End execution device and operation method

Abstract

The embodiment of the invention provides an end execution device and an operation method, the end execution device comprises a clamp assembly, a conveying assembly and an operation assembly, the clamp assembly is arranged at the far end of the conveying assembly, the operation assembly is arranged at the near end of the conveying assembly, and the clamp assembly is controlled to be opened and closed through the operation assembly. The clamp assembly is switched among the opening state, the closing state and the locking state, the clamp assembly can be prevented from loosening after being closed, the risk of hemostasis and suturing failure is reduced, and secondary damage to a patient is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of medical devices, and in particular relates to an end execution device and an operating method. Background Art

[0002] Currently, diseases of the digestive system, bile duct, vascular system, and other body cavities and hollow organs are usually treated through endoscopic surgery. Bleeding often occurs during surgery, so hemostatic devices are needed to control bleeding; or suturing is performed through clamping devices. Common hemostatic clips clamp the edges of the wound or incision together to stop internal bleeding, allowing the wound or incision to heal on its own. During the treatment process, the clip is delivered to the wound or surgical site through a specialized endoscopic clamping delivery device, and the clip is clamped at the wound or surgical site. The clip then falls off and remains in the body, and the delivery device is withdrawn. These clips may remain in place until they fall off naturally.

[0003] However, commonly used hemostatic clips are prone to loosening after closure, causing the clips that clamp the wound to open, resulting in failure of hemostasis and suturing, and causing secondary damage to the patient. Summary of the Invention

[0004] In response to the above technical problems, the present invention provides an end execution device and an operating method. The end execution device is provided with a first locking part and a second locking part that cooperate with each other to lock, so that the clamp assembly can be relatively locked with the tightening tube unit when clamped, preventing the clamp arm and the assembly from falling off prematurely, thereby avoiding secondary injury to the patient.

[0005] 18. The clamping assembly as claimed in claim 17, wherein the clamping arm comprises a clamping arm unit and a tightening tube unit, the proximal end of the clamping arm unit being receivable in the channel of the tightening tube unit, the tightening tube unit being provided with a first locking portion, and the clamping arm unit being provided with a second locking portion; a conveying assembly comprising a sheath tube and a core shaft arranged in the sheath tube channel, the distal end of the sheath tube being detachably connected to the proximal end of the tightening tube unit, the core shaft being detachably connected to the clamping arm unit, the core shaft being capable of axially moving in the sheath tube channel to drive the clamp assembly to switch between an open state, a closed state and a locked state; when the clamp assembly is converted from the open state to the closed state, the second locking portion is axially displaced relative to the tightening tube; when the clamp assembly is converted from the closed state to the locked state, the second locking portion is circumferentially displaced relative to the tightening tube, and when in the locked state, the first locking portion and the second locking portion cooperate with each other to lock. By mutually locking the first locking portion and the second locking portion in the relative circumferential movement, the clamp assembly can be switched from a closed state to a locked state, thereby preventing the clamp arm unit from falling off.

[0006] In one embodiment provided by the present invention, the first locking portion is configured as a locking shaft, and the second locking portion is configured as a locking interface. During the process of the clamp assembly being converted from the closed state to the locked state, the locking shaft and the locking interface move relative to each other in the circumferential and axial directions and then engage with each other, so that the clamp arm unit is in the locked state. Alternatively, the first locking portion is configured as a locking interface, and the second locking portion is a locking shaft. During the process of the clamp assembly being converted from the closed state to the locked state, the locking shaft and the locking interface move relative to each other in the circumferential and axial directions and then engage with each other, so that the clamp arm unit is in the locked state. By the locking shaft and the locking interface moving relative to each other in the circumferential and axial directions and then engaging and locking each other, the clamp assembly is switched to the locked state while increasing the closing extrusion force, thereby further ensuring the closed state.

[0007] In one embodiment provided by the present invention, the locking interface includes a guide groove and a locking groove. The guide groove is recessed from a direction relatively close to the locking shaft toward a direction away from the locking shaft, and one side of the guide groove is convex toward the other side to form a guide portion. The locking shaft can move circumferentially and axially relative to the locking interface under the guidance of the guide portion. The locking groove is provided at the proximal end of the guide groove and is interconnected with the guide groove. The locking groove is recessed toward the same side of the guide portion. The locking shaft can pass through the guide portion and then snap into the locking groove. The provision of the guide portion enables the locking interface and the locking shaft to rotate relative to each other circumferentially. The provision of the locking groove allows the guide portion to be locked by the locking groove.

[0008] In one embodiment provided by the present invention, a limiting protrusion is provided at a transition position between a side edge of the guide groove and a side edge of the locking groove, so as to prevent the locking shaft from accidentally sliding into the locking groove and avoiding accidental locking.

[0009] In one embodiment provided by the present invention, the locking interface includes a guide groove and a locking groove. The guide groove is recessed from a direction relatively close to the locking shaft toward a direction away from the locking shaft, and both sides of the guide groove are convexly provided toward the middle to form a guide portion. The locking shaft can be guided by the guide portion to move circumferentially and axially relative to the locking interface. The locking groove is provided at the proximal end of the guide groove and is interconnected with the guide groove. The locking groove is recessed toward the same side of the guide portion to form a locking position. The locking shaft can be buckled into the locking position after passing through the guide portion. The provision of the guide portion enables the locking interface and the locking shaft to rotate relative to each other circumferentially. The provision of the locking groove allows the guide portion to be locked by the locking groove.

[0010] In one embodiment of the present invention, the locking interface is symmetrically arranged about the axis of the tightening tube unit, and the locking shaft is symmetrically arranged about the axis of the tightening tube unit. By symmetrically arranging the locking shaft and the locking interface, the locking shaft and the locking interface can be stably connected, thereby stably locking the clamp assembly.

[0011] In one embodiment of the present invention, the tightening tube unit includes a tail tube and a tightening tube. The tightening tube has a passage, and the tail tube is detachably mounted on the proximal end of the passage of the tightening tube. By providing the tail tube detachable from the tightening tube, the tail tube and the tightening tube can be easily separated from each other.

[0012] In one embodiment of the present invention, the tail pipe is provided with an elastic arm. The elastic arm is elastic and can swing relatively close to the central axis of the tail pipe. The free end of the elastic arm extends radially outward to form a locking portion. The tightening tube is provided with a snap-fit hole at a position corresponding to the locking portion, and the locking portion can be snapped into the snap-fit hole. By providing the elastic arm and the locking portion on the elastic arm on the tail pipe, and providing the snap-fit hole on the tightening tube that cooperates with the elastic arm, the elastic arm can lock the tail pipe and the tightening tube through the cooperation of the locking portion and the snap-fit hole.

[0013] In one embodiment of the present invention, a disassembly groove is provided on the outer circumference of the tightening tube. The disassembly groove is relatively close to the proximal end of the tightening tube and corresponds to the elastic arm. By providing the disassembly groove on the outer circumference of the tightening tube, the elastic arm is pressed by the disassembly groove, allowing the elastic arm to exit the fastening hole, thereby allowing the tail tube and the tightening tube to be separated from each other.

[0014] In one embodiment of the present invention, the elastic arms are symmetrically arranged about the central axis of the tail pipe, and the disassembly slots are symmetrically arranged about the central axis of the tightening tube, with each disassembly slot corresponding to a corresponding elastic arm. The symmetrical arrangement of the elastic arms and disassembly slots facilitates disassembly of the elastic arms through the symmetrical disassembly slots.

[0015] In one embodiment of the present invention, a limiting rib is provided at the proximal end of the tightening tube toward the central axis of the tightening tube, and the limiting rib can abut the proximal end of the tail pipe to limit the axial movement of the tail pipe. By providing a limiting member, the axial movement of the tail pipe in the tightening tube is limited.

[0016] In one embodiment of the present invention, the first locking portion is provided on the tail pipe, and the second locking portion is provided on the clamping arm unit; or the first locking portion is provided on the clamping arm unit, and the second locking portion is provided on the tail pipe. By providing the first locking portion or the second locking portion on the tail pipe, the tail pipe can be locked with the second locking portion or the first locking portion on the clamping arm unit.

[0017] In one embodiment provided by the present invention, the tightening tube unit further includes an elastic pin and a spring end, the elastic pin including a base and a mounting arm, the base being sleeved on the core shaft, the mounting arm being mounted to the base at a preset angle, the free end of the mounting arm extending radially, the spring end being fixedly mounted to the proximal end of the sheath tube, a mounting groove being provided on the inner side of the spring end, a mounting hole being provided at the distal end of the tail tube, the mounting arm being installed into the mounting groove through the mounting hole, and fixing the tail tube and the spring end. By providing the elastic pin and the spring end, the elastic pin can lock the spring end and the tail tube, thereby locking the tail tube and the spring end, and the elastic pin can also be moved to cause the mounting arm of the elastic pin to exit the mounting hole, thereby allowing the spring end to be separated from the tail tube.

[0018] In one embodiment of the present invention, the conveying assembly further comprises a stopper fixedly mounted on the core shaft and positioned between the elastic pin and the connecting piece. A stopper ring can abut the base of the elastic pin, driving the elastic pin to move away from the clamp assembly, thereby unlocking the spring end and the tail tube. The stopper ring is configured to abut the elastic pin during axial movement, thereby driving the elastic pin to move axially, causing the mounting arm to exit the mounting hole.

[0019] A method for operating an end effector, for operating any of the above-mentioned end effectors, the method comprising:

[0020] The control core shaft drives the clip unit to move toward the proximal end of the end effector, so that the clip assembly is in a closed state, and the clip assembly is delivered to the target position through the endoscope channel by the delivery assembly;

[0021] After reaching the target position, the control core shaft drives the clamp unit to move toward the distal end of the end effector, driving the clamp assembly from a closed state to an open state; the control conveyor assembly moves the open clamp assembly closer to the target, and the control core shaft causes the open clamp assembly to gradually close to clamp the target;

[0022] After clamping the target, the core shaft is controlled to move so that the first locking part can move circumferentially relative to the second locking part, so that the first locking part can lock with the second locking part, lock the clamp unit and the tightening tube unit, and keep the clamp assembly in a locked state.

[0023] After the clamp assembly is locked, the traction force of the traction handle is increased toward the proximal end of the end effector, the core shaft is disengaged from the clamp arm unit, and the sheath is disengaged from the tightening tube unit, so that the clamp assembly is continuously clamped at the target position.

[0024] In summary, the present invention provides an end execution device, which enables the clamp assembly to be relatively locked with the tightening tube unit when clamped by providing a first locking part and a second locking part that cooperate with each other to prevent the clamp arm from falling off and avoid secondary injury to the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic structural diagram of an end effector according to an embodiment of the present invention;

[0026] Figure 2 for Figure 1 A partial enlarged view of point A in the end effector shown;

[0027] Figure 3 for Figure 2 A schematic structural diagram of the clamp assembly in the end effector shown in another perspective;

[0028] Figure 4 for Figure 2 a cross-sectional view of the end effector with the clip assembly shown closed;

[0029] Figure 5 for Figure 2 A cross-sectional view of the end effector with the clip assembly shown expanded;

[0030] Figure 6 for Figure 1 A schematic diagram of the structure of the tightening tube in the end-effector shown;

[0031] Figure 7 for Figure 1 A schematic structural diagram of the tail pipe in the end effector shown;

[0032] Figure 8 for Figure 1 A schematic diagram of the structure of the end effector in which the tail tube is installed in the tightening tube;

[0033] Figure 9 for Figure 8 A cross-sectional view showing the tail pipe installed into the cinch tube;

[0034] Figure 10 for Figure 1 The schematic structural diagram of the tail pipe in another embodiment of the end effector shown;

[0035] Figure 11 for Figure 9 The structure diagram of the tail pipe shown is when the first locking portion and the second locking portion are locked when the tail pipe is installed in the tightening tube;

[0036] Figure 12 for Figure 1A schematic structural diagram of the end effector when the first locking portion and the second locking portion rotate relative to each other;

[0037] Figure 13 for Figure 1 A schematic structural diagram of the end effector when the first locking portion and the second locking portion are locked;

[0038] Figure 14 for Figure 1 A schematic structural diagram of the end effector when the clip assembly is disengaged;

[0039] Figure 15 for Figure 14 A schematic diagram of the structure of the clip assembly before disassembly is shown;

[0040] Figure 16 for Figure 14 The schematic diagram of the structure after the clip assembly is disassembled is shown.

[0041] 100, end effector; 10, clamp assembly; 11, clamp arm unit; 111, locking shaft; 112, clamp arm; 113, connecting piece; 12, tightening tube unit; 121, locking interface; 1211, guide groove; 1212, locking groove; 1213, limiting protrusion; 1214, guide portion; 122, tightening tube; 1221, buckle hole; 1222, disassembly groove; 1223, limiting rib; 122 4. Lug; 123. Tail pipe; 1231. Elastic arm; 1232. Locking portion; 1233. Mounting hole; 124. Elastic pin; 1241. Base; 1242. Mounting arm; 1243. Snap-fit portion; 125. Spring end; 1251. Mounting slot; 20. Conveying assembly; 21. Sheath; 22. Core shaft; 23. Limiting platform; 30. Operating assembly; 31. Rotating bracket; 32. Pull handle. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] It should be noted that when a component is referred to as being "mounted on" another component, it may be mounted directly on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component. When a component is considered to be "fixed to" another component, it may be directly fixed to the other component or there may be a central component.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0045] See also Figure 1 , Figure 1 This is a structural schematic diagram of an end execution device 100 in an embodiment provided by the present invention; the present invention provides an end execution device 100, which is used to clamp a wound in the body and a position to be treated to achieve hemostasis and suturing of the position to be treated.

[0046] In an embodiment provided by the present invention, the end execution device 100 includes an operating component 30, a conveying component 20 and a clamp component 10. One end of the conveying component 20 is connected to the operating component 30, and the other end is connected to the clamp component 10, which is used to convey the clamp component 10; the operating component 30 controls the rotation and movement of the clamp component 10 by pulling and rotating, and the clamp component 10 cooperates with the operating component 30 to clamp the target tissue at the position to be processed, and the conveying component 20 is used to convey the clamp component 10 to the position to be processed.

[0047] In an embodiment provided by the present invention, the conveying component 20 includes a sheath 21 and a core shaft 22. The sheath 21 has a through cavity, the core shaft 22 is installed in the cavity, and the core shaft 22 can move in the cavity. The sheath 21 is used to isolate the core shaft 22 from the external space and protect the core shaft 22.

[0048] In the present invention, the end of the end execution device 100 extending into the body is defined as the distal end, and the end located outside the body is defined as the proximal end; in the following description, the direction toward the distal end is uniformly referred to as the distal direction, and the direction toward the proximal end is uniformly referred to as the proximal direction; it can be understood that in the process of describing the various components of the end execution device 100, the end toward the distal end can be described as the distal end, and the end toward the proximal end can be described as the proximal end.

[0049] In an embodiment provided by the present invention, an operating component 30 is arranged at the proximal end of the sheath 21, and the operating component 30 includes a rotating bracket 31 and a traction handle 32. The traction handle 32 is slidably mounted on the rotating bracket 31, and the traction handle 32 is used to pull the core shaft 22. The rotating bracket 31 is used to support the traction handle 32 and control the rotation of the core shaft 22; specifically, the rotating bracket 31 is set to be cylindrical, and the distal end of the rotating bracket 31 is interconnected with the proximal end of the sheath 21 and can rotate relative to each other. A connecting hole is opened at the distal end of the rotating bracket 31 and is communicated with the sheath 21. The core shaft 22 is connected to the rotating bracket 31 through the connecting hole, and the rotating bracket 31 can drive the core shaft 22 to rotate; the traction handle 32 is sleeved on the rotating bracket 31, and the core shaft 22 is interconnected with the traction handle 32 through the connecting hole. By controlling the sliding of the traction handle 32 on the rotating bracket 31, the core shaft 22 is driven to move relatively close to the proximal end or distal end along the axial direction.

[0050] With this arrangement, the core shaft 22 is driven to move axially by pulling the handle 32 so that the clamp assembly 10 can switch states, and the core shaft 22 is driven to rotate by rotating the bracket 31 so that the clamp assembly 10 can rotate. The clamping posture can be adjusted according to actual conditions.

[0051] It should be noted that the present invention does not limit the setting form and relative movement mode of the traction handle 32 and the rotating bracket 31, as long as the traction handle 32 can drive the core shaft 22 to move axially and the rotating bracket 31 can drive the core shaft 22 to rotate. In other embodiments, the rotating bracket 31 and the traction handle 32 can also drive the core shaft 22 to move axially through other forms such as a lever mechanism.

[0052] See also Figures 2 to 5 In one embodiment provided by the present invention, the clamp assembly 10 includes a tightening tube unit 12 and a clamp arm unit 11. The proximal end of the clamp arm unit 11 can be received in the channel of the tightening tube unit 12. The tightening tube unit 12 and the clamp arm unit 11 cooperate with each other so that the clamp arm unit 11 can switch between different states.

[0053] Among them, the tightening tube unit 12 includes a tightening tube 122, a tail tube 123, an elastic pin 124 and a spring end 125. The spring end 125 is installed at the distal end of the sheath tube 21 for connecting the tightening tube 122 and the sheath tube 21. The tail tube 123 is detachably connected to the spring end 125 through the elastic pin 124.

[0054] Specifically, the spring end 125 is fixedly mounted on the distal end of the sheath tube 21. The spring end 125 is roughly cylindrical. A through-hole is opened in the middle of the spring end 125. The core shaft 22 extends out of the sheath tube 21 through the through-hole. The inner wall of the distal end of the through-hole is radially recessed outward to form a mounting groove 1251. The distal end surface and the proximal end surface of the mounting groove 1251 are perpendicular to the central axis of the core shaft 22. The elastic pin 124 is sleeved on the core shaft 22. The elastic pin 124 includes The base 1241 and the mounting arm 1242 are substantially disc-shaped and extend into the sheath 21. A through hole is provided in the middle of the base 1241. The base 1241 is sleeved on the core shaft 22 through the through hole. The mounting arm 1242 is substantially strip-shaped. One end of the mounting arm 1242 is mounted to the base 1241 at a preset angle. In this embodiment, the preset angle is 15 degrees, and the free end of the mounting arm 1242 extends radially outward to form a buckle portion 1243, and Installed in the mounting groove 1251, the mounting arm 1242 has a certain elasticity and can swing relatively close to and away from the core shaft 22, and under normal circumstances, the mounting arm 1242 has a tendency to bounce radially outward, and the mounting arm 1242 can be buckled into the mounting groove 1251, and the elastic pin 124 is restricted from moving within a certain axial range by the abutment of the buckling portion 1243 with the distal end surface and proximal end surface of the mounting groove 1251, and the end portion of the mounting arm 1242 connected to the base 1241 abuts against the proximal end surface of the mounting groove 1251; the distal end of the tail pipe 123 is provided with a mounting portion, which extends into the interior of the spring end 125, and the mounting portion is provided with a through mounting hole 1233, and the mounting hole 1233 is correspondingly arranged to the mounting groove 1251, and the buckling portion 1243 of the elastic pin 124 extends into the mounting groove 1251 through the mounting hole 1233, so that the tail pipe 123 is fixedly connected to the spring end 125 through the elastic pin 124.

[0055] In this arrangement, by providing a mounting hole 1233 on the tail pipe 123 to cooperate with the elastic pin 124, and providing a mounting groove 1251 on the spring end 125 to cooperate with the elastic pin 124, the elastic pin 124 can extend into and out of the mounting hole 1233 and the mounting groove 1251 to lock and unlock the tail pipe 123 and the spring end 125, thereby making the tail pipe 123 and the spring end 125 detachably connected.

[0056] It can be understood that the present invention does not limit the installation angle of the mounting arm 1242. In other embodiments, it can also be set to 30 degrees, as long as the elastic pin 124 can make the mounting arm 1242 abut the proximal surface of the mounting groove 1251 when moving axially, so that the mounting arm 1242 can shrink radially inward.

[0057] In the process of the elastic pin 124 moving toward the distal end of the sheath tube 21, the mounting arm 1242 of the elastic pin 124 contracts radially inward under the abutment of the proximal surface of the mounting groove 1251, thereby causing the buckling portion 1243 of the elastic pin 124 to disengage from the mounting groove 1251, thereby enabling the tail tube 123 to disengage from the spring end 125.

[0058] It should be noted that the present invention does not limit the shape of the base 1241 . In other embodiments, the base 1241 may also be configured as a cube or a pentagonal prism, as long as the base 1241 can move within the sheath tube 21 .

[0059] In addition, in this embodiment, the spring end 125 is fixedly installed to the distal end of the sheath tube 21 by welding. It can be understood that in other embodiments, the spring end 125 and the sheath tube 21 can also be installed by other fixed connection methods such as threaded fixed connection.

[0060] In this embodiment, the number of mounting arms 1242 of the elastic pin 124 is set to two, and the two mounting arms 1242 are symmetrically arranged about the central axis of the base 1241. The symmetrically arranged mounting arms 1242 of the elastic pin 124 are buckled into the mounting groove 1251, so that the elastic pin 124 can stably lock the tail tube 123 and the spring end 125. The symmetrically arranged mounting arms 1242 can stably install the spring end 125 and the tail tube 123; it can be understood that the present invention does not limit the number of mounting arms 1242. In other embodiments, the number of mounting arms 1242 can also be set to three or four, as long as the tail tube 123 and the spring end 125 can be stably locked and installed.

[0061] In one embodiment provided by the present invention, the conveying assembly 20 further includes a stopper 23, which is radially protruded from the core shaft 22 and is used to abut the elastic pin 124. Specifically, the cross-section of the stopper 23 is roughly disc-shaped, and the diameter of the stopper 23 is approximately equal to the diameter of the base 1241 of the elastic pin 124. The stopper 23 can move axially along the core shaft 22. When it is necessary to unlock and install the tail tube 123 and the spring end 125, the core shaft 22 is pulled toward the proximal end of the core shaft 22, so that the stopper 23 moves toward the proximal end of the core shaft 22 and then abuts against the base 1241 of the elastic pin 124, driving the elastic pin 124 to move toward the proximal end of the core shaft 22, so that the installation arm 1242 of the elastic pin 124 exits the installation hole 1233 of the tail tube 123 and the installation groove 1251 of the spring end 125, so that the tail tube 123 and the spring end 125 are separated from each other. In this configuration, by providing the limit platform 23 , the core shaft 22 can be driven to move axially by the limit platform 23 , so that the tail pipe 123 and the spring end 125 are separated from each other, and the clip assembly 10 has a detachable function.

[0062] It can be understood that the present invention is not limited to the form of setting a limit platform 23 to abut against the adjusting elastic pin 124. In other embodiments, a limit ring can also be set, and the limit ring is fixedly sleeved on the core shaft 22. The limit ring fixedly installed on the core shaft 22 moves axially along the core shaft 22 to abut against the base 1241, thereby driving the elastic pin 124 to move axially, thereby unlocking the tail pipe 123 and the spring end 125, as long as it can drive the elastic pin 124 to move axially.

[0063] In one embodiment provided by the present invention, the clamp arm unit 11 includes a fixing member, a connecting piece 113 and a clamp arm 112. The proximal end of the clamp arm 112 is fixedly installed on the fixing member, and the fixing member is connected to the core shaft 22 through the connecting piece 113. The clamp arm 112 is used to clamp tissue, and the fixing member is used to fix the proximal end of the clamp arm 112. The connecting piece 113 is used to connect the fixing member and the core shaft 22, so that the clamp assembly 10 can move axially with the core shaft 22.

[0064] Specifically, the number of clamping arms 112 is set to two, and the two clamping arms 112 are symmetrically arranged about the axis of the tightening tube 122. The proximal ends of the two clamping arms 112 are fixedly installed on the fixing piece, and the distal ends of the clamping arms 112 can be relatively close or relatively far away, switching between the open state and the closed state. The connecting piece 113 is roughly long and strip-shaped, and the connecting piece 113 is folded in half. After folding, one end of the connecting piece 113 is two free ends, and the other end is a folded end. The folded end is fixedly connected to the proximal end of the core shaft 22. The two free ends are set at an angle to each other and are fixedly connected to the fixing piece, so that the clamping arms 112 can be driven to move axially by controlling the axial movement of the core shaft 22, so that the clamping arms 112 can switch between the open state and the closed state.

[0065] In this configuration, by providing the connecting piece 113 between the core shaft 22 and the fixing member, the core shaft 22 can drive the clamping arm 112 to move axially, so that the clamping arm 112 switches between the open state and the closed state.

[0066] It is understandable that the present invention does not limit the number of clamping arms 112, and the number of clamping arms 112 can be set according to the actual usage scenario and purpose. For example, in other embodiments, when suturing a wound, the clamping arms 112 can select a structure with four clamping arms 112, and the four clamping arms 112 are symmetrically arranged about the central axis of the tightening tube 122. The four clamping arms 112 clamp the wound by contracting toward the middle, as long as the wound can be stably clamped by the clamping arms 112.

[0067] In addition, in this embodiment, the two clamping arms 112 are integrally formed, that is, the proximal ends of the clamping arms 112 are connected to each other, and the clamping arms 112 are folded in half so that the distal ends of the clamping arms 112 can be relatively close to and far away from each other, and the folded proximal ends are fixedly connected to the fixing member. It should be noted that the present invention is not limited to the setting form of the clamping arms 112. In other embodiments, the clamping arms 112 can be set separately and then fixed to the fixing member. As long as the proximal ends of the clamping arms 112 can be fixed so that the clamping arms 112 can be relatively close to and far away from each other when the clamping arms 112 move in the accommodating cavity, so as to clamp the target, it can be used.

[0068] It should be noted that, in the present invention, in order to enable the clamp arms 112 to detach from the core shafts 22 after being locked, so that the clamp assembly 10 continues to clamp at the wound location, the free end of the connecting piece 113 is set to a hook-shaped structure, and the connecting piece 113 with the hook-shaped structure is hooked to the fixing piece, so that the connecting piece 113 is axially fixed to the fixing piece; and the connecting piece 113 will be broken when the tension is between 30-80N, that is, the connecting piece 113 will break or deform, so that the connecting piece 113 will detach from the fixing piece; specifically, in this embodiment, the connecting piece 113 is made of 304 stainless steel. In other embodiments, the connecting piece 113 can also be made of other materials, as long as it can meet the tension deformation requirements.

[0069] It is understandable that the present invention is not limited to setting the connecting piece 113 as a hook-shaped structure. In other embodiments, the connecting piece 113 can also be set to a U-shape, and the bent position of the connecting piece 113 is wrapped around the fixing piece, as long as it can be fixedly connected to the fixing piece.

[0070] In one embodiment of the present invention, the fixing member is configured as a cylindrical member and passes through the proximal ends of the two symmetrically arranged clamping arms 112, so that the proximal ends of the two clamping arms 112 can be relatively fixed; at the same time, the fixing member is also interconnected with the end of the connecting piece 113, so that the connecting piece 113 drives the clamping arms 112 to move axially through the cylindrical fixing member. It is understood that the present invention is not limited to the shape of the fixing member. In other embodiments, the fixing member can also be configured as long as it can fix the clamping arms 112 and the connecting piece 113.

[0071] See also Figures 6 to 10 In one embodiment provided by the present invention, the tightening tube unit 12 further includes a tightening tube 122, which is sleeved on the clamping arm unit 11. The tightening tube 122 is used to tighten the clamping arm unit 11 so that the clamping arm unit 11 is changed from an open state to a closed state.

[0072] Specifically, the tightening tube 122 is provided with a through accommodating cavity, and the proximal end of the clamping arm unit 11 is arranged in the accommodating cavity. The clamping arm unit 11 moves in the accommodating cavity and abuts the clamping arm 112 through the inner wall of the tightening tube 122, so that the clamping arms 112 can approach and move away from each other, thereby realizing the switching of the clamping arm unit 11 between the open state and the closed state; that is, when the core shaft 22 drives the clamping arm unit 11 to move toward the proximal end of the tightening tube 122, the contact position between the inner wall of the tightening tube 122 and the clamping arm 112 moves from the proximal end of the clamping arm 112 to the distal end of the clamping arm 112, so that the clamping arm 112 can swing relative to the fixing member, thereby realizing the transition of the clamping arm 112 from the open state to the closed state.

[0073] In this arrangement, the inner wall of the tightening tube 122 abuts against the clamp arm 112, and the clamp arm 112 moves axially along the tightening tube 122, so that the clamp arm 112 can swing relative to the fixing member, thereby enabling the clamp arm 112 to switch between an open state and a closed state to clamp the wound to be treated.

[0074] Furthermore, a protrusion 1213 is protruded toward the distal direction at the distal end of the tightening tube 122, and the protrusion 1213 is symmetrically arranged about the central axis of the tightening tube 122. The symmetrically arranged protrusions 1213 are bent inwardly by approximately 90° toward the center line of the tightening tube 122, dividing the distal through hole of the tightening tube 122 into two symmetrically arranged clamping arm holes, and the two clamping arms 112 extend out of the tightening tube 122 through the clamping arm holes.

[0075] In this configuration, the inwardly bent protrusion 1213 is provided to limit the position of the clamping arm 112 and restrict the rotation of the clamping arm 112 .

[0076] Further, see Figures 14 to 16 The outer circumference of the tightening tube 122 is provided with a through buckling hole 1221, and the number of the buckling holes 1221 is set to two, and the two buckling holes 1221 are symmetrically arranged about the central axis of the tightening tube 122; the tail tube 123 is roughly cylindrical, and the distal end surface of the tail tube 123 is protruded with an elastic arm 1231 facing the distal end, and the number of the elastic arms 1231 is symmetrically arranged about the central axis of the tail tube 123. The elastic arms 1231 are elastic and can swing toward and away from the central axis of the tail tube 123, and the free ends of the elastic arms 1231 extend radially toward the outer circumference to form a locking portion 1232, which is corresponding to the buckling hole 1221 and can extend into the buckling hole 1221. The locking portion 1232 is limited to move in the tightening tube 122 through the mutual cooperation between the locking portion 1232 and the buckling hole 1221.

[0077] In this configuration, by providing a locking portion 1232 on the tail tube 123 and a buckling hole 1221 on the tightening tube 122, and making the locking portion 1232 and the buckling hole 1221 buckle with each other, the tail tube 123 can be locked into the tightening tube 122 to limit the movement of the tail tube 123.

[0078] It can be understood that the present invention is not limited to limiting the axial movement of the tail tube 123 and the tightening tube 122 by the mutual cooperation between the radially extending locking portion 1232 and the snap-fit hole 1221. In other embodiments, a protruding snap-fit platform can be provided inside the tightening tube 122, and the snap-fit platform and the locking portion 1232 can be locked by mutual cooperation, as long as the axial movement of the tail tube 123 and the tightening tube 122 can be limited.

[0079] In addition, in this embodiment, the outer diameter of the tail tube 123 is the same as the inner diameter of the tightening tube 122. After the locking portion 1232 exits the snap-fit hole 1221, the tail tube 123 can slide in the tightening tube 122. It should be noted that the present invention does not limit the size of the outer diameter of the tail tube 123. In other embodiments, the outer diameter of the tail tube 123 is smaller than the inner diameter of the tightening tube 122, as long as the tail tube 123 can slide in the tightening tube 122.

[0080] Furthermore, a disassembly groove 1222 is provided on the outer periphery of the tightening tube 122, and the disassembly groove 1222 is arranged at the proximal end of the tightening tube 122, closer to the sheath tube 21 relative to the buckling hole 1221; the disassembly groove 1222 is opened along the radial direction of the outer peripheral surface of the tightening tube 122 and extends along the circumferential direction of the part, the radial depth of the disassembly groove 1222 is greater than the radial length of the locking portion 1232, and the disassembly groove 1222 is arranged corresponding to the elastic arm 1231; therefore, by radially pressing the elastic arm 1231 through the disassembly groove 1222, the locking portion 1232 can be moved out of the buckling hole 1221, and the tail tube 123 can be separated from the tightening tube 122.

[0081] See also Figure 15-16 In the above process, the elastic arm 1231 is pressed radially inward by the disassembly groove 1222. After the locking portion 1232 of the elastic arm 1231 exits the buckling hole 1221, the tightening tube 122 and the tail tube 123 lose the limitation of the locking portion 1232 and the buckling hole 1221 and can move relative to each other. Under the elastic action of the clamping arm unit 11 itself, the clamping arm unit 11 can move toward the distal end of the tightening tube 122, so that the clamping arm unit 11 is changed from a locked state to an open state.

[0082] In this way, by setting a disassembly groove 1222 corresponding to the elastic arm 1231, the radial swing of the elastic arm 1231 can be adjusted through the disassembly groove 1222, so that the locking part 1232 of the elastic arm 1231 can withdraw from the buckle hole 1221, so that the tail pipe 123 and the tightening tube 122 can be separated from each other.

[0083] In this embodiment, after the clamp assembly 10 is closed and clamped on the target tissue, the detached tightening tube unit 12 is taken out through the snare, so that the snare loop docks with the disassembly port, and after applying force, the locking portion 1232 of the elastic arm 1231 is detached from the buckle hole 1221, so that the tail tube 123 and the tightening tube 122 are detached from each other, thereby releasing the locking state of the clamp assembly 10.

[0084] It can be understood that the present invention is not limited to releasing the lock between the tail pipe 123 and the tightening tube 122 by adjusting the elastic arm 1231 through the disassembly groove 122. In other embodiments, an elastic paddle can be provided at the position of the buckling hole 1221 of the tightening tube 122. By prying the elastic paddle, the locking portion 1232 at the position of the buckling hole 1221 can be disengaged from the buckling hole 1221, as long as the locking can be disengaged from the buckling hole 1221.

[0085] Therefore, it can be seen that conventional hemostatic clips use opposing clamp arms 112, in conjunction with a core shaft 22 and a tightening tube 122, to clamp the edges of a wound or incision together to prevent internal bleeding and allow the wound or incision to heal spontaneously. However, conventional hemostatic clips are prone to loosening after closure, causing the clamps to open, resulting in failure to stop bleeding and suture, and causing secondary injury to the patient.

[0086] In response to the above problems, the present invention provides an improved end execution device 100, which enables the clamping arm unit 11 to be relatively locked with the tightening tube unit 12 when clamped by providing a first locking part and a second locking part that cooperate with each other to prevent the clamping arm 112 from falling off and avoid secondary injury to the patient.

[0087] See also Figures 10 to 13 In one embodiment provided by the present invention, the first locking portion is provided on the tightening tube unit 12, and the second locking portion is provided on the clamping arm unit 11. The first locking portion and the second locking portion can cooperate with each other to lock, so that the tightening tube unit 12 and the clamping arm unit 11 can be relatively locked.

[0088] Specifically, the first locking portion is provided on the tail pipe 123 of the tightening tube unit 12, and the second locking portion is provided on the fixing piece of the clamping arm unit 11. The first locking portion can cooperate with the second locking portion to lock, so that the clamping arm 112 and the tail pipe 123 are locked to each other; wherein the first locking portion is provided as a locking interface 121, and the second locking portion is provided as a locking shaft 111. The locking interface 121 is provided on the tail pipe 123, and the locking shaft 111 is provided on the clamping arm 112. The locking interface 121 is provided opposite to the locking shaft 111; the locking interface 121 includes a guide groove 1211 and a locking groove 1211. 12. The guide groove 1211 is recessed from a direction relatively close to the locking shaft 111 toward a direction away from the locking shaft 111, and one side of the guide groove 1211 is convexly formed toward the other side to form a guide portion 1214. The locking shaft 111 can move circumferentially and axially through the surface of the guide portion 1214. The locking groove 1212 is provided at the proximal end of the guide groove 1211 and is communicated with the guide groove 1211. The locking groove 1212 is recessed toward the same side of the guide portion 1214. The locking shaft 111 can slide into the locking groove 1212 through the guide portion 1214; see Figure 5 、 Figure 12 、 Figure 13 、 Figure 14 When the clamping arm unit 11 changes from the open state to the closed state ( Figure 5 Transformed into Figure 12 ), the locking shaft 111 and the locking interface 121 move axially relative to each other, and when the clamping arm unit 11 changes from the closed state to the locked state ( Figure 12 Transformed into Figure 13 ), the locking shaft 11 and the locking interface 121 move relative to each other axially and circumferentially, so that the clamping arm unit 11 is locked after further clamping to stably clamp the target tissue.

[0089] In this configuration, by providing the guide portion 1214 , the locking shaft 111 can move around the outer periphery of the guide portion 1214 , so that the first locking portion and the second locking portion are locked after relative circumferential and axial movement, thereby locking the clamp arm 112 and the tightening tube unit 12 .

[0090] It can be understood that in the present invention, the first locking part can also be set as the locking interface 121, and the second locking part can be set as the locking shaft 111, or the first locking part can be set as the locking shaft 111, and the second locking part can be set as the locking interface 121, as long as the locking shaft 111 and the locking interface 121 can cooperate with each other to lock the clamping arm unit 11 and the tightening tube unit 12.

[0091] Furthermore, in order to avoid the locking of the clamping arm 112 and the tightening tube unit 12 due to accidental touch during the clamping operation of the clamping arm 112, a limiting protrusion 1213 is provided at the transition position between the side of the guide groove 1211 and the side of the locking groove 1212. By setting the limiting protrusion 1213, the opening of the locking groove 1212 becomes smaller. Under normal circumstances, the locking shaft 111 will be blocked outside the locking groove 1212 by the limiting protrusion 1213. Only when the pulling force is increased after the clamping arm 112 is clamped accurately, the locking shaft 111 will crush the limiting protrusion 1213 and slide into the locking groove 1212, thereby locking the clamping arm 112 and the tightening tube unit 12.

[0092] It should be noted that the present invention is not limited to preventing the locking shaft 111 from accidentally sliding into the locking groove 1212 by setting a limiting protrusion 1213. In other embodiments, the locking shaft 111 can also be prevented from accidentally sliding by setting the diameter of the locking groove 1212 mouth to be slightly smaller than the diameter of the locking shaft 111, as long as the locking shaft 111 can be prevented from accidentally sliding into the locking groove 1212.

[0093] In addition, in order to enable the locking interface 121 to guide the locking shaft 111, in other embodiments, the locking interface 121 includes a guide groove 1211 and a locking groove 1212, the guide groove 1211 is recessed from a direction relatively close to the locking shaft 111 toward a direction away from the locking shaft 111, and both sides of the guide groove 1211 are convex toward the middle to form a guide portion 1214, the locking shaft 111 can move circumferentially and axially through the surface of the guide portion 1214, the locking groove 1212 is provided at the proximal end of the guide groove 1211, and is communicated with the guide groove 1211, and the locking groove 1212 is concave toward the guide portion 1214. The side is recessed, and the locking shaft 111 can slide into the locking position through the guide part 1214; in this embodiment, in order to prevent the locking shaft 111 from sliding accidentally, the distance between the top of the guide part 1214 on both sides of the guide groove 1211 is slightly smaller than the diameter of the locking shaft 111. When the locking shaft 111 slides to the top of the guide part 1214 through the guide part 1214, the top of the guide part 1214 will limit the locking shaft 111 from continuing to slide. Only when the clamping arm 112 is clamped accurately and the pulling force is increased, the locking shaft 111 can crush the top of the guide part 1214 and then slide into the locking groove 1212, locking the clamping arm 112 and the tightening tube unit 12.

[0094] It should be noted that although the present invention distinguishes between "fixing part" and "locking shaft 111", the fixing part and the locking shaft 111 can be one entity, that is, in order to facilitate manufacturing and simplify the process, the fixing part is extended axially towards both ends to form the locking shaft 111, that is, the locking shaft 111 can not only cooperate with the locking interface 121 to lock, but also fix the connecting clamp arm 112 and the connecting piece 113.

[0095] In summary, by respectively arranging the first locking part and the second locking part on the tightening tube unit 12 and the clamping arm unit 11, the first fixed part and the second locking part can be locked after relative circumferential rotation, so that the tightening unit and the clamping arm unit 11 can be relatively locked.

[0096] The present invention further provides a method for operating an end effector 100, which is used to operate any of the above-mentioned end effector 100. The method for operating the end effector 100 includes:

[0097] S1. Control the mandrel 22 to drive the clamp arm unit 11 to move toward the proximal end of the end effector 100, so that the clamp assembly 10 is in a closed state, and then use the delivery assembly 20 to pass the clamp assembly 10 through the endoscope channel and deliver it to the target position;

[0098] In this embodiment, by moving the traction handle 32 toward the proximal end of the end effector 100, the traction handle 32 drives the core shaft 22 and the clamp arm unit 11 toward the proximal end of the end effector 100, so that the clamp assembly 10 is changed from the open state to the closed state;

[0099] S2. After reaching the target position, the control core shaft 22 drives the clamp arm unit 11 to move toward the distal end of the end effector 100, driving the clamp assembly 10 to change from the closed state to the open state;

[0100] In this embodiment, by moving the traction handle 32 toward the distal end of the end effector 100, the traction handle 32 drives the core shaft 22 and the clamp arm unit 11 toward the distal end of the end effector 100, so that the clamp assembly 10 is changed from the closed state to the open state;

[0101] S3, controlling the conveying assembly 20 to move the open clamp assembly 10 closer to the target, and controlling the core shaft 22 to move toward the proximal end of the end effector 100, so that the open clamp assembly 10 gradually closes to clamp the target;

[0102] In this embodiment, by moving the traction handle 32 toward the proximal end of the end effector 100, the traction handle 32 drives the core shaft 22 and the clamp arm unit 11 toward the proximal end of the end effector 100, so that the clamp assembly 10 gradually closes to clamp the target;

[0103] Before the step of gradually closing the clamp assembly 100 to clamp the target by moving the traction handle 32 toward the proximal end of the end effector 100 so that the core shaft 22 and the clamp arm unit 11 move toward the proximal end of the end effector 100, the method further includes: adjusting the relative position between the clamp arm unit 11 and the target by rotating the rotating bracket 31 so as to clamp the target in a better posture;

[0104] S4. After clamping the target, the core shaft 22 is controlled to move so that the first locking part can move circumferentially relative to the second locking part, so that the first locking part can lock with the second locking part, lock the clamp arm unit 11 and the tightening tube unit 12, and keep the clamp assembly 10 in a locked state.

[0105] In this embodiment, after the clamping arm unit 11 is closed, the traction handle 32 is moved toward the proximal end of the end execution device 100, and the traction handle 32 drives the core shaft 22 and the locking shaft 111 provided on the clamping arm unit 11 to move toward the proximal end of the end execution device 100, and in the process of axial movement, the locking shaft 111 abuts against the outer edge of the guide portion 1214 of the locking interface 121, so that the locking shaft 111 and the locking interface 121 can move relative to each other in the circumferential direction, and after the relative circumferential movement, the locking shaft 111 and the locking interface 121 are interlocked, so that the clamping arm unit 11 and the tightening tube unit 12 can be locked relative to each other.

[0106] In other embodiments, after the clamping arm unit 11 is closed, the traction handle 32 is moved toward the proximal end of the end execution device 100, and the traction handle 32 drives the core shaft 22 and the locking interface 121 provided on the clamping arm unit 11 to move toward the proximal end of the end execution device 100, and during the axial movement, the locking interface 121 can abut against the locking shaft 111 provided on the tightening tube unit 12, and the locking shaft 111 abuts against the outer edge of the guide portion 1214 of the locking interface 121, so that the locking shaft 111 and the locking interface 121 can move relative circumferentially, and after the relative circumferential movement, the locking shaft 111 and the locking interface 121 are interlocked, so that the clamping arm unit 11 and the tightening unit can be relatively locked.

[0107] S5. After the clamp assembly 10 is locked, the traction force of the traction handle 32 is increased toward the proximal end of the end actuator 100. The traction force is transmitted to the connecting piece 113 through the core shaft 22. When the traction force is greater than the threshold, the connecting piece 113 begins to deform or break, causing the core shaft 22 and the clamp arm unit 11 to separate from each other.

[0108] In this embodiment, when the pulling force is between 30-80 N, the connecting piece 113 begins to deform or break, causing the core shaft 22 and the clamping arm unit 11 to separate from each other.

[0109] S6. After the core shaft 22 and the clamping arm unit 11 are separated from each other, the traction handle 32 is continuously moved toward the proximal end of the end execution device 100. The core shaft 22 is continuously moved toward the proximal end of the end execution device 100 under the action of the traction force. The limit platform 23 set on the core shaft 22 also moves with the core shaft 22 and abuts against the elastic pin 124, so that the elastic pin 124 withdraws from the mounting groove 1251 and the mounting hole 1233, so that the sheath tube 21 is separated from the tightening tube unit 12.

[0110] S7. Press the locked and disengaged clip assembly 10 inward at the disassembly groove 1222 of the clip assembly 10 so that the tail pipe 123 and the tightening tube 122 are disengaged from each other, thereby releasing the locked state of the clip assembly 10.

[0111] The steps of pressing the locked and disengaged clip assembly 10 inward at the disassembly groove 1222 of the clip assembly 10 so that the tail pipe 123 and the tightening tube 122 are disengaged from each other and releasing the locking state of the clip assembly 10 include:

[0112] At the position of the disassembly groove 1222, the elastic arm 1231 of the tail tube 123 is squeezed inward, so that the elastic arm 1231 exits the buckling hole 1221 of the tightening tube 122, and the tail tube 123 and the tightening tube 122 that are buckled and fixed to each other are separated from each other, so that the clamping arm unit 11 can be separated from the tightening tube 122 and can slide in the tightening tube 122. The clamping arm unit 11 moves toward the distal end of the tightening tube 122 under the elastic action of the clamping arm 112, thereby changing from a locked state to an open state.

[0113] In this embodiment, the snare is contracted at the position of the disassembly groove 1222, and the snare presses the elastic arm 1231 of the tail tube 123 inwardly, causing the elastic arm 1231 to contract inwardly and exit the buckle hole 1221, thereby unlocking the tail tube 123 and the tightening tube 122, and causing the clip assembly 10 to exit the locked state.

[0114] In other embodiments, the elastic arms 1231 of the tail pipe 123 can be squeezed inward at the disassembly groove 1222 by using disassembly pliers, so that the elastic arms 1231 retract inward and exit the fastening hole 1221, thereby unlocking the tail pipe 123 and the tightening tube 122, and releasing the clip assembly 10 from the locked state.

[0115] By operating the end effector 100 by the above method, the end effector 100 can be stably operated, and when clamping is required, the target to be processed can be stably clamped to avoid secondary damage; when disassembly is required, it can be quickly disassembled to reduce operation time.

[0116] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0117] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. An end effector, characterized in that: include: A clamp assembly, comprising a clamp arm unit and a tightening tube unit, wherein the proximal end of the clamp arm unit can be received in a channel of the tightening tube unit, the tightening tube unit is provided with a first locking portion, and the clamp arm unit is provided with a second locking portion; A delivery assembly, comprising a sheath tube and a core shaft disposed within the sheath tube channel, wherein the distal end of the sheath tube is detachably connected to the proximal end of the tightening tube unit, and the core shaft is detachably connected to the clamp arm unit, and the core shaft is capable of axially moving within the sheath tube channel to drive the clamp assembly to switch between an open state, a closed state, and a locked state; When the clamp assembly is converted from the open state to the closed state, the second locking portion is axially displaced relative to the tightening tube; when the clamp assembly is converted from the closed state to the locked state, the second locking portion is circumferentially displaced relative to the tightening tube, and when in the locked state, the first locking portion and the second locking portion cooperate with each other to lock.

2. The end effector according to claim 1, wherein: The first locking portion is configured as a locking shaft, and the second locking portion is configured as a locking interface. When the clamp assembly is converted from the closed state to the locked state, the locking shaft and the locking interface move relative to each other in the circumferential and axial directions and then engage with each other, so that the clamp arm unit is in the locked state. or, The first locking part is set as a locking interface, and the second locking part is a locking shaft. During the process of the clamp assembly being converted from the closed state to the locked state, the locking shaft and the locking interface move relative circumferentially and axially and then engage with each other, so that the clamp arm unit is in a locked state.

3. The end effector according to claim 2, wherein: The locking interface includes a guide groove and a locking groove. The guide groove is recessed in the direction away from the locking shaft, and one side of the guide groove is convex toward the other side to form a guide portion. The locking shaft can move circumferentially and axially relative to the locking interface through the guidance of the guide portion. The locking groove is arranged at the proximal end of the guide groove and is communicated with the guide groove. The locking groove is recessed in the same side direction of the guide portion, and the locking shaft can be buckled into the locking groove after passing through the guide portion.

4. The end effector according to claim 3, wherein: A limiting protrusion is provided at a transition position between the side edge of the guide groove and the side edge of the locking groove.

5. The end effector according to claim 2, wherein: The locking interface includes a guide groove and a locking groove. The guide groove is recessed from a direction relatively close to the locking shaft toward a direction away from the locking shaft, and both sides of the guide groove are protruding toward the middle to form a guide portion. The locking shaft can move circumferentially and axially relative to the locking interface through the guidance of the guide portion. The locking groove is arranged at the proximal end of the guide groove and is interconnected with the guide groove. The locking groove is recessed in the same side direction of the guide portion, and the locking shaft can be buckled into the locking groove after passing through the guide portion.

6. The end effector according to claim 2, wherein: The locking interface is symmetrically arranged about the axis of the tightening tube unit, and the locking shaft is symmetrically arranged about the axis of the tightening tube unit.

7. The end effector according to claim 1, wherein: The tightening tube unit includes a tail tube and a tightening tube. The tightening tube is provided with a channel. The tail tube is detachably mounted on the proximal end of the channel of the tightening tube.

8. The end effector according to claim 7, wherein: The tail pipe is provided with an elastic arm, which is elastic and can swing relatively close to the central axis of the tail pipe. The free end of the elastic arm extends radially outward to form a locking portion. The tightening tube is provided with a buckling hole at a position corresponding to the locking portion, and the locking portion can be buckled into the buckling hole.

9. The end effector according to claim 8, wherein: A through disassembly groove is provided on the outer circumferential surface of the tightening tube. The disassembly groove is relatively close to the proximal end of the tightening tube and is arranged corresponding to the elastic arm.

10. The end effector according to claim 9, wherein: The elastic arms are symmetrically arranged about the central axis of the tail pipe, the disassembly grooves are symmetrically arranged about the central axis of the tightening tube, and each disassembly groove corresponds to one elastic arm.

11. The end effector according to claim 7, wherein: The proximal end of the tightening tube is provided with a limiting rib protruding toward the central axis of the tightening tube, and the limiting rib can abut the proximal end of the tail tube to limit the axial movement of the tail tube.

12. The end effector according to claim 7, wherein: The first locking portion is provided on the tail pipe, and the second locking portion is provided on the clamping arm unit; or, The first locking portion is provided on the clamp arm unit, and the second locking portion is provided on the tail pipe.

13. The end effector according to claim 1, wherein: The tightening tube unit also includes an elastic pin and a spring end. The elastic pin includes a base and a mounting arm. The base is sleeved on the core shaft. The mounting arm is installed to the base at a preset angle. The free end of the mounting arm extends radially. The spring end is fixedly installed at the proximal end of the sheath tube. A mounting groove is provided on the inner side of the spring end. A mounting hole is provided at the distal end of the tail tube. The mounting arm is installed in the mounting groove through the mounting hole to fix the tail tube and the spring end.

14. The end effector according to claim 13, wherein: The conveying assembly also includes a limiting ring, which is fixedly mounted on the core shaft and is located between the elastic pin and the connecting piece. The limiting ring can abut the base of the elastic pin, driving the elastic pin to move away from the clamp assembly, thereby unlocking the spring end and the tail tube.

15. A method for operating an end effector, for operating the end effector according to any one of claims 1 to 14, characterized in that: The method comprises: Controlling the core shaft to drive the clip unit to move toward the proximal end of the end effector so that the clip assembly is in a closed state, and delivering the clip assembly through the endoscope channel to the target position by the delivery assembly; After reaching the target position, the core shaft is controlled to drive the clamp unit to move toward the distal end of the end effector, driving the clamp assembly from a closed state to an open state; the conveying assembly is controlled to move the clamp assembly in the open state closer to the target, and the core shaft is controlled to gradually close the clamp assembly in the open state to clamp the target; After clamping the target, the core shaft is controlled to move so that the first locking part can move circumferentially relative to the second locking part, so that the first locking part can lock with the second locking part, lock the clamp unit and the tightening tube unit, and keep the clamp assembly in a locked state. After the clamp assembly is locked, the traction force of the traction handle is increased toward the proximal end of the end actuator, the core shaft is disengaged from the clamp arm unit, and the sheath is disengaged from the tightening tube unit, so that the clamp assembly is continuously clamped at the target position.

16. The method for operating the end effector according to claim 15, wherein: After the clamp assembly is locked, the pulling force of the pulling handle is increased toward the proximal end of the end effector, the core shaft is disengaged from the clamp arm unit, and the sheath is disengaged from the tightening tube unit, so that the clamp assembly is continuously clamped at the target position, the method further includes: The tightening tube unit includes a tightening tube and a tail tube, and the tightening tube and the tail tube are buckled with each other through an elastic arm. The elastic arm of the tail tube installed in the tightening tube is radially squeezed inward, so that the elastic arm contracts radially inward, and the tail tube is disengaged from the tightening tube, so that the clamp assembly is released from the locked state, and the clamp arm unit is switched to the open state under the elastic action of the clamp arm itself.

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