsion arm 942 is connected to the moving member 900.

[0037] The clip applicator further includes a clip feeding mechanism. The firing mechanism further includes a switching mechanism connected to the wrench 700. Reference Figure 2 、 Figure 6 and Figure 34 , when the wrench 700 is in the open position, the switching mechanism cooperates with the clip feeding mechanism. In response to the wrench 700 moving from the open position to the intermediate position, the wrench 700 drives the switching mechanism to move to drive the clip 210 into the end effector 300.

[0038] Reference Figure 8-9 , when the wrench 700 reaches the intermediate position, the switching mechanism is disengaged from the clip feeding mechanism. In response to the wrench 700 moving from the intermediate position to the closed position, the wrench 700 drives the switching mechanism to move to drive the end effector 300 to close. Reference Figure 10 , when the wrench 700 reaches the closed position, the clip feeding mechanism resets. In response to the wrench 700 moving from the closed position to the open position, the switching mechanism resets to cooperate with the clip feeding mechanism again. Only then can the wrench 700 move towards the closed position again, so that the switching mechanism can smoothly drive the clip feeding mechanism to move to drive the clip 210 to move into the end effector 300, avoiding disorder inside the clip applicator and ensuring the stable operation of the clip applicator.

[0039] The clip feeding mechanism has a card slot 401. The switching mechanism includes a first clutch member 730 which has an engaging end 731.

[0040] In response to the engaging end 731 of the first clutch member 730 engaging with the card slot 401, the switching mechanism cooperates with the clip feeding mechanism, whereby the switching mechanism can drive the clip feeding mechanism to move. In response to the engaging end 731 of the first clutch member 730 disengaging from the card slot 401, the switching mechanism and the clip feeding mechanism are disengaged, and the switching mechanism no longer drives the clip feeding mechanism to move.

[0041] Reference Figure 6-14 [[ID=I0]]and [[ID=II]] Figure 34 The clip applying pliers further include a switching member 751 and a guide rail 752. The guide rail 752 is disposed on the housing. The first clutch member 730 further has a switching end 732 opposite to the engaging end 731, and the switching member 751 is disposed at the switching end 732.

[0042] Reference Figure 2 、 Figure 6 and Figure 34 When the wrench 700 is in the open position, the switching mechanism cooperates with the clip feeding mechanism. In response to the wrench 700 moving from the open position towards the middle position until the clip 210 is sent to in front of the end effector 300, the switching member 751 does not enter the guide rail 752, and the engaging end 731 of the first clutch member 730 engages with the card slot 401, and the firing mechanism cooperates with the clip feeding mechanism.

[0043] Reference Figure 8-9 In response to the wrench 700 moving from the open position to the middle position, the clip 210 is sent into the end effector 300, the switching member 751 enters the guide rail 752, causing the first clutch member 730 to move away from the card slot 401, so that the engaging end 731 of the first clutch member 730 disengages from the card slot 401, and the firing mechanism and the clip feeding mechanism are disengaged.

[0044] Reference Figure 10 In response to the wrench 700 moving from the middle position to the closed position, the switching member 751 moves along the guide rail 752, and the engaging end 731 of the first clutch member 730 remains disengaged from the card slot 401, and the firing mechanism drives the end effector 300 to close.

[0045] Taking Figure 8 as a reference, the guide rail 752 and the clip feeding mechanism are disposed opposite to each other in the up and down directions. When the switching member 751 does not enter the guide rail 752, the engaging end 731 of the first clutch member 730 can engage with the card slot 401. When the switching member 751 enters the guide rail 752, the first clutch member 730 is lifted upward, causing its engaging end 731 to disengage from the card slot 401.

[0046] The clip feeding mechanism includes a clip feeding drive tube 400 and a clip feeding assembly connected to each other. In response to the distal movement of the clip feeding drive tube 400, the clip feeding assembly moves distally to feed the clip 210 in the clip magazine 200 into the end effector 300. Refer to Figure 6-9 , a card slot 401 is formed on the outer wall of the clip feeding drive tube 400. After the clip feeding mechanism is reset, in response to the reset movement of the firing mechanism, the engaging end 731 of the first clutch member 730 moves along the outer wall of the clip feeding drive tube 400 to engage with the card slot 401.

[0047] Refer to Figure 1 , the housing of the clip applicator is divided into a head housing 100 and a handle housing 110 extending from the lower side of the head housing 100 according to the positional relationship. The clip applicator further includes a rod body assembly 1100. The rod body assembly 1100 extends from the head housing 100, and the end effector 300 is disposed at the distal end of the rod body assembly 1100, and the clip magazine 200 is disposed on the rod body assembly 1100.

[0048] The proximal end of the clip magazine 200 is connected to the head housing 100, and the distal end of the clip magazine 200 is connected to the end effector 300. Refer to Figures 27-28 , a plurality of clips 210 are accommodated in the clip magazine 200. The plurality of clips 210 are arranged in sequence from the distal end to the proximal end of the clip magazine 200, and are respectively a first clip 220, a second clip to an Nth clip. The first clip 220 is closest to the distal end of the clip magazine 200 and is the first to be fed into the end effector 300. The clips 210 other than the first clip 220 in the clip magazine 200 are defined as other clips. The clip magazine 200 includes M work positions, which are arranged from the distal end to the proximal end of the clip magazine 200, and are respectively a first work position, a second work position,... an Mth work position. The first clip 220 is located at the first work position at the forefront, and the second clip to the Nth clip are arranged in sequence at the second work position to the Nth work position. M≥2, M≥N.

[0049] To continuously apply a plurality of clips 210, the clip applicator needs to perform a clip feeding action, a clip applying action, and a clip pushing action. The clip feeding mechanism is configured to drive the clip 210 to move from the clip magazine 200 into the end effector 300 (clip feeding action). The clip applicator further includes a clip applying mechanism and a clip pushing mechanism. The clip applying mechanism is configured to drive the end effector 300 to close so that the clip 210 in the end effector 300 is closed (clip applying action). The clip pushing mechanism is configured to drive the other clips in the clip magazine 200 to move forward one work position (clip pushing action).

[0050] In the initial state, the wrench 700 is in the open position. The switching mechanism cooperates with the clip feeding mechanism. In response to the movement of the wrench 700 from the open position to the intermediate position, the switching mechanism drives the clip feeding mechanism to move to feed the clip 210 at the first work position into the end effector 300. When the wrench 700 is in the intermediate position, the clip 210 reaches the end effector 300, and the switching mechanism is disengaged from the clip feeding mechanism.

[0051] In response to the wrench 700 moving from the intermediate position to the closed position, the switching mechanism drives the clamping mechanism to move to drive the end effector 300 to close, so that the clip 210 in the end effector 300 closes. After the wrench 700 reaches the closed position, the clip feeding mechanism resets.

[0052] In response to the wrench 700 moving from the closed position to the open position, the clamping mechanism resets, and the clip pushing mechanism moves distally to move the other clips in the clip magazine 200 forward by one station.

[0053] When the wrench 700 moves from the closed position towards the open position until the limiting portion 1600 crosses the first stop portion 910, and before the wrench 700 reaches the open position, the switching mechanism does not cooperate with the clip feeding mechanism again. If the wrench 700 moves towards the closed position, the wrench 700 cannot drive the clip 210 to move into the end effector 300, resulting in disorder inside the clip applicator and malfunction of the operation of the clip applicator. In the clip applicator of the present disclosure, when the wrench 700 moves from the closed position to the open position, the wrench 700 can move towards the closed position again, ensuring that when the wrench 700 moves towards the closed position, it can drive the clip 210 into the end effector 300.

[0054] For example, when the wrench 700 moves from the closed position towards the open position, before the switching mechanism resets to cooperate with the clip feeding mechanism again, if the wrench 700 moves towards the closed position, the switching mechanism does not smoothly drive the clip feeding mechanism to move, and the clip 210 at the first station is not sent into the end effector 300.

[0055] In response to the wrench 700 moving towards the open position, the clip pushing mechanism moves distally to move the other clips in the clip magazine 200 forward by one station, so that the clip 210 at the second station enters the first station. Since the clip feeding mechanism does not send the clip 210 at the first station into the end effector 300, there are two clips 210 at the first station at this time, and the clip feeding mechanism will be stuck when performing the clip feeding action again, resulting in disorder inside the clip applicator and malfunction of the operation of the clip applicator.

[0056] Therefore, the clip applicator of the present disclosure is configured such that after the wrench 700 moves from the closed position to the open position, the wrench 700 can move towards the closed position again, avoiding the clips 210 from stacking up in the clip magazine 200 and causing the clip feeding mechanism to be stuck, thereby being able to avoid disorder inside the clip applicator and ensuring the stable operation of the clip applicator.

[0057] In an embodiment of the present disclosure, in response to the movement of the wrench 700, the limiting portion 1600 moves axially. For example, in response to the wrench 700 moving from the open position towards the closed position, the limiting portion 1600 moves axially distally, and in response to the wrench 700 moving from the closed position towards the open position, the limiting portion 1600 moves axially proximally.

[0058] refer to Figure 6-7 When the switching mechanism cooperates with the clamp feeding mechanism, the projections of the limiting portion 1600 and the first stop portion 910 along the axial direction are staggered. Figure 8-10 When the switching mechanism is disengaged from the clamp feeding mechanism, the axial projections of the limiting portion 1600 and the first stop portion 910 at least partially overlap.

[0059] refer to Figure 2 and Figure 6 When the wrench 700 is in the open position, the limit portion 1600 is located near the first stop portion 910, the switching mechanism cooperates with the clamp feeding mechanism, and the limit portion 1600 and the first stop portion 910 are staggered in axial projection. Figure 2 and Figure 6-7 In response to the wrench 700 moving from the open position to the middle position so that the limit portion 1600 moves axially toward the distal end, the limit portion 1600 has no contact with the first stop portion 910, the first stop portion 910 avoids the limit portion 1600, and the limit portion 1600 moves from the proximal side of the first stop portion 910 to the distal side of the first stop portion 910.

[0060] refer to Figure 8-9 When the wrench 700 is in the middle position, the switching mechanism and the clamp feeding mechanism are released, the axial projections of the limiting portion 1600 and the first stop portion 910 at least partially overlap, and the limiting portion 1600 is already located on the far side of the first stop portion 910. Figure 8-10 In response to the wrench 700 moving from the middle position to the closed position, the limiting portion 1600 moves distally to the first stop portion 910, and the limiting portion 1600 still has no contact with the first stop portion 910, and the first stop portion 910 does not restrict the movement of the limiting portion 1600.

[0061] In response to the wrench 700 moving from the closed position to the open position, the limiting portion 1600 moves from the distal side of the first stopper 910 to the proximal side of the first stopper 910. Figure 11-12 When the limiting portion 1600 is located on the distal side of the first stop portion 910, the limiting portion 1600 and the axial projection of the first stop portion 910 at least partially overlap. In response to the wrench 700 moving from the closed position toward the open position, the limiting portion 1600 moves from the distal side of the first stop portion 910 to abut against the first stop portion 910. The moving part 900 moves, so that the first stop portion 910 avoids the limiting portion 1600, so that the limiting portion 1600 passes the first stop portion 910 so that the limiting portion 1600 reaches the proximal side of the first stop portion 910 and continues to move until the wrench 700 reaches the open position.

[0062] refer to Figure 13-14The wrench 700 moves from the closed position toward the open position until the limit portion 1600 passes the first stop portion 910, and before the wrench 700 reaches the open position, that is, before the clamp feeding mechanism is reset and the switching mechanism moves to cooperate with the clamp feeding mechanism again, the limit portion 1600 is located on the proximal side of the first stop portion 910, and the axial projections of the limit portion 1600 and the first stop portion 910 at least partially overlap. In response to the movement of the wrench 700 toward the closed position, the limit portion 1600 moves from the proximal side of the first stop portion 910 to the distal end until it is in contact with the first stop portion 910.

[0063] As described above, the clip applier further includes a blocking portion 120. Figure 5 The blocking portion 120 is provided on the housing, and the blocking portion 120 is located on the far side of the moving part 900 .

[0064] In the initial state (wrench 700 is in the open position), the movable member 900 tends to rotate clockwise under the action of the elastic member 940. In response to the wrench 700 moving from the closed position to the open position, the limiting portion 1600 moves from the distal side of the first stop portion 910 to abut against the first stop portion 910. The movable member 900 then rotates counterclockwise, causing the first stop portion 910 to clear the limiting portion 1600. When the limiting portion 1600 disengages from the first stop portion 910 of the movable member 900, the movable member 900 rotates clockwise to return to its original position, and the second stop portion 920 of the movable member 900 abuts against the blocking portion 120.

[0065] The wrench 700 moves from the closed position toward the open position until the limit portion 1600 passes the first stop portion 910, and before the wrench 700 reaches the open position, in response to the wrench 700 moving toward the closed position, the limit portion 1600 moves from the proximal side of the first stop portion 910 to abut against the first stop portion 910, and the second stop portion 920 abuts against the blocking portion 120 so that the moving part 900 is restricted from rotating in the clockwise direction, thereby keeping the limit portion 1600 in abutment with the first stop portion 910 to restrict the wrench 700 from moving toward the closed position.

[0066] The clamp feeding mechanism has a slot 401. The switching mechanism includes a first clutch 730 having an engaging end 731 and a switching end 732, with a stopper 1600 disposed at the switching end 732. In response to the engaging end 731 of the first clutch 730 engaging the slot 401, the switching mechanism cooperates with the clamp feeding mechanism, causing the stopper 1600 and the first stopper 910 to be offset along the axial direction. In response to the first clutch 730 moving away from the slot 401, causing the engaging end 731 to disengage from the slot 401, the switching mechanism disengages from the clamp feeding mechanism, causing the stopper 1600 and the first stopper 910 to at least partially overlap along the axial direction.

[0067] by Figure 6As a reference, the moving member 900 is disposed above the clamp feeding mechanism, and the first clutch member 730 is located between the moving member 900 and the clamp feeding mechanism. When the engaging end 731 of the first clutch member 730 engages with the engaging slot 401, the height of the limiting portion 1600 does not reach the height of the moving member 900, and the axial projections of the limiting portion 1600 and the first stop portion 910 are offset. The first clutch member 730 moves upward away from the engaging slot 401, disengaging its engaging end 731 from the engaging slot 401. The height of the limiting portion 1600 reaches the height of the moving member 900, so that the axial projections of the limiting portion 1600 and the first stop portion 910 at least partially overlap.

[0068] The clamp feeding mechanism includes a clamp feeding drive tube 400 and a clamp feeding assembly connected to each other. In response to the distal movement of the clamp feeding drive tube 400, the clamp feeding assembly moves distally to feed the clamp 210 of the clamp magazine 200 into the end actuator 300. A clamping groove 401 is provided on the outer wall of the clamp feeding drive tube 400. In response to the movement of the wrench 700 from the closed position to the open position and before reaching the open position, the engaging end 731 of the first clutch member 730 moves along the outer wall of the clamp feeding drive tube 400, and the axial projections of the limiting portion 1600 and the first stop portion 910 at least partially overlap. Figure 13-14 When the engaging end 731 of the first clutch member 730 moves along the outer wall of the clamp feeding driving tube 400 , the height of the limiting portion 1600 reaches the height of the moving member 900 .

[0069] As described above, the clip applier has a guide rail 752 disposed on the housing. The switching member 751 is disposed at the switching end 732 of the first clutch member 730 , and at least a portion of the switching member 751 constitutes the limiting portion 1600 .

[0070] refer to Figure 2 and Figure 6 In the initial state, the engaging end 731 of the first clutch member 730 is engaged with the engaging groove 401, and the projections of the limiting portion 1600 and the first stop portion 910 along the axial direction are staggered. Figure 8 In response to the wrench 700 moving from the open position to the middle position, the switching member 751 moves to enter the guide rail 752, and the first clutch member 730 moves upward, so that the engaging end 731 of the first clutch member 730 disengages from the slot 401, and the limiting portion 1600 is located on the far side of the moving member 900 and at least partially overlaps with the axial projection of the first stop portion 910.

[0071] After the wrench 700 reaches the closed position, the clip feeding mechanism resets. In response to the movement of the wrench 700 from the closed position towards the open position, when the switching member 751 of the first clutch member 730 moves along the guide rail 752 and then disengages from the guide rail 752, the engaging end 731 of the first clutch member 730 moves along the outer wall of the clip feeding drive tube 400 and enters the card slot 401. At this time, the switching member 751 of the first clutch member 730 moves downward. Before the engaging end 731 of the first clutch member 730 moves along the outer wall of the clip feeding drive tube 400 and enters the card slot 401, at least a part of the axial projections of the limiting portion 1600 and the first stop portion 910 coincide.

[0072] Reference Figure 15 , in another embodiment of the present disclosure, the wrench 700 has an extension arm 715 extending towards the moving member, and the limiting portion 1600 is provided on the extension arm 715.

[0073] Reference Figure 15-18 , the moving member 900 includes a pivot body 950 and a stop arm 960 connected to each other, and the pivot body 950 is rotatably connected to the housing. For example, the pivot body 950 has a pivot portion 930, and the pivot portion 930 is rotatably connected to the housing through a pin shaft 980. The stop arm 960 has an avoidance side 961 and a resisting side 962; the first stop portion 910 is provided on the resisting side 962 of the stop arm 960.

[0074] The limiting portion 1600 has a first position and a second position. Reference Figure 15-16 , when the wrench 700 is in the open position, the limiting portion 1600 is in the first position. Reference Figure 22 , when the wrench 700 is in the closed position, the limiting portion 1600 is in the second position.

[0075] Reference Figure 15-16 and Figure 20-22 , in response to the movement of the wrench 700 from the open position to the closed position, the limiting portion 1600 moves from the first position to the second position via the avoidance side 961 of the stop arm 960. Since the first stop portion 910 is provided on the resisting side 962 of the stop arm 960, when the limiting portion 1600 moves on the avoidance side 961 of the stop arm 960, the first stop portion 910 is staggered from the limiting portion 1600, and the first stop portion 910 avoids the limiting portion 1600.

[0076] Reference Figure 22-25 , in response to the movement of the wrench 700 from the closed position towards the open position, when the limiting portion 1600 moves from the second position to abut against the first stop portion 910 via the resisting side 962 of the stop arm 960, the pivot body 950 rotates, so that the first stop portion 910 avoids the limiting portion 1600 to enable the limiting portion 1600 to cross the first stop portion 910, so that the wrench 700 can continue to move to the open position to enable the limiting portion 1600 to move to the first position.

[0077] Reference Figure 26 As the wrench 700 moves from the closed position towards the open position until the limiting part 1600 passes over the first stop part 910, and before the wrench 700 reaches the open position, in response to the wrench 700 moving towards the closed position, the limiting part 1600 moves towards the second position via the abutting side 962 of the stop arm 960 until it remains in abutment with the limiting part 1600, thereby restricting the movement of the wrench 700 towards the closed position.

[0078] The stop mechanism further has a second stop part 920, reference Figure 15-16 and Figure 18 The second stop part 920 is also provided on the abutting side 962 of the stop arm 960.

[0079] The clamping pliers further have a blocking part 120, reference Figure 17 The blocking part 120 is provided on the limiting part 1600. For example, the limiting part 1600 includes a plurality of side walls, and the blocking part 120 is provided on one of the side walls of the limiting part 1600. The blocking part 120 can protrude relative to the side wall of the limiting part 1600, or the blocking part 120 can be provided without protruding relative to the side wall of the limiting part 1600. For example, one of the side walls of the limiting part 1600 constitutes the blocking part 120.

[0080] Reference Figure 26 As the wrench 700 moves from the closed position towards the open position until the limiting part 1600 passes over the first stop part 910, and before the wrench 700 reaches the open position, in response to the wrench 700 moving towards the closed position, when the limiting part 1600 moves towards the second position via the abutting side 962 of the stop arm 960 until it abuts against the first stop part 910, the blocking part 120 abuts against the second stop part 920 to restrict the movement of the moving part 900, and the first stop part 910 cannot avoid the limiting part 1600, so that the first stop part 910 remains in abutment with the limiting part 1600.

[0081] Reference Figure 15 and Figure 20-22 The clamping pliers further have a stopping part 130. When the wrench 700 is in the open position, the stop arm 960 abuts against the stopping part 130 to restrict the rotation of the pivot body 950 in the first rotation direction.

[0082] The stop arm 960 has a connecting end and a free end. The connecting end is connected to the pivot body, and the free end can move relative to the pivot body. A conversion part 970 is provided at the free end of the stop arm 960.

[0083] In response to the wrench 700 moving from the open position to the closed position, the stop arm 960 abuts against the stopper 130 to limit the rotation of the pivot body 950 in the first rotation direction. When the limiting portion 1600 moves from the first position to abut against the conversion portion 970 via the avoidance side 961 of the stop arm 960, the free end of the stop arm 960 moves to cause the conversion portion 970 to avoid the limiting portion 1600, enabling the limiting portion 1600 to move to the second position.

[0084] When the limiting portion 1600 moves from the first position to abut against the conversion portion 970 via the avoidance side 961 of the stop arm 960, the pivot body 950 has a tendency to rotate in the first rotation direction. However, under the action of the stopper 130, the rotation of the pivot body 950 is restricted. As a result, the free end of the stop arm 960 is pushed by the limiting portion 1600 and moves to cause the conversion portion 970 to avoid the limiting portion 1600, enabling the limiting portion 1600 to move to the second position.

[0085] The rotation of the pivot body 950 in the second rotation direction is not restricted. In response to the wrench 700 moving from the closed position to the open position, when the limiting portion 1600 moves from the second position to abut against the conversion portion 970, the pivot body 950 rotates in the second rotation direction to cause the conversion portion 970 to avoid the limiting portion 1600, thereby enabling the limiting portion 1600 to move to the abutting side 962 of the stop arm 960.

[0086] Taking Figure 15 as a reference, the first rotation direction is the clockwise direction, and the second rotation direction is the counterclockwise direction.

[0087] The wrench 700 is movably connected to the housing. For example, the wrench 700 has a pivot end pivotally connected to the housing. In response to the wrench 700 rotating about the pivot end, the wrench 700 switches between the open position and the closed position. The limiting portion 1600 is provided on the wrench 700, and the movement trajectory of the limiting portion 1600 is arc-shaped.

[0088] The movement trajectory of the wrench 700 moving from the open position to the closed position coincides with the movement trajectory of the wrench moving from the closed position to the open position. Therefore, the movement trajectory of the limiting portion 1600 moving from the first position to the second position coincides with the movement trajectory of the limiting portion 1600 moving from the second position to the first position. During the process of the limiting portion 1600 moving from the first position to the second position via the avoidance side 961 of the stop arm 960, the limiting portion 1600 abuts against the conversion portion 970. Therefore, during the process of the limiting portion 1600 moving from the second position towards the first position, the limiting portion 1600 will also abut against the conversion portion 970.

[0089] Reference Figure 23-24, during the process of the wrench 700 moving from the closed position to the open position, the limiting portion 1600 first moves from the second position towards the first position until it abuts against the conversion portion 970. The moving member 900 rotates in the second rotation direction, causing the limiting portion 1600 to enter the abutting side 962 of the stop arm 960. When the limiting portion 1600 enters the abutting side 962 of the stop arm 960 and abuts against the first stop portion 910, the moving member 900 continues to rotate in the second rotation direction, causing the first stop portion 910 to avoid the limiting portion 1600. As a result, the blocking portion 120 moves along the side wall of the abutting side 962 of the second stop portion 920 and the stop arm 960 until it disengages from the stop arm 960, until the limiting portion 1600 reaches the first position.

[0090] Reference Figure 15 , the conversion portion 970 is disposed on the avoiding side 961 of the stop arm 960 and extends towards the abutting side 962 of the stop arm 960. For example, the conversion portion 970 extends towards the abutting side 962 of the stop arm 960 until it is connected to the first stop portion 910 located on the abutting side 962.

[0091] Reference Figure 15 , the second stop portion 920 is disposed on the abutting side 962 of the stop arm 960. For example, the second stop portion 920 is disposed on the side wall of the abutting side 962 of the stop arm 960 and is smoothly transitioned with the side wall of the stop arm 960. The second stop portion 920 is connected to the first stop portion 910.

[0092] Reference Figure 25 , in response to the wrench 700 moving from the closed position to the open position, after the limiting portion 1600 moves from the second position to the abutting side 962 of the moving member 900 and the first stop portion 910 avoids the limiting portion 1600, the blocking portion 120 moves along the side wall of the abutting side 962 of the moving member 900. Reference Figure 26 , when the wrench 700 moves from the closed position towards the open position until the limiting portion 1600 passes over the first stop portion 910, and before the wrench 700 reaches the open position, in response to the wrench 700 moving towards the closed position such that the limiting portion 1600 moves from the abutting side 962 of the stop arm 960 towards the second position until it abuts against the first stop portion 910, the blocking portion 120 moves along the side wall of the abutting side 962 until it abuts against the second stop portion 920 to limit the movement of the moving member 900. The first stop portion 910 cannot avoid the limiting portion 1600, so that the first stop portion 910 remains in abutment with the limiting portion 1600.

[0093] Reference Figure 16When the limiting portion 1600 is in the first position, the limiting portion 1600 is not in contact with the moving member 900. In response to the limiting portion 1600 moving from the first position via the avoidance side 961 of the moving member 900 until it abuts against the conversion portion 970, the limiting portion 1600 is not in contact with the moving member 900, thereby reducing the resistance of the wrench 700 during movement. In response to the limiting portion 1600 moving from the first position via the avoidance side 961 of the moving member 900 until it abuts against the conversion portion 970, the free end of the stop arm 960 moves, causing the conversion portion 970 to avoid the limiting portion 1600, so that the limiting portion 1600 disengages from the moving member 900 and continues to move to the second position.

[0094] In response to the limiting portion 1600 moving from the second position to the abutting side 962 of the moving member 900 and the first stop portion 910 avoiding the limiting portion 1600, the blocking portion 120 moves along the side wall of the abutting side 962 of the moving member 900, causing the moving member 900 to rotate in the second rotation direction. When the limiting portion 1600 moves to the first position, the limiting portion 1600 disengages from the moving member 900.

[0095] Under the action of the elastic member 940, the moving member 900 has a tendency to rotate in the first rotation direction. When the limiting portion 1600 moves from the second position via the abutting side 962 of the stop arm 960 to the first position, the limiting portion 1600 disengages from the moving member 900, and the moving member 900 rotates and resets in the first rotation direction.

[0096] Reference Figure 17 The wrench 700 has an extension arm 715 extending towards the moving member 900. The extension arm 715 avoids the moving member 900. For example, reference Figure 17 By providing a notch 7151 in the extension arm 715, the extension arm 715 always avoids the moving member 900 during its movement. For example, the extension arm 715 and the moving member 900 are arranged in different planes. The limiting portion 1600 is provided on the extension arm 715 of the wrench 700.

[0097] The switching mechanism includes the first clutch member 730 described above. In the initial state (when the firing mechanism is not moving), the wrench 700 is in the open position, and the engaging end 731 of the first clutch member 730 engages with the card slot 401 of the clip feeding drive tube 400, so that the switching mechanism cooperates with the clip feeding mechanism. In response to the wrench 700 moving from the open position towards the closed position, when the clip feeding mechanism feeds the clip 210 into the end effector 300, the engaging end 731 of the first clutch member 730 separates from the card slot 401 of the clip feeding drive tube 400.

[0098] The wrench 700 also has an intermediate position located between the open position and the closed position. In response to the wrench 700 moving from the open position to the intermediate position, the switching mechanism cooperates with the clip feeding mechanism, and the wrench 700 drives the switching mechanism to move so as to drive the clip feeding mechanism to move, thereby sending the clip 210 of the clip magazine 200 into the end effector 300. In response to the wrench 700 moving from the intermediate position to the closed position, the switching mechanism is disengaged from the clip feeding mechanism, and the switching mechanism no longer drives the clip feeding mechanism to move.

[0099] As described above, the clip applicator of the present disclosure further includes a clip applying mechanism. The clip applying mechanism is configured to drive the end effector 300 to close so that the clip 210 in the end effector 300 is closed. In response to the wrench 700 moving from the intermediate position to the closed position, the switching mechanism drives the clip applying mechanism to move to drive the end effector 300 to close, so that the clip 210 in the end effector 300 is closed.

[0100] In response to the wrench 700 moving from the open position to the intermediate position, the limiting portion 1600 moves from the first position along the avoidance side 961 of the moving member 900 towards the second position, and there is no contact between the limiting portion 1600 and the moving member 900. At the moment when the clip feeding is completed, the wrench 700 is in the intermediate position, the limiting portion 1600 is still located on the avoidance side 961 of the moving member 900, and the limiting portion 1600 does not cross the conversion portion 970. In response to the wrench 700 moving from the intermediate position to the closed position, the limiting portion 1600 moves to abut against the conversion portion 970, and the free end of the stop arm 960 moves to cause the conversion portion 970 to avoid the limiting portion 1600, so that the limiting portion 1600 crosses the conversion portion 970 and moves to the second position.

[0101] The structure of the clip applicator according to some embodiments of the present disclosure will be further described below.

[0102] Refer to Figure 29 , the clip 210 includes a first clip arm 211, a second clip arm 212, and a connecting portion 213 located between the first clip arm 211 and the second clip arm 212. The connecting portion 213 is flexible, so that the first clip arm 211 and the second clip arm 212 can pivot relative to each other. One end of the first clip arm 211 is connected to the connecting portion 213, and the other end is provided with two first ear portions 214, one first ear portion 214 is provided on one side of the first clip arm 211, and the other first ear portion 214 is provided on the opposite side of the first clip arm 211. One end of the second clip arm 212 is connected to the connecting portion 213, and the other end is provided with a engaging portion 216. Specifically, the engaging portion 216 is a curved C-shaped hook portion. Two second ear portions 215 are provided near the engaging portion 216 of the second clip arm 212, one second ear portion 215 is provided on one side of the second clip arm 212, and the other second ear portion 215 is provided on the opposite side of the second clip arm 212.

[0103] The size of the engaging portion 216 is larger than the distance between the two first ears 214. The two first ears 214 have a certain elasticity and can be deformed. Therefore, under the drive of an external force, the first clamping arm 211 and the second clamping arm 212 approach each other, causing the engaging portion 216 to move between the two first ears 214. The two first ears 214 are deformed under the action of the engaging portion 216, and the engaging portion 216 is engaged between the two first ears 214, so that the first clamping arm 211 and the second clamping arm 212 are fully clamped, thereby effectively clamping the blood vessel or tissue placed between the first clamping arm 211 and the second clamping arm 212, and stopping bleeding.

[0104] refer to Figures 27-28 The clip compartment 200 includes an axially extending bottom portion 203 and opposing first and second side portions 201 and 202. When the clip 210 is installed within the clip compartment 200, it is compressed due to the size and internal space of the clip compartment 200. Specifically, the first clamping arm 211 of the clip 210 abuts the first side portion 201, and the second clamping arm 212 abuts the second side portion 202, so that the two clamping arms are compressed but not compressed to a closed state. That is, the two clamping arms of the clip 210 are close to each other but not engaged.

[0105] The bottom 203 of the clamping chamber 200 is formed with multiple abutment components along its length, with one abutment component being provided at each workstation. Referring to Figure B, each abutment component includes a first transverse barb 204 and a second transverse barb 205. The first transverse barbs 204 are arranged in a row, and the second transverse barbs 205 are arranged in a row. The first transverse barbs 204 and the second transverse barbs 205 are arranged in two rows on the bottom 203. The first transverse barbs 204 are arranged near the first side portion 201, and the second transverse barbs 205 are arranged near the second side portion 202. Adjacent transverse barbs in each row are arranged equidistantly along the axial direction. Each transverse barb is inclined from the bottom 203 of the clamping chamber 200 toward the distal end of the clamping chamber 200 and toward the interior of the clamping chamber 200. That is, the proximal end of each transverse barb is fixed to the bottom 203, and the distal end is movable. In this embodiment, the transverse barbs are elastic pieces with the distal ends tilted. The distal end of each transverse barb is an inclined end.

[0106] When the first transverse barb 204 of each abutting assembly abuts a first ear 214 of the clip 210 from behind the first ear 214, the second transverse barb 205 abuts a second ear 215 of the same clip 210 from behind the second ear 215. Specifically, when the angled tip of the first transverse barb 204 engages a first ear 214, the angled tip of the second transverse barb 205 engages a second ear 215 on the same side as the first ear 214. Thus, each abutting assembly can prevent the clip 210 from moving from its current station to an adjacent proximal station in the clip magazine 200.

[0107] When the clip 210 moves axially forward, the clip 210 slides into contact with the transverse barbs in front and presses the transverse barbs towards the bottom 203, so that the clip 210 can pass through the transverse barbs smoothly, enabling the clip 210 to enter the adjacent distal station from the current station. When the clip 210 moves axially forward, the first clip arm 211 of the clip 210 slides past the first transverse barb 204 in front of it. At the same time, the second clip arm 212 of the clip 210 slides past the second transverse barb 205 in front of it, causing both the first transverse barb 204 and the second transverse barb 205 to bend towards the bottom 203, so that the clip 210 can pass through the first transverse barb 204 and the second transverse barb 205 smoothly to enter the adjacent front-end station.

[0108] The housing of the clip applicator is divided into a head housing 100 and a handle housing 110 extending from the lower side of the head housing 100 according to the positional relationship. The handle housing 110 and the wrench 700 form a handle assembly. The operator can hold the handle housing 110 with one hand and pull the wrench 700 with a finger, causing the wrench 700 to move relative to the handle housing 110 to drive the switching mechanism to move, so that the clip feeding mechanism performs a clip feeding action, the clip applying mechanism performs a clip applying action, and the clip pushing mechanism performs a clip pushing action.

[0109] When the wrench 700 moves towards the handle housing 110, it can be in three special positions: the open position, the intermediate position, and the closed position.

[0110] At the initial moment, the user does not operate the wrench 700, and the position where the wrench 700 is located is the open position. When the user operates the wrench 700 and the clip feeding is completed, the clip 210 is sent into the end effector 300, and the position where the wrench 700 is located is the intermediate position. When the user operates the wrench 700 and the clip application is completed, the clip 210 located in the end effector 300 is applied to the tissue or blood vessel, and the position where the wrench 700 is located is the closed position.

[0111] Reference Figure 34 , the clip applying mechanism includes a clip applying drive tube 500 and a sleeve 510. When the firing mechanism is driven to move to be disengaged from the clip feeding mechanism, the firing mechanism abuts against the clip applying drive tube 500 to drive the clip applying drive tube 500 to move, so that the sleeve 510 moves to at least partially receive the end effector within the sleeve 510, thereby closing the end effector.

[0112] Reference Figure 34, the clip driving tube 500 is received within the head housing 100. The sleeve 510 is sleeved outside the clip cartridge 200, and the sleeve 510 also forms part of the shaft assembly 1100. The proximal end of the sleeve 510 is connected to the clip driving tube 500, and the distal end of the sleeve 510 cooperates with the end effector 300. In response to the wrench 700 moving from the intermediate position to the closed position, the clip driving tube 500 moves distally to drive the sleeve 510 to move distally, thereby driving the end effector 300 to close.

[0113] The clip applicator further includes a first reset member 1200, and the first reset member 1200 is a spring. The first reset member 1200 is disposed within the head housing 100 of the clip applicator and is sleeved outside the clip driving tube 500. The proximal end of the first reset member 1200 abuts against the baffle 501 on the outer surface of the clip driving tube 500, and the distal end abuts against the inner wall of the head housing 100. The first reset member 1200 is configured to store energy when the clip mechanism advances, and the first reset member 1200 restores its deformation to release the energy to provide power for the reset and retraction of the clip mechanism.

[0114] The end effector 300 includes a first jaw 310 and a second jaw 320 that are pivotally connected to the distal end of the clip cartridge 200 respectively. The clip applicator further includes a second reset member, and the second reset member is located between the first jaw 310 and the second jaw 320, and the second reset member is a spring. In response to the clip driving tube 500 driving the sleeve 510 to move distally, the end effector 300 is at least partially received within the sleeve 510 from the distal end of the sleeve 510 such that the end effector 300 closes. At this time, the second reset member between the two jaws is compressed, and at the same time, the first reset member 1200 is also compressed. When the clipping is completed, under the action of the first reset member 1200, the sleeve 510 moves proximally, the end effector 300 extends from the distal end of the sleeve 510, and the second reset member releases energy to open the end effector 300.

[0115] Reference Figure 31 and Figure 33 , the shaft assembly 1100 further includes a base 1110, the base 1110 has relatively high rigidity, and the base 1110 is partially disposed within the sleeve 510 and partially disposed within the head housing 100. The base 111 is mounted outside the bottom 203 of the clip cartridge 200. The clip 210, the first side portion 201 of the clip cartridge 200, and the second side portion 202 of the clip cartridge 200 are all located inside the bottom 203, and the inside and the outside refer to both sides of the plane where the bottom 203 is located.

[0116] The clip feeding mechanism includes a clip feeding assembly and a clip feeding driving tube 400. Reference Figure 34, a part of the clip feeding drive tube 400 is located inside the clip applying drive tube 500 and can axially move inside the clip applying drive tube 500. The proximal end of the clip feeding assembly is connected to the clip feeding drive tube 400. In response to the wrench 700 moving from the open position to the intermediate position, the clip feeding drive tube 400 moves distally to drive the clip feeding assembly to move distally, so that the clip feeding assembly drives the clip 210 to move from the clip magazine 200 to the end effector 300. Refer to Figure 31 and Figure 33 , a guiding groove 1111 for receiving the clip feeding assembly and allowing its axial movement is provided on the base 1110. A guiding surface 1112 is provided at the distal end of the guiding groove 1111. The guiding surface 1112 is an inclined surface and is disposed at an angle to the axis. When the base 1110 is installed on the clip magazine 200, the guiding surface 1112 faces proximally and is inclined towards the clip magazine 200. An inlet 206 corresponding to the guiding surface 1112 is provided at the bottom 203 of the clip magazine 200.

[0117] The clip applying pliers further include a third reset member 1400, and the third reset member 1400 is a spring. Refer to Figure 34 , a rib is provided on the inner wall of the clip applying drive tube 500. The distal end of the third reset member 1400 abuts against the rib of the clip applying drive tube 500, and the proximal end abuts against the distal end surface of the clip feeding drive tube 400. The third reset member 1400 is configured to store energy when the clip feeding mechanism advances, and the third reset member 1400 restores its deformation to release the energy, thereby providing power for the reset and retraction of the clip feeding mechanism.

[0118] Refer to Figures 30-33 , the clip feeding assembly includes a clip feeding rod 410, an elastic rod 420, and a clip feeding block 430. The proximal end of the clip feeding rod 410 is connected to the clip feeding drive tube 400, the distal end of the clip feeding rod 410 is connected to the proximal end of the elastic rod 420, and the distal end of the elastic rod 420 is connected to the clip feeding block 430. The clip feeding rod 410 has high rigidity and is not easily deformed, avoiding bending during axial movement in the guiding groove 1111 and causing blockage of the clip feeding assembly.

[0119] Refer to Figures 30-33 , the clip feeding drive tube 400 drives the clip feeding rod 410 to move distally, so that the elastic rod 420 and the clip feeding block 430 also move distally. At this time, the third reset member 1400 deforms. When the elastic rod 420 moves distally until the clip feeding block 430 abuts against the guiding surface 1112, the elastic rod 420 starts to bend, and the clip feeding block 430 enters obliquely between the first clip 220 and the second clip in the clip magazine 200 from the inlet 206 of the clip magazine 200 along the guiding surface 1112, and abuts against the rear end of the first clip 220 to push it forward into the end effector 300.

[0120] After the clip 210 is clamped in the end effector 300, the clip feeding block 430 at the distal end of the elastic rod 420 continues to abut against the rear end of the clip 210 to prevent the clip 210 from moving proximally (i.e., backward) during the clamping process. Closing the end effector 300 closes the clip 210, and then opening the end effector 300 disengages the clip 210 from the end effector 300, i.e., the clamping is completed. After the end effector 300 is closed, the clip feeding mechanism is reset under the action of the third reset member 1400. Specifically, the clip feeding drive tube 400 moves proximally, causing the clip feeding rod 410 to move axially proximally in the guide groove 1111 to drive the elastic rod 420 and the clip feeding block 430 to retract from the inlet 206 to the guide groove 1111 along the guide surface 1112.

[0121] Reference Figures 30-33 and Figure 35 The clip pushing mechanism includes a clip pushing seat 600. The proximal end of the clip pushing seat 600 is located inside the clip feeding drive tube 400, and the other parts of the clip pushing seat 600 extend distally and are arranged inside the sleeve 510. The base 1110 is installed on one side of the clip cartridge 200, and the clip pushing seat 600 is arranged on the opposite side of the clip cartridge 200. The clip pushing seat 600 can move axially inside the clip feeding drive tube 400.

[0122] Reference Figures 30-33 and Figure 35 Corresponding to the M workstations of the clip cartridge 200, M side cavities 601 are arranged at intervals on the clip pushing seat 600, and a clip pushing block 610 is arranged in each side cavity 601. Each clip pushing block 610 is connected to the clip pushing seat 600 through an elastic element 620, and the elastic element 620 is, for example, a spring. The elastic element 620 provides a force for the clip pushing block 610 to rotate outwardly towards the outside of the side cavity 601, so that the distal end of the clip pushing block 610 extends out of the side cavity 601 and inclines towards the clip 210. When the clip pushing seat 600 advances axially, the distal end of each clip pushing block 610 abuts against and pushes a clip 210 forward respectively, causing the clip 210 to move axially forward. The clip 210 smoothly passes through the first transverse barb 204 and the second transverse barb 205, so that the clip 210 enters the adjacent distal workstation from the current workstation. Thus, the clip pushing seat 600 can push the other clips (clips 210 other than the first clip 220) in the clip cartridge 200 forward by one workstation. When the clip pushing seat 600 retracts axially, since the clip 210 cannot retract under the action of the first transverse barb 204 and the second transverse barb 205, the clip pushing block 610 abuts against the clip 210 and rotates into the side cavity 601 under the extrusion of the clip 210, avoiding the clip 210, thereby preventing the clip pushing block 610 from retracting with the clip 210 when retracting, so that the clip pushing block 610 moves to one side of the corresponding clip 210 in the radial direction of the clip cartridge 200 and overlaps with it.

[0123] In response to the wrench 700 moving from the open position to the intermediate position, the clip feeding mechanism drives the first clip 220 to move from the clip magazine 200 to the end effector 300. In response to the wrench 700 moving from the intermediate position to the closed position, the clip applying mechanism drives the end effector 300 to close so that the clip 210 in the end effector 300 is closed. When the wrench 700 is in the closed position, each clip pushing block 610 is respectively located at the rear side of the second clip to the Nth clip. In response to the wrench 700 moving from the closed position to the open position, the plurality of clip pushing blocks 610 move forward to respectively drive the second clip to the Nth clip to move forward.

[0124] Reference Figure 2 and Figures 34-36 , the switching mechanism includes a seat body 720, a first clutch member 730, a clutch switching mechanism, and a second clutch member 740. The seat body 720 has two kidney-shaped holes 721, and the two kidney-shaped holes 721 are arranged opposite to each other in a direction perpendicular to the paper surface (taking the placement angle of the clip applying pliers in Figure 2 as a reference). The first clutch member 730 is accommodated in the seat body 720, and the second clutch member 740 is the distal end face of the seat body 720.

[0125] Reference Figure 34 , the clip feeding drive tube 400 is sleeved outside the clip pushing seat 600. A part of the clip feeding drive tube 400 is located inside the clip applying drive tube 500 and can axially move inside the clip applying drive tube 500. A circumferentially extending slot 401 is provided at the proximal end of the clip feeding drive tube 400. In the initial state (when the firing mechanism is not moving), the seat body 720 is sleeved outside the clip feeding drive tube 400, the engaging end 731 of the first clutch member 730 is inserted into the slot 401, and the switching end 732 of the first clutch member 730 is connected to the clutch switching mechanism. Taking Figure 34 as a reference, the upper end of the first clutch member 730 is the switching end 732, and the bottom end is the engaging end 731.

[0126] Reference Figure 34 , the clutch switching mechanism includes a switching member 751 and a guide rail 752. The switching end 732 of the first clutch member 730 is connected to the switching member 751. The guide rail 752 is provided inside the head housing 100. The clip applying pliers include two head housings 100 symmetrically arranged along the axis. The guide rail 752 is symmetrically arranged on the inner walls of the two head housings 100. That is, the guide rail 752 is provided on the inner wall of each head housing 100.

[0127] The switching member 751 is received in the base body 720. One end of the switching member 751 extends out from one of the kidney-shaped holes 721, and the other end of the switching member 751 extends out from the other kidney-shaped hole 721. Each kidney-shaped hole 721 extends in the vertical direction, enabling the switching member 751 to move in the vertical direction. When the clip 210 is sent into the end effector 300, one end of the switching member 751 is located on the guide rail 752 on the inner wall of one of the head shells 100 and can move on the guide rail 752, and the other end of the switching member 751 is located on the guide rail 752 on the inner wall of the other head shell 100 and can move on the guide rail 752.

[0128] In the initial state, the wrench 700 is in the open position. The switching mechanism cooperates with the clip feeding mechanism. The wrench 700 pushes against the base body 720 of the switching mechanism, causing the base body 720 to move distally. The first clutch member 730 advances accordingly and drives the clip feeding mechanism to move distally to perform the clip feeding action.

[0129] When the switching member 751 does not enter the guide rail 752, the engaging end 731 of the first clutch member 730 engages with the card slot 401, and the firing mechanism cooperates with the clip feeding mechanism. When the switching member 751 enters the guide rail 752, the switching member 751 drives the first clutch member 730 to move upward, causing the first clutch member 730 to disengage from the card slot 401 of the clip feeding drive tube 400 and separate from the clip feeding drive tube 400.

[0130] During the process of the wrench 700 driving the clip feeding mechanism to move distally, the second clutch member 740 (the distal end face of the base body 720) gradually approaches the proximal end face of the clamping drive tube 500. At the moment when the first clutch member 730 separates from the clip feeding drive tube 400, the second clutch member 740 abuts against the proximal end face of the clamping drive tube 500 to push the clamping drive tube 500 to move, thereby driving the clamping mechanism to move to perform the closing action of the end effector 300.

[0131] Reference Figure 6 and Figure 34 As shown in

[0132] The biasing element 760 is sleeved on the first clutch member 730. The upper end of the biasing element 760 abuts against the abutting portion 722 of the seat body 720, and the lower end of the biasing element 760 abuts against the abutting portion 733 of the first clutch member 730. In the initial state (when the firing mechanism is not moving), the biasing element 760 is in a compressed state, and the biasing element 760 applies a downward force to the first clutch member 730, so that the engaging end 731 of the first clutch member 730 abuts against the card slot 401 of the clip feeding drive tube 400 more stably, improving the stability of the clip feeding action.

[0133] In response to the switching member 751 entering the guide rail 752, the switching member 751 drives the first clutch member 730 to move upward, so that the first clutch member 730 disengages from the card slot 401 of the clip feeding drive tube 400 and separates from the clip feeding drive tube, causing the biasing element 760 to be further compressed, so that the first clutch member 730 has a tendency to move downward. In response to the switching member 751 moving proximally to disengage from the guide rail 752, the biasing element 760 drives the first clutch member 730 to move downward until the engaging end 731 abuts against the clip feeding drive tube 400.

[0134] The clip applying pliers further include a backstop mechanism. The backstop mechanism can abut against the clip feeding mechanism to prevent the clip feeding mechanism from retreating at the moment when the first clutch member 730 of the switching mechanism separates from the clip feeding mechanism. When the wrench 700 is in the middle position and the user releases the wrench 700, the backstop mechanism still abuts against the clip feeding mechanism to prevent the clip feeding mechanism from retreating.

[0135] The clip applying pliers further include a mating mechanism. One part of the mating mechanism is connected to the seat body 720, and the other part is connected to the proximal end of the clip pushing seat 600. There is a distance between one part of the mating mechanism and the other part. When the clip feeding mechanism advances through the mating mechanism, the clip pushing mechanism retreats to store energy, and the clip feeding action performed by the clip feeding mechanism and the clip pushing action performed by the clip pushing mechanism are not synchronized.

[0136] Reference Figure 2 、 Figure 6 and Figure 34, the mating mechanism includes a first rack 810, an intermediate member 820, and a second rack 830. The intermediate member 820 includes a first gear and a second gear. The first rack 810 meshes with the first gear, and the second rack 830 meshes with the second gear. The first gear and the second gear are coaxially arranged and can rotate synchronously. The clip feeding drive tube 400 is drivably connected to the first rack 810, and the clip feeding drive tube 400 and the first rack 810 move in the same direction. As described above, the seat body 720 of the switching mechanism is drivably connected to the clip feeding drive tube 400, and the seat body 720 is connected to the first rack 810. The clip pushing seat 600 is connected to the second rack 830. The moving directions of the first rack 810 and the second rack 830 are opposite. When the first rack 810 moves towards the distal end, the second rack 830 moves towards the proximal end. Both the first rack 810 and the second rack 830 are arranged axially, and the intermediate member 820 is arranged between the first rack 810 and the second rack 830. The clip applying pliers further includes a fourth reset member 1500. One end of the fourth reset member 1500 is connected to the head housing 100, and the other end is connected to the proximal end of the second rack 830. The fourth reset member 1500 is a spring, for example.

[0137] When the wrench 700 is in the open position, the plurality of clip pushing blocks 610 are respectively located on the front sides of the second clip to the Nth clip. The user presses the wrench 700 so that the wrench 700 moves from the open position towards the intermediate position. The wrench 700 pushes against the seat body 720 of the switching mechanism, causing the switching mechanism to move distally. The first clutch member 730 advances with the switching mechanism and drives the clip feeding mechanism to move distally to perform a clip feeding action. At the same time, the first rack 810 moves distally. During the process of the first rack 810 moving distally, the first rack 810 drives the second rack 830 to retreat through the intermediate member 820. Since the second rack 830 is connected to the clip pushing seat 600, the clip pushing seat 600 is driven to retreat, causing the fourth reset member 1500 to store energy, and the plurality of clip pushing blocks 610 respectively move proximally.

[0138] When the wrench 700 reaches the intermediate position, the switching member 751 of the switching mechanism moves onto the guide rail 752. The first clutch member 730 is separated from the clip feeding drive tube 400, and the forward stroke of the clip feeding mechanism ends (the clip feeding action is completed). The clip 210 enters the end effector 300. At the same time, the second clutch member 740 abuts against the proximal end face of the clip applying drive tube 500 to push the clip applying drive tube 500 to move.

[0139] When the wrench 700 is in the middle position, press the wrench 700 so that the wrench 700 moves from the middle position towards the closed position. The anti-retreat mechanism gradually disengages from the clip feeding drive tube 400. Under the action of the wrench 700, the switching mechanism continues to push the clip applying mechanism and the first rack 810 forward. At the same time, the first rack 810 continues to drive the second rack 830 to retreat through the intermediate member 820. Since the second rack 830 is connected to the clip pushing seat 600, the clip pushing seat 600 continues to retreat. When the clip pushing seat 600 retreats, the fourth reset member 1500 continues to store energy. The clip applying drive tube 500 drives the sleeve 510 to advance to close the end effector 300. When the wrench 700 reaches the closed position, the end effector 300 is closed (the clip applying action is completed), the energy storage of the fourth reset member 1500 ends, the anti-retreat mechanism completely disengages from the clip feeding drive tube 400, and the clip feeding drive tube 400 is reset under the action of the third reset member 1400. Each clip pushing block 610 moves proximally to the rear side of the second clip to the Nth clip. Still taking the clip pushing block 610 that was on the front side of the second clip when the wrench 700 was in the open position as an example, this clip pushing block 610 moves to the rear side of the second clip. Release the wrench 700, the clip applying mechanism is reset under the action of the first reset member 1200, and the clip pushing seat 600 advances under the action of the fourth reset member 1500 to move the other clips in the clip magazine 200 forward by one station (the clip pushing action is completed).

[0140] Reference Figure 2 and Figure 38 , the anti-retreat mechanism includes a guiding pivot member 1000 and a biasing spring 1060. Reference Figures 37-38 , the guiding pivot member 1000 has a pivoting portion 1070. The pivoting portion 1070 is pivotally connected to the head housing 100 through a rotating shaft, so that the guiding pivot member 1000 can rotate relative to the head housing 100 around the rotating shaft. The biasing spring 1060 gives a thrust to the guiding pivot member 1000, so that the guiding pivot member 1000 has a tendency to rotate clockwise (taking the Figure 2 angle as a reference). The guiding pivot member 1000 has an anti-retreat portion 1040. The wrench 700 is movably connected to the guiding pivot member 1000. During the process of the wrench 700 moving from the open position to the middle position, the biasing spring 1060 pushes the guiding pivot member 1000 to rotate, so that the anti-retreat portion 1040 approaches and abuts against the clip feeding drive tube 400 to prevent it from retreating.

[0141] Reference Figures 37-38, the guiding pivot member 1000 further has a first rotating arm 1010 extending proximally from the pivoting portion 1070, a second rotating arm 1020 extending distally from the pivoting portion 1070, and a third rotating arm 1030 extending obliquely upward from the pivoting portion 1070. The first rotating arm 1010 and the third rotating arm 1030 form an obtuse angle. The guiding pivot member 1000 further has a force-receiving portion 1080 and a guiding portion 1090. The end of the first rotating arm 1010 is the force-receiving portion 1080, the end of the second rotating arm 1020 is the guiding portion 1090, and the end of the third rotating arm 1030 is a stop portion 1040.

[0142] One end of the biasing spring 1060 abuts against the force-receiving portion 1080, and the other end abuts against the housing. The first rotating arm 1010 and the second rotating arm 1020 form a lever with the pivot axis of the pivoting portion 1070 as the fulcrum. The biasing spring 1060 and the guiding portion 1090 are located at both ends of the lever. When the biasing spring 1060 is in a compressed state, the biasing spring 1060 exerts a thrust on the force-receiving portion 1080, causing the guiding pivot member 1000 to tend to rotate clockwise, that is, the stop portion 1040 and the guiding portion 1090 also tend to rotate clockwise (with Figure 2 the placement angle of the clip applicator in the figure as a reference).

[0143] The wrench 700 is movably connected to the housing. For example, the wrench 700 has a pivoting end pivotally connected to the housing, and the wrench 700 can rotate around the pivoting end. The wrench 700 further has a guiding channel 710. Refer to Figures 37-38 , in this embodiment, the stop mechanism further includes a guiding member 1050 disposed on the guiding portion 1090 of the guiding pivot member 1000. The guiding member 1050 is partially received in the guiding channel 710. When the wrench 700 rotates around its pivoting end, the guiding channel 710 rotates accordingly, driving the guiding member 1050 to rotate around the pivot axis of the pivoting portion 1070 under the action of the biasing spring 1060. The guiding channel 710 is a closed channel surrounded on all sides, and the guiding member 1050 is located in the guiding channel 710 and cannot leave the guiding channel 710, so that the guiding member 1050 cannot be separated from the wrench 700 in this embodiment.

[0144] Refer to Figure 40 , the guiding channel 710 includes a starting point a, a stop point b, and an ending point c. The distance from the starting point a to the pivoting end of the wrench 700 and the distance from the ending point c to the pivoting end of the wrench 700 are both less than the distance from the stop point b to the pivoting end of the wrench 700. That is, the position of the stop point b is higher than the starting point a and the ending point c.

[0145] The guiding channel 710 includes a main channel 711 and only one sub-channel 712 extending from an opening 7111 of the main channel 711. The opening 7111 is located between the two ends of the main channel 711. The sub-channel 712 extends from the opening 7111 of the main channel 711 in a direction away from the pivoting end of the wrench 700, that is, the distance between the sub-channel 712 and the pivoting end is greater than the distance between the main channel 711 and the pivoting end. The two ends of the main channel 711 are respectively provided with a starting point a and an ending point c. The anti-retreat point b is located in the sub-channel 712. The biasing spring 1060 applies a force to the guiding pivoting member 1000, so that the guiding member 1050 can disengage from the main channel 711 and enter the sub-channel 712.

[0146] Reference Figure 2 , when the wrench 700 is in the open position, the guiding member 1050 is located at the starting point a. Reference Figure 8 , in response to the wrench 700 moving from the open position to the intermediate position, the wrench 700 drives the guiding member 1050 to rotate clockwise and lift upward from the starting point a under the action of the biasing spring 1060 into the sub-channel 712 and move to the anti-retreat point b in the sub-channel 712. Reference Figure 10 , in response to the wrench 700 moving from the intermediate position to the closed position, the wrench 700 drives the guiding member 1050 to move down from the anti-retreat point b in the sub-channel 712 to the ending point c of the main channel 711. When the guiding member 1050 enters the sub-channel 712, the guiding pivoting member 1000 rotates upward, so that the anti-retreat portion 1040 of the guiding pivoting member 1000 moves upward.

[0147] Reference Figure 40 , the sub-channel 712 includes a blocking wall 713. The main channel 711 includes a first wall extending from the starting point a to be connected to the blocking wall 713, and the first wall and the blocking wall 713 form a right angle or an acute angle. Such a simple angle design of the guiding channel 710 can ensure that the blocking wall 713 effectively prevents the guiding member 1050 from retreating from the anti-retreat point b to the starting point a, so that the wrench 700 can stay in the intermediate position.

[0148] In order to enable the guiding member 1050 to move from the anti-retreat point b to the ending point c, the sub-channel 712 further includes a guiding wall 714. The main channel 711 further includes a second wall extending from the ending point c to be connected to the guiding wall 714, and the second wall and the guiding wall 714 form an obtuse angle. Such a simple angle design of the guiding channel 710 ensures that the guiding member 1050 can move from the anti-retreat point b to the ending point c.

[0149] When the user presses the wrench 700 to move the wrench 700 from the open position to the intermediate position, when the guide 1050 moves from the starting point a to the anti-retreat point b, the guide 1050 enters the secondary channel 712 from the main channel 711, and the guide pivot 1000 rotates upward and lifts. At this time, the first clutch member 730 is separated from the clip feeding drive tube 400, and the second clutch member 740 abuts against the clip applying drive tube 500. At this time, the clip applying pliers are in the clip feeding completed state, the clip 210 is located in the end effector 300, and the anti-retreat portion 1040 moves upward to abut against the clip feeding drive tube 400 to prevent it from retreating.

[0150] When the user continues to press the wrench 700, during the process that the wrench 700 moves from the intermediate position and causes the guide 1050 to move from the anti-retreat point b to before the end point c, the guide 1050 continues to move in the secondary channel 712, the guide pivot 1000 does not move downward, and the anti-retreat portion 1040 remains in contact with the clip feeding drive tube 400 to prevent the clip feeding drive tube 400 from retreating, so that the clip feeding block 430 can abut against the proximal end of the clip 210, and the clip 210 will not retreat during the clip applying process, thereby ensuring the stability of clip applying. During this process, the second clutch member 740 abuts against the clip applying drive tube 500, and the switching mechanism drives the clip applying mechanism to move distally to perform the closing action (clip applying action) of the end effector 300.

[0151] When the user continues to press the wrench 700, when the wrench 700 reaches the closed position and causes the guide 1050 to move from the anti-retreat point b along the secondary channel 712 to the end point c in the main channel 711, the anti-retreat portion 1040 moves below the clip feeding drive tube 400, the anti-retreat portion 1040 is separated from the clip feeding drive tube 400, and the clip feeding drive tube 400 retreats and resets under the action of the third reset member 1400. When the guide 1050 reaches the end point c, the clip applying pliers are in the clip applying completed state, and the clip 210 held in the end effector 300 is compressed to the closed state. When the wrench 700 is released, the clip applying mechanism resets under the action of the first reset member 1200, the switching mechanism resets under the action of the fourth reset member 1500, and the wrench 700 resets under the drive of the switching mechanism.

[0152] In summary, for the clip applying pliers of the present disclosure, the wrench 700 can move from the closed position to the open position before it can move towards the closed position again. Thus, each moving unit of the clip applying pliers is completely reset before being driven to move, avoiding disorder inside the clip applying pliers and ensuring the stable operation of the clip applying pliers.

[0153] The clip applying pliers of the present disclosure prevent the clips 210 from stacking in the clip magazine 200 and causing the clip feeding mechanism to be stuck, thereby avoiding disorder inside the clip applying pliers and ensuring the stable operation of the clip applying pliers.

[0154] It should be understood that although this specification is described according to embodiments, not every embodiment contains only an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0155] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present disclosure, and they are not intended to limit the protection scope of the present disclosure. Any equivalent embodiments or changes made without departing from the technical spirit of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A clip applicator, characterized in that, The invention comprises a clipping magazine, an end effector, a stop mechanism and a firing mechanism; the clipping magazine has a clip; the stop mechanism has a first stop portion; the firing mechanism comprises a limit portion and a wrench connected thereto; the wrench has an open position, an intermediate position and a closed position; In response to the wrench moving from the open position to the intermediate position, the wrench drives the clip into the end effector; In response to the wrench moving from the intermediate position to the closed position, the wrench drives the end effector closed to close the clamp in the end effector; The wrench moves from the closed position toward the open position until the limiting portion passes over the first stop portion, and before the wrench reaches the open position, in response to the wrench moving toward the closed position, the first stop portion remains in contact with the limiting portion to limit the wrench from moving toward the closed position.

2. The clip applicator according to claim 1, wherein The clip applier further includes a housing and a blocking portion; The stop mechanism includes a moving part, the moving part is movably connected to the housing, and the moving part has the first stop portion and the second stop portion; In response to the wrench moving from the open position to the closed position, the first stop portion is staggered with the limiting portion to avoid the limiting portion; In response to the wrench moving from the closed position toward the open position until the limiting portion abuts against the first stop portion, the moving member moves to allow the first stop portion to avoid the limiting portion, thereby allowing the limiting portion to pass over the first stop portion; The wrench moves from the closed position toward the open position until the limiting portion passes over the first stop portion, and before the wrench reaches the open position, in response to the wrench moving toward the closed position until the limiting portion abuts against the first stop portion, the blocking portion abuts against the second stop portion to limit the movement of the moving part, so that the limiting portion and the first stop portion remain abutted to limit the movement of the wrench toward the closed position.

3. The clip applicator according to claim 2, wherein, In response to the movement of the wrench, the limiting portion moves in the axial direction; When the wrench is in the open position, the limiting portion and the projection of the first stop portion along the axial direction are staggered, and in response to the wrench moving from the open position to the intermediate position, the limiting portion moves from the proximal side of the first stop portion to the distal side of the first stop portion; When the wrench is in the middle position, the limiting portion and the projection of the first stop portion along the axial direction at least partially overlap, and in response to the wrench moving from the middle position to the closed position, the limiting portion moves distally of the first stop portion; The wrench moves from the closed position toward the open position until the limit portion reaches the proximal side of the first stop portion before the open position, and the limit portion and the projection of the first stop portion along the axial direction at least partially overlap. In response to the wrench moving toward the closed position, the limit portion moves from the proximal side of the first stop portion to the distal end until it is in contact with the first stop portion.

4. The clip applicator according to claim 3, characterized in that, The clip applier further includes a clip delivery mechanism; The firing mechanism further includes a switching mechanism connected to the wrench; When the wrench is in the open position, the switching mechanism cooperates with the clamp feeding mechanism; in response to the wrench moving from the open position to the intermediate position, the wrench drives the switching mechanism to move so as to drive the clamp into the end actuator; When the wrench reaches the intermediate position, the switching mechanism is disengaged from the clamp feeding mechanism; in response to the wrench moving from the intermediate position to the closed position, the wrench drives the switching mechanism to move so as to drive the end actuator to close; When the wrench reaches the closed position, the clamp feeding mechanism is reset; in response to the wrench moving from the closed position to the open position, the switching mechanism is reset to cooperate with the clamp feeding mechanism again.

5. The clip applicator according to claim 4, characterized in that, The clip feeding mechanism has a card slot; The switching mechanism includes a first clutch member having an engaging end and a switching end opposite to each other, and the limiting portion is provided at the switching end; In response to the engagement of the engaging end of the first clutch member with the engaging slot, the switching mechanism cooperates with the clamp feeding mechanism, and the projections of the limiting portion and the first stop portion along the axial direction are staggered; In response to the first clutch member moving away from the slot so that the engaging end is disengaged from the slot, the switching mechanism and the clamp feeding mechanism are released from engagement, and the projections of the limiting portion and the first stop portion along the axial direction at least partially overlap.

6. The clip applicator according to claim 5, wherein The clip delivery mechanism includes a clip delivery drive tube and a clip delivery assembly connected to each other. In response to the distal movement of the clip delivery drive tube, the clip delivery assembly moves distally to deliver the clip of the clip cartridge to the end effector. The outer wall of the clamp feeding drive tube is provided with the clamping slot; Before the wrench moves from the closed position to the open position, in response to the engaging end of the first clutch member moving along the outer wall of the clamp feeding drive tube, the projections of the limiting portion and the first stop portion along the axial direction at least partially overlap.

7. The clip applicator according to claim 2, wherein The wrench has an extension arm extending toward the moving part, and the limiting portion is connected to the extension arm; The moving member includes a pivot body and a stop arm connected to each other, wherein the pivot body is rotatably connected to the housing; the stop arm has an avoidance side and an abutting side; the first stop portion is provided on the abutting side of the stop arm; In response to the wrench moving from the open position to the closed position, the limiting portion moves from the first position to the second position via the avoidance side of the stop arm; In response to the wrench moving from the closed position toward the open position, so that the limiting portion moves from the second position via the abutting side of the stop arm to abut against the first stop portion, the pivoting body rotates so that the first stop portion avoids the limiting portion so that the limiting portion passes over the first stop portion; The wrench moves from the closed position toward the open position until the limiting portion passes over the first stop portion, and before the wrench reaches the open position, in response to the wrench moving toward the closed position, the limiting portion moves toward the second position via the abutting side of the stop arm until it remains in abutment with the limiting portion, thereby limiting the movement of the wrench toward the closed position.

8. The clip applicator according to claim 7, characterized in that, The second stop portion is also arranged on the abutting side of the stop arm; the blocking portion is arranged on the limiting portion; The wrench moves from the closed position toward the open position until the limiting portion passes over the first stop portion, and before the wrench reaches the open position, in response to the wrench moving toward the closed position, the limiting portion moves toward the second position until the limiting portion abuts against the first stop portion, and the blocking portion abuts against the second stop portion to limit the movement of the moving part, so that the first stop portion and the limiting portion remain in abutment.

9. The clip applying forceps according to claim 7, characterized in that, The clip applier further comprises a stop portion; The stop arm has a connecting end and a free end, the connecting end is connected to the pivot body, and the free end can move relative to the pivot body; the free end of the stop arm is provided with a conversion portion; In response to the wrench moving from the open position to the closed position, the stop arm abuts against the stop portion to limit the pivot body from rotating in the first rotation direction. When the limiting portion moves from the first position via the avoidance side of the stop arm to abut against the conversion portion, the free end of the stop arm moves so that the conversion portion avoids the limit portion, thereby causing the limit portion to move to the second position. In response to the wrench moving from the closed position to the open position, when the limiting portion moves from the second position to abut against the conversion portion, the pivot member rotates along the second rotation direction to allow the conversion portion to avoid the limiting portion, thereby causing the limiting portion to move to the abutting side of the stop arm.

10. The clip applicator according to any one of claims 2, 3, and 7, characterized in that, The moving part is rotatably connected to the housing, and the movement of the moving part is rotation.

11. The clip applicator according to any one of claims 2, 3, and 7, characterized in that The stop mechanism further includes an elastic member, one portion of the elastic member is connected to the housing, and the other portion is connected to the moving member; the elastic member is configured to provide power for resetting the moving member.

12. The clip applicator according to claim 1, 3, or 7, characterized in that, The clip applier further includes a clip delivery mechanism; The firing mechanism further includes a switching mechanism connected to the wrench; When the wrench is in the open position, the switching mechanism cooperates with the clamp feeding mechanism; in response to the wrench moving from the open position to the intermediate position, the wrench drives the switching mechanism to move so as to drive the clamp into the end actuator; When the wrench reaches the intermediate position, the switching mechanism is disengaged from the clamp feeding mechanism; in response to the wrench moving from the intermediate position to the closed position, the wrench drives the switching mechanism to move so as to drive the end actuator to close; When the wrench reaches the closed position, the clamp feeding mechanism is reset; in response to the wrench moving from the closed position to the open position, the switching mechanism is reset to cooperate with the clamp feeding mechanism again.

13. The clip applicator according to claim 12, characterized in that, The clip feeding mechanism has a clamping groove; the switching mechanism includes a first clutch member having a clamping end; In response to the clamping end of the first clutch member being clamped in the clamping groove, the switching mechanism cooperates with the clip feeding mechanism; In response to the clamping end of the first clutch member being disengaged from the clamping groove, the switching mechanism is disengaged from the clip feeding mechanism.

14. The clip applicator according to claim 13, wherein The clip applying pliers further include a switching member, a housing, and a guide rail provided on the housing; the first clutch member further has a switching end opposite to the clamping end, and the switching member is provided at the switching end; In response to the wrench moving from the open position to the intermediate position, the switching member enters the guide rail, causing the first clutch member to move away from the clamping groove, so that the clamping end is disengaged from the clamping groove.

15. The clip applicator according to any one of claims 1, 3, and 7, characterized in that, The clip applying pliers further include a clip applying mechanism, and the clip applying mechanism includes a clip applying drive tube and a sleeve connected to each other; In response to the firing mechanism performing the driving movement to be disengaged from the clip feeding mechanism, the firing mechanism abuts against the clip applying drive tube to drive the clip applying drive tube to move, so that the sleeve moves to cause the end effector to be at least partially received in the sleeve, thereby closing the end effector.

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