A clip instrument for an endoscope and a clip arm thereof

Abstract

The embodiment of the specification provides a clip instrument for an endoscope and a clip arm thereof. The clip instrument comprises a sheath tube, a clip arm and a locking piece, the sheath tube comprises a channel, the clip arm comprises at least two clamping parts, the at least two clamping parts comprise a locking state, the locking piece is used for limiting the relative displacement of the at least two clamping parts in the locking state, and the locking piece is released from the sheath tube together with the at least two clamping parts after locking the at least two clamping parts.

Description

Technical Field

[0001] This instruction manual relates to the field of medical devices, and in particular to a clamping device for endoscopes and its clamping arm. Background Technology

[0002] Endoscopic hemostatic clips are medical instruments used for hemostasis during endoscopic surgery. They are commonly used in surgeries involving internal organs such as the gastrointestinal tract and esophagus to control bleeding and maintain a clear surgical field. These clips play a crucial role in endoscopic surgery, helping to reduce surgical complications and improve the safety and effectiveness of the procedure. The design of endoscopic hemostatic clips needs to consider the special requirements of endoscopic surgery, allowing surgeons to operate precisely within confined surgical spaces; however, in actual clinical surgery, hemostatic clips pose risks such as damage to surrounding tissues and mispositioning of the wound. Summary of the Invention

[0003] This specification provides one or more embodiments of a clamping arm for an endoscope clamping instrument, including at least two clamping portions, each clamping portion including an operating arm and a clamping tab, the operating arm including at least one connecting structure, the clamping tab including at least one mating portion releasably connected to the at least one connecting structure, the at least one connecting structure including a channel arranged along a first direction, the at least one mating portion including a sliding portion movably engaging with the channel, the channel being configured to restrict relative movement of the clamping tab and the operating arm in a direction perpendicular to the first direction.

[0004] In some embodiments, when the relative displacement between the channel and the sliding part is greater than a distance threshold, the channel and the sliding part separate from each other and disengage, and the operating arm and the clamp are released.

[0005] In some embodiments, the two sides of the operating arm are formed with rolled edges facing inward, and the channel is disposed inside the rolled edges.

[0006] In some embodiments, the sliding portion is formed by the two sides of the clip.

[0007] This specification provides one or more embodiments of a clamping device for endoscopes, comprising: a clamping arm including at least two clamping portions, each clamping portion including an operating arm and a clamping tab, the clamping tab being releasably connected to the distal end of the operating arm; and a drive member rotatably connected to the proximal end of the operating arm, the drive member being configured to: drive the at least two clamping portions to open when the drive member moves from the proximal end to the distal end, drive the at least two clamping portions to close and lock when the drive member moves from the distal end to the proximal end, and drive the operating arm to release from the clamping tab.

[0008] In some embodiments, the operating arm includes a distal connection portion, the distal connection portion includes a first connection structure, the clamp includes a first mating portion, the first connection portion and the first mating portion cooperate to restrict the relative movement of the clamp and the operating arm in a first direction.

[0009] In some embodiments, the first connecting structure and the first mating part are configured such that when the tensile force generated between the first connecting structure and the first mating part is greater than a tensile force threshold, at least one of the first connecting structure and the first mating part deforms or breaks, thereby disengaging the mating.

[0010] In some embodiments, the distal connection portion further includes a second connection structure, the clamp includes a second mating portion, the second connection portion and the second mating portion cooperate to restrict the relative movement of the clamp and the operating arm in a second direction, wherein the second direction is perpendicular to the first direction.

[0011] In some embodiments, the second connecting structure and the second mating part are configured such that when the relative displacement between the second connecting structure and the second mating part is greater than a distance threshold, the second connecting structure and the second mating part separate from each other and the mating is released.

[0012] In some embodiments, the clamping device further includes a locking member disposed between the at least two operating arms, and the clamping pieces include a locking portion, wherein the at least two clamping pieces are locked when the locking portion engages with the locking member.

[0013] In some embodiments, the clamping device includes a sheath and a clamping seat located at the distal end of the sheath, the locking member being releasably connected to the clamping seat, and the clamping portion including an actuating portion configured to actuate the locking member to disengage from the clamping seat when moving from the distal end to the proximal end.

[0014] In some embodiments, after the at least two clamps are locked and the locking member is disconnected from the clamp, the drive member moves from the distal end to the proximal end, and the clamps are released from the operating arm.

[0015] This specification provides one or more embodiments of a clamping device for an endoscope, comprising: a clamping arm including at least two clamping portions, the proximal end of the clamping portions including a cam structure; a drive member rotatably connected to the cam structure; and a clamping seat, the drive member being axially movable within the clamping seat, the clamping seat including at least one first control portion configured such that: when the drive member moves relative to the clamping seat from the proximal end to the distal end, the first control portion slides into contact with the outer surface of the cam structure and drives the at least two clamping portions to open.

[0016] In some embodiments, a guide structure is provided between the drive member and the clamp, the guide structure being used to limit the direction of movement of the drive member relative to the clamp; the guide structure includes a guide groove and a slider, one of the drive member and the clamp includes the guide groove and the other includes the slider, the guide groove extending along the axial direction of the clamp.

[0017] In some embodiments, the clamp includes a hollow channel, and the drive member is axially movable within the hollow channel, wherein the difference between at least a portion of the lateral dimension of the hollow channel and the lateral dimension of the drive member is less than a preset threshold.

[0018] In some embodiments, the cam structure includes a first guide surface, and a first control portion is disposed at the distal end of the clamp and located between the at least two clamping portions. The first control portion is configured such that when the drive member moves from the proximal end to the distal end, the first control portion applies a first driving force to the first guide surface to open the at least two clamping portions.

[0019] In some embodiments, the clamping device includes a sheath and an outer sleeve fixed to the distal end of the sheath. The outer sleeve is sleeved outside the clamping seat, and a second control portion is provided at the distal end of the outer sleeve. The second control portion is configured to control the opening angle of the at least two clamping portions to be less than or equal to a maximum preset angle.

[0020] In some embodiments, the cam structure includes a second guide surface, and the second control portion is further configured such that when the drive member moves from the distal end to the proximal end, the second control portion applies a second driving force to the second guide surface to close the at least two clamping portions.

[0021] In some embodiments, at least a portion of the distal end of the clamp extends from the distal end of the outer sleeve; in the open state of the clamp arm, the at least two clamping portions extend outside the outer sleeve; and in the closed state of the clamp arm, at least a portion of the proximal end of the at least two clamping portions is housed within the outer sleeve.

[0022] In some embodiments, the proximal end of the clamp is rotatably connected to the outer sleeve, and the clamp is configured to rotate about the axis of the outer sleeve.

[0023] In some embodiments, the clamping device further includes a locking member releasably disposed at the distal end of the clamp and located between the at least two clamping portions, the clamping portions including a locked portion, wherein the at least two clamping portions are locked when the locked portion engages with the locking member.

[0024] In some embodiments, the sidewall of the clamp includes at least two clearance grooves for avoiding the clamping portion.

[0025] With the clamping arm and clamping device in the above embodiments, the connection structure of the operating arm and the mating part of the clamp can be released, leaving only the clamp on the tissue after clamping. Compared with the traditional clamping part, the retention length of the clamp can be reduced by 30% to 70%, effectively improving the operating field of surgery and reducing the difficulty of surgery. Attached Figure Description

[0026] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0027] Figure 1 These are exemplary structural diagrams of clamping devices shown in some embodiments of this specification;

[0028] Figure 2 This is an exemplary structural diagram of the clamp arm of a clamping instrument for endoscopes, shown according to some embodiments of this specification;

[0029] Figure 3A These are exemplary structural diagrams of the clamping portion shown in some embodiments of this specification;

[0030] Figure 3B This is an exemplary structural diagram of the clamping portion shown in some embodiments of this specification from another perspective;

[0031] Figure 3C It is based on Figure 3B An exemplary cross-sectional view of the clamping portion shown in some embodiments, taken along section line AA;

[0032] Figure 4 These are exemplary structural block diagrams of clamping devices shown in some embodiments of this specification;

[0033] Figure 5 This is an exemplary structural diagram showing the cooperation of the clamping arm and the drive component according to some embodiments of this specification;

[0034] Figure 6 These are exemplary structural diagrams of the operating arm shown in some embodiments of this specification;

[0035] Figure 7 These are exemplary structural diagrams of clips shown in some embodiments of this specification;

[0036] Figure 8 This is an exemplary structural diagram of the distal end of a clamping device according to some embodiments of this specification;

[0037] Figure 9AThis is an exemplary structural diagram of a locking element shown according to some embodiments of this specification;

[0038] Figure 9B This is an exemplary partial cross-sectional view of a locking element shown in some embodiments of this specification;

[0039] Figure 10 This is an exemplary structural diagram showing the engagement of the locking element and the clamping seat according to some embodiments of this specification;

[0040] Figure 11 These are exemplary structural block diagrams of clamping devices shown in some embodiments of this specification;

[0041] Figure 12A This is a front view of an exemplary structure of the clamp shown in some embodiments of this specification;

[0042] Figure 12B It is based on Figure 12A An exemplary cross-sectional view of the clamp taken along section line BB;

[0043] Figure 13 These are exemplary structural diagrams of the driver according to some embodiments of this specification;

[0044] Figure 14A This is a front view of an exemplary structure of the outer sleeve according to some embodiments of this specification;

[0045] Figure 14B It is based on Figure 14A An exemplary cross-sectional view of the outer sleeve taken along section line CC;

[0046] Figure 15 This is an exemplary structural diagram of the distal end of a clamping device according to some embodiments of this specification;

[0047] Figure 16A This is an exemplary structural diagram of the clamping device in an open state according to some embodiments of this specification;

[0048] Figure 16B It is based on Figure 16A An exemplary cross-sectional view of the clamping device taken along section line DD;

[0049] Figure 17A This is an exemplary structural diagram of the clamping device in a closed state according to some embodiments of this specification;

[0050] Figure 17B It is based on Figure 17A An exemplary cross-sectional view of the clamping device taken along section line EE;

[0051] Figure 18AThis is an exemplary structural diagram of the pre-locked state of a clamping device according to some embodiments of this specification;

[0052] Figure 18B It is based on Figure 18A An exemplary partial cross-sectional view of the clamping device taken along section line FF;

[0053] Figure 19A This is an exemplary structural diagram of the locking state of a clamping device according to some embodiments of this specification;

[0054] Figure 19B This is a partial cross-sectional view of the clamping device in a locked state according to some embodiments of this specification;

[0055] Figure 19C This is an exemplary structural diagram of the clamping device in a locked state from another perspective, according to some embodiments of this specification;

[0056] Figure 19D It is based on Figure 19C A partial enlarged view of the clamping device shown;

[0057] Figure 20A This is an exemplary structural diagram of a clamping device in a release state according to some embodiments of this specification;

[0058] Figure 20B This is an exemplary structural diagram of the clamping device in a released state according to some embodiments of this specification;

[0059] Figure 20C This is an exemplary structural diagram showing the release state of a clamping device according to some embodiments of this specification from another perspective;

[0060] Figure 21 This is an exemplary flowchart of a control method for a clamping device according to some embodiments of this specification.

[0061] The attached figures are labeled as follows:

[0062] 10. Clamping device; 20. Clamping space; 100. Clamping arm; 101. Clamping part; 110. Operating arm; 111. Channel; 112. Distal connection part; 113. First connecting structure; 114. Second connecting structure; 115. Cam structure; 1151. First guide surface; 1152. Second guide surface; 120. Clamping piece; 121. Sliding part; 122. Clamping teeth; 123. First mating part; 124. Second mating part; 130. Locked part; 131. Fixing part; 132. Suspension structure; 133. First limiting structure; 134. Second limiting structure; 135. Actuating part; 200. Conveying part; 210. Sheath; 220. Spindle; 300. Control part; 310. Fixing 320. Handle; 400. Sliding handle; 410. Locking element; 411. Receiving cavity; 412. Distal opening; 413. Side opening; 420. First stop structure; 430. Second stop structure; 440. First limiting part; 450. Second limiting part; 500. Driving element; 510. Rotating shaft; 511. Slider; 520. Push-pull rod; 530. Connector; 600. Clamp; 610. First blocking structure; 620. Second blocking structure; 630. First control part; 640. Second control part; 650. Guide structure; 651. Guide groove; 660. Clearance groove; 670. Annular groove; 680. First cylinder structure; 690. Second cylinder structure; 700. Outer sleeve; 710. Annular protrusion. Detailed Implementation

[0063] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0064] It should be understood that the terms “system,” “device,” “unit,” and / or “module” used herein are one way to distinguish different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0065] As indicated in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0066] Flowcharts are used in this specification to illustrate the operations performed by the system according to embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, the steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0067] Clamping instruments are common surgical instruments used in endoscopy. During surgery, clamping instruments achieve hemostasis by clamping tissue wounds. In traditional clamping instruments, after the clamping part clamps the tissue, the clamping part is locked by a locking element. Then, the clamping part and the locking element are released from the sheath together and remain in the wound position.

[0068] Traditional clamping instruments, due to their long clamping parts, can obstruct the view around the wound in confined surgical spaces, leading to risks such as damage to surrounding tissues and incorrect clamping by the operator due to poor visibility. This is especially true when multiple clamping parts need to be released in a single surgery, as the clamping parts and storage tubes can obstruct most of the field of vision, increasing the difficulty of the surgery.

[0069] In view of this, in some embodiments of this specification, it is desirable to provide a clamping device, the clamping part of which includes a releasable connecting operating arm and a clamping plate, and only the clamping plate is released after the tissue is clamped, so as to reduce the size of the parts remaining in the body, reduce the field of vision obstructed by the clamping part, and enable the operator to fully and clearly observe the surgical area, thereby avoiding risks such as damage to surrounding tissues and clamping errors, and improving surgical safety.

[0070] Figure 1 This is an exemplary structural diagram of the clamp device 10 shown according to some embodiments of this specification.

[0071] like Figure 1 As shown, in some embodiments, the clamping device 10 includes a clamping arm 100, a delivery section 200, and a control section 300. The control section 300 is disposed at the proximal end of the delivery section 200, and the clamping arm 100 is disposed at the distal end of the delivery section 200. The terms "proximal end" and "distal end" used in the embodiments of this specification can indicate direction, meaning that along the axial direction of the clamping device 10 (e.g., the extension direction of the sheath 210 of the delivery section 200 within the endoscope channel), the side facing the operator is "proximal end," and the side facing the insertion into the body for treatment is "distal end." "Proximal end" and "distal end" can also refer to portions of structures located in the corresponding directions and should not be construed as referring only to the ends.

[0072] In some applications, the delivery unit 200 has good maneuverability. The delivery unit 200 and its distal clamping arm 100 enter the human body through the endoscope's working channel to approach the tissue to be clamped. Here, tissue refers to the organ tissue of the human body or other organisms. The control unit 300 is located outside the human body or other organisms. The user controls the clamping arm 100 to perform surgical operations by manipulating the control unit 300. For example, the clamping arm 100 can clamp the wound of the tissue to keep the wound closed, thereby assisting wound healing.

[0073] In some embodiments, the delivery unit 200 includes a sheath 210 and a spindle 220. Figure 1 (Not shown in the image), the spindle 220 is disposed within the channel of the sheath tube 210 and extends axially along the sheath tube 210. The proximal end of the spindle 220 is connected to the control part 300, and the distal end of the spindle 220 is connected to the clamping arm 100. In the embodiments described in this specification, "axial" and "radial" can refer to directions. The "radial" direction is perpendicular to the "axial" direction, or the axial direction is the channel extension direction of the sheath tube 210, and the radial direction is perpendicular to the channel extension direction of the sheath tube 210.

[0074] In some embodiments, the sheath 210 may be flexible and bendable in any direction. In some embodiments, the control unit 300 consists of a fixed handle 310 and a sliding handle 320. The sliding handle 320 can slide axially relative to the fixed handle 310. The distal end of the sliding handle 320 is fixedly connected to the proximal end of the mandrel 220. The user controls the axial movement of the sliding handle 320 along the fixed handle 310 externally to control the axial movement of the mandrel 220 within the channel of the sheath 210, so that the clamp arm 100 can perform corresponding surgical operations, such as opening, closing, locking, and releasing.

[0075] Figure 2 This is an exemplary structural diagram of the clamp arm of a clamping instrument for endoscopes, shown according to some embodiments of this specification. Figures 3A to 3C These are exemplary structural diagrams of the clamping part shown in different perspectives according to some embodiments of this specification.

[0076] like Figures 2 to 3C As shown, some embodiments of this specification provide a clamping arm 100 for an endoscopic clamping instrument. The clamping arm 100 includes at least two clamping portions 101, which clamp a tissue wound by opening, closing, or other operations, thereby keeping the tissue wound closed. In some embodiments, the clamping arm 100 includes two or more clamping portions 101, for example, the clamping arm 100 includes three or four clamping portions 101.

[0077] In some embodiments, the clamping part 101 includes an operating arm 110 and a clamping plate 120. The operating arm 110 includes at least one connecting structure, and the clamping plate 120 includes at least one mating part. The at least one connecting structure and the at least one mating part are releasably connected. In this specification, "releasable connection" means that the two components remain connected when preset conditions are met (e.g., the applied external force is less than a preset force value, or the relative displacement is less than a preset displacement), and release and separate when the preset conditions are not met (e.g., the applied external force is greater than a preset force value, or the relative displacement is greater than a preset displacement). The releasable connection between the connecting structure of the operating arm 110 and the mating part of the clamping plate 120 means that after clamping the tissue, only the clamping plate 120 remains on the tissue. Compared to a conventional clamping part 101, the retention length of the clamping plate 120 can be reduced by 30% to 70%, effectively improving the surgical field of view and reducing the difficulty of the surgery.

[0078] In some embodiments, at least one connecting structure includes a channel 111 arranged along a first direction, and at least one mating part includes a sliding part 121 that movably engages with the channel 111. The channel 111 is configured to restrict the relative movement of the clamp 120 and the operating arm 110 in a direction perpendicular to the first direction. The term "first direction" may refer to... Figures 3A to 3C The direction indicated by arrow D1 can be understood as the length direction of the clamping part 101; "perpendicular to the first direction" can be understood as any direction within the plane perpendicular to the first direction, including but not limited to... Figure 3A and Figure 3C The directions indicated by arrows D2 and D3 in the diagram. Through the cooperation of the channel 111 and the sliding part 121, the relative movement of the clamp 120 and the operating arm 110 in the direction perpendicular to the first direction is restricted. This restriction ensures the positional stability of the clamp 120 and the operating arm 110 in a specific direction, thereby improving the reliability and stability of the clamping part 101.

[0079] In some embodiments, when the relative displacement between the channel 111 and the sliding portion 121 exceeds a distance threshold, the channel 111 and the sliding portion 121 separate and disengage, releasing the operating arm 110 and the clamp 120. The relative displacement between the channel 111 and the sliding portion 121 refers to the relative displacement that occurs in their initial state, where at least one connecting structure and at least one mating portion remain engaged. The distance threshold refers to the distance between the distal end of the channel 111 and the proximal end of the sliding portion 121 in the initial state. Controlling the release of the channel 111 and the sliding portion 121 through relative displacement simplifies the operation and reduces surgical difficulty.

[0080] In some embodiments, the two sides of the operating arm 110 are formed with rolled edges facing inwards, and a channel 111 is disposed inside the rolled edges. The inner side of the operating arm 110 refers to the side of the operating arm 110 facing the clamping space 20. The clamping space 20 refers to the space between at least two clamping parts 101 when they are in the open state. Forming the channel 111 by rolling the edges is simple to process and low in cost.

[0081] In some embodiments, the sliding part 121 is formed by the two sides of the clamp 120. The two sides of the clamp 120 are respectively inserted into the channel 111, so that the clamp 120 is completely limited in the channel 111, and the clamp 120 and the operating arm 110 can be released and connected.

[0082] Figure 4 This is an exemplary structural block diagram of the clamping device 10 shown in some embodiments of this specification.

[0083] like Figures 1 to 4 As shown, some embodiments of this specification provide a clamping device 10, which includes a clamping arm 100 and a drive member 500.

[0084] In some embodiments, the clamping arm 100 includes at least two clamping portions 101. In some embodiments, the proximal ends of the at least two clamping portions 101 are rotatably connected, and the distal ends are free cantilevered, so that the clamping arm 100 includes an open state and a closed state. In the open state, the distal ends of the at least two clamping portions 101 are far apart from each other, and a clamping space 20 is formed between the at least two clamping portions 101. In the closed state, the distal ends of the at least two clamping portions 101 are close together or in contact with each other. In some embodiments, the distal ends of the clamping portions 101 include clamping teeth 122, which can provide additional gripping force, so that the clamping portions 101 clamp the tissue more firmly and prevent the tissue from slipping or shifting.

[0085] In some embodiments, the clamping part 101 includes an operating arm 110 and a clamping plate 120, the clamping plate 120 being releasably connected to the distal end of the operating arm 110. In some embodiments, the clamping plate 120 and the operating arm 110 are releasably connected by various means such as a pin connection, a snap-fit ​​connection, a hook connection, or a magnetic connection. In some embodiments, the clamping plate 120 is located at the distal end of the operating arm 110, and when the clamping part 101 is opened, the distal and proximal ends of the clamping plate 120 are separated from each other, resulting in a larger clamping space 20. In some embodiments, after at least two clamping parts 101 clamp and lock the tissue, the clamping plate 120 is released from the operating arm 110, the clamping plate 120 remains at the tissue wound, and the operating arm 110 is withdrawn from the body along with other components such as the sheath 210. Compared to a conventional clamping part 101, the retention length of the clamping plate 120 can be reduced by 30% to 70%, effectively improving the surgical field of vision and reducing the difficulty of the surgery.

[0086] In some embodiments, the drive member 500 is rotatably connected to the proximal end of the operating arm 110. The drive member 500 is configured to: open at least two clamping portions 101 when moving from the proximal end to the distal end; close and lock at least two clamping portions 101 when moving from the distal end to the proximal end; and release the operating arm 110 from the clamping plate 120. For more exemplary embodiments regarding the drive member 500 driving the movement of the clamping portions 101, please refer to... Figures 16A to 20C The control process. In some embodiments, the proximal end of the drive member 500 is connected to the spindle 220 (see spindle 220). Figure 8 Connected to the sheath tube 210 (as shown), the control unit 300 controls the spindle 220 to move axially along the sheath tube 210, thereby driving the drive member 500 to move from the proximal end to the distal end or from the distal end to the proximal end. In some embodiments, the drive member 500 is constituted by the spindle 220 itself. By controlling the rotation of the operating arm 110 by the drive member 500, the consistency and stability of the rotation of at least two operating arms 110 can be improved.

[0087] Figure 5 This is an exemplary structural diagram showing the cooperation between the clamping arm 100 and the drive member 500 according to some embodiments of this specification.

[0088] like Figure 5 As shown, in some embodiments, the proximal end of the operating arm 110 and the distal end of the drive member 500 are connected by a rotating shaft 510, the axis of which is perpendicular to the direction of movement D4 of the drive member 500. In some embodiments, the proximal end of the operating arm 110 includes a connecting hole, the rotating shaft 510 is fixed to the distal end of the drive member 500, and at least two connecting holes of the operating arms 110 are fitted onto the rotating shaft 510, allowing the clamping portion 101 to rotate relative to the drive member 500.

[0089] Figure 6 This is an exemplary structural diagram of the manipulator 110 shown in some embodiments of this specification. Figure 7 This is an exemplary structural diagram of clip 120 shown according to some embodiments of this specification.

[0090] like Figure 6 and Figure 7 As shown, the operating arm 110 includes a distal connecting portion 112, the distal connecting portion 112 includes a first connecting structure 113, and the clamp 120 includes a first mating portion 123. The first connecting structure 113 and the first mating portion 123 cooperate to restrict the relative movement of the clamp 120 and the operating arm 110 in a first direction. Here, "first direction" can be referred to as... Figure 6 and Figure 7The direction indicated by arrow D1 can be understood as the length direction of the clamping part 101. In some embodiments, one of the first connecting structure 113 and the first mating part 123 includes a hook, and the other includes a groove. The hook includes an arm and a hook portion located at the distal end of the arm. The proximal end of the arm is connected to the operating arm 110 or the clamping piece 120, and the hook portion protrudes from the operating arm 110 or the clamping piece 120 toward the groove. The groove includes a recess or hole on the operating arm 110 or the clamping piece 120. The hook portion of the hook extends into the groove to form a limit, keeping the clamping piece 120 connected to the operating arm 110 in the first direction.

[0091] In some embodiments, the first connecting structure 113 and the first mating part 123 are configured such that when the tension generated between the first connecting structure 113 and the first mating part 123 exceeds a tension threshold, at least one of the first connecting structure 113 and the first mating part 123 deforms or breaks, thereby disengaging the mating. The tension threshold can be determined based on historical tension values, which may be average tension values, maximum tension values, minimum tension values, etc., obtained for different tissues and different clamping forces. These historical tension values ​​enable the mandrel 220 to release the clamp 120 from the operating arm 110 after performing other surgical operations such as opening, closing, and locking by pulling the clamping part 101. In some embodiments, the arm of the hook is an elastic arm. When the tension generated between the hook and the slot exceeds the tension threshold, the arm of the hook deforms, causing the hook to disengage from the slot and disengage the mating. In some embodiments, the arm of the hook is a rigid arm. When the tension between the hook and the slot exceeds a tension threshold, the hook and arm break, causing the arm of the hook to disengage from the slot. The release of the first connecting structure 113 and the first mating part 123 is controlled by tension, simplifying the operation and reducing surgical difficulty.

[0092] In some embodiments, the distal connection portion 112 of the operating arm 110 further includes a second connection structure 114, and the clamp 120 includes a second mating portion 124. The second connection structure 114 and the second mating portion 124 engage to restrict the relative movement between the clamp 120 and the operating arm 110 in a second direction, wherein the second direction is perpendicular to the first direction. Here, "second direction" can be understood as any direction within a plane perpendicular to the first direction, including but not limited to... Figure 6 and Figure 7 The directions indicated by arrows D2 and D3 are shown in the diagram. By limiting the relative movement of the operating arm 110 and the clamp 120 in the first and second directions, the clamp 120 is stably mounted on the operating arm 110, preventing separation due to disturbances in the surgical environment. In some embodiments, the operating arm 110 includes channels 111 arranged along the first direction on both sides, and the clamp 120 includes sliding portions 121 on both sides. The sliding portions 121 are inserted into the channels 111 along the first direction, connecting the clamp 120 to the operating arm 110.

[0093] In some embodiments, the second connecting structure 114 and the second mating part 124 are configured such that when the relative displacement between the second connecting structure 114 and the second mating part 124 exceeds a distance threshold, the second connecting structure 114 and the second mating part 124 separate and disengage. The distance threshold refers to the distance between the distal end of the second connecting structure 114 and the proximal end of the second mating part 124 when the second connecting structure 114 and the second mating part 124 are in contact. In some embodiments, when the clamp 120 and the operating arm 110 experience relative displacement, the sliding part 121 of the clamp 120 completely disengages from the groove 111 of the operating arm 110, and the clamp 120 is released from the operating arm 110. Controlling the release of the second connecting structure 114 and the second mating part 124 by displacement simplifies the operation and reduces surgical difficulty.

[0094] Figure 8 This is an exemplary structural diagram of the distal end of the clamping device 10 according to some embodiments of this specification.

[0095] like Figure 7 and Figure 8 As shown, in some embodiments, the clamping device 10 further includes a locking member 400, which is disposed between at least two operating arms 110. The clamping piece 120 includes a locking portion 130. When the locking portion 130 engages with the locking member 400, at least two clamping pieces 120 are locked. Since the locking member 400 is disposed between at least two operating arms 110, when at least two clamping pieces 120 are locked, the locking member 400 is located inside the at least two clamping pieces 120 (the side of the clamping piece 120 facing the clamping space 20), and will not occupy the space outside the clamping piece 120. This makes the structure of the clamping piece 120 more compact and smaller after closure, thereby reducing the surgical field of view obstructed by the clamping piece 120.

[0096] Figure 9A This is an exemplary structural diagram of the locking member 400 shown in some embodiments of this specification; Figure 9B This is an exemplary partial cross-sectional view of the locking member 400 shown in some embodiments of this specification.

[0097] like Figure 7 , Figure 9A and Figure 9B As shown, in some embodiments, the locking member 400 includes a receiving cavity 410 for receiving the locked portions 130 of at least two clips 120, thereby keeping the locked portions 130 of the at least two clips 120 in a closed state. In some embodiments, the receiving cavity 410 is located at the distal end of the locking member 400 and has a distal opening 411, through which the locked portions 130 enter the receiving cavity 410 as they move from the distal end to the proximal end.

[0098] In some embodiments, the locked portion 130 is bent into an L-shaped structure from the side of the proximal end of the clip 120, such that the locked portion 130 includes a suspension structure 132 bent toward the inward side (the side of the clip 120 facing the clamping space 20). The suspension structure 132 is located in the receiving cavity 410 when the clamping arm 100 is locked. The receiving cavity 410 of the locking member 400 is configured such that the suspension structures 132 of the locked portions 130 of at least two clips 120 can remain in a mutually fitted state, so that at least two clips 120 remain in a stable locked state.

[0099] In some embodiments, the locked portion 130 includes a first limiting structure 133, and the locking member 400 includes a first stop structure 420. The first limiting structure 133 and the first stop structure 420 cooperate to limit the relative movement of the clip 120 and the locking member 400 in a second direction, which is perpendicular to the first direction. The term "first direction" can be referred to as... Figure 7 and Figure 9A The direction indicated by arrow D1 in the diagram, "second direction" can be understood as any direction in the plane perpendicular to the first direction. The relative movement of at least two clips 120 is restricted by the receiving cavity 410 of the locking member 400 and the first stop structure 420, preventing the at least two clips 120 from rotating relative to each other.

[0100] In some embodiments, the first limiting structure 133 includes a limiting pin, and the first stop structure 420 includes a stop groove, wherein the limiting pin is configured to engage with the stop groove. In some embodiments, the limiting pin protrudes from the proximal end of the suspension structure 132, and the stop groove is recessed from the bottom wall of the proximal end of the receiving cavity 410. After the limiting pin is inserted into the stop groove, the stop groove can limit the circumferential movement of the limiting pin.

[0101] In some embodiments, the locked portion 130 includes a second limiting structure 134, and the locking member 400 includes a second stop structure 430. The second limiting structure 134 and the second stop structure 430 cooperate to limit the relative movement of the clip 120 and the locking member 400 in a first direction, wherein "first direction" may refer to... Figure 7 and Figure 9A The direction indicated by arrow D1 in the diagram. By limiting the relative movement of the clip 120 and the locking member 400 in the first direction, the clip 120 can be prevented from disengaging from the distal end of the locking member 400. The locking member 400 locks the clip 120 in multiple directions through multiple stop structures, thereby improving the stability of the clip 120 in holding the tissue.

[0102] In some embodiments, the second limiting structure 134 includes a locking spring, and the second stopping structure 430 includes at least two locking recesses. The locking spring is configured to spring into the locking recess when aligned with it. In some embodiments, the proximal end of the locking spring is connected to the suspension structure 132, and the distal end protrudes from the suspension structure 132 toward the locking recess. The locking recesses are located on opposite side walls of the receiving cavity 410. When the locking spring moves from the distal end to the proximal end, the distal end of the locking spring springs into the locking recess to form a limiting position.

[0103] Figure 10 This is an exemplary structural diagram showing the engagement of the locking member 400 and the clamp 600 according to some embodiments of this specification.

[0104] like Figure 8 As shown, in some embodiments, the clamp device 10 includes a sheath 210 and a clamp seat 600 disposed at the distal end of the sheath 210. In some embodiments, the clamp seat 600 is fixed inside the sheath 210, or the clamp seat 600 is rotatably disposed inside the sheath 210 about the axis of the sheath 210.

[0105] like Figure 9A and Figure 10 As shown, in some embodiments, the locking member 400 is releasably connected to the clamp 600. In some embodiments, the clamp 600 includes a first abutment structure 610, and the locking member 400 includes a first limiting portion 440. The first abutment structure 610 cooperates with the first limiting portion 440 to restrict the movement of the locking member 400 relative to the clamp 600 from the distal end to the proximal end, so that the locking member 400 can be held in a desired position, such as the distal end of the clamp 600.

[0106] In some embodiments, the first abutting structure 610 includes a stop step that protrudes radially inward, and the proximal surface of the locking member 400 forms a first limiting portion 440, with the proximal surface abutting against the stop step. In some embodiments, the stop step includes, but is not limited to, at least two protrusions, a stop bar arranged radially along the clamp 600, etc.

[0107] In some embodiments, the clamp 600 includes a second abutment structure 620, and the locking member 400 includes a second limiting portion 450. The second abutment structure 620 and the second limiting portion 450 are releasably connected to restrict the movement of the locking member 400 relative to the clamp 600 from the proximal end to the distal end. When the locking member 400 locks at least two clamping portions 101, the second abutment structure 620 separates from the second limiting portion 450, and the locking member 400 is released from the clamp 600.

[0108] In some embodiments, the second abutment structure 620 includes a limiting spring, the distal end of which is connected to the side wall of the clamp 600, and the proximal end which protrudes radially inward from the inner surface of the clamp 600. The locking member 400 includes a limiting surface facing the distal end, which engages with the limiting spring. In some embodiments, the limiting surface of the locking member 400 includes the bottom surface of the receiving cavity 410, and the limiting spring is arranged corresponding to the side opening 412 of the receiving cavity 410 of the locking member 400, so that the limiting spring can engage with the bottom surface of the receiving cavity 410. In other embodiments, the limiting surface of the locking member 400 includes the surface of the distal end of the locking member 400.

[0109] like Figure 7 , Figure 9A and Figure 10 As shown, in some embodiments, the clamping part 101 includes an actuating part 135, which is configured to actuate the locking member 400 to disengage from the clamping seat 600 when moving from the distal end to the proximal end. For example, the actuating part 135 is configured to actuate the second blocking structure 620 to disengage from the second limiting part 450 when moving from the distal end to the proximal end, thereby disengaging the locking member 400 from the clamping seat 600. Here, the actuating part 135 refers to a component or part that can directly or indirectly cause the second blocking structure 620 to disengage from the second limiting part 450. By providing the actuating part 135 to actuate the locking member 400 to disengage from the clamping seat 600, disturbances to the locking member 400 by other components or parts during movement can be avoided, reducing the risk of accidental release of the locking member 400.

[0110] In some embodiments, the actuating part 135 is provided on the locked portion 130 of the clip 120. For example, the two side wings of the locked portion 130 constitute the actuating part 135. In some embodiments, when the locked portion 130 of the clip 120 enters the locking member 400, the actuating part 135 pushes the limiting spring when it moves from the distal end to the proximal end, causing the limiting spring to deform, displace, or break and disengage from the limiting surface, thereby disengaging the locking member 400 from the clamp 600.

[0111] In some embodiments, before, simultaneously with, or after the locked part 130 locks with the locking member 400, the actuating part 135 actuates the locking member 400 to disengage from the clamp 600.

[0112] like Figures 5 to 10As shown, in some embodiments, after at least two clips 120 are locked and the locking member 400 is disengaged from the clamp seat 600, the drive member 500 moves from the distal end to the proximal end, and the clips 120 and the operating arm 110 are released. In some embodiments, after the locked portions 130 of at least two clips 120 engage with the locking member 400, the locking member 400 can restrict the continued movement of the clips 120. At this time, the drive member 500 continues to move from the distal end to the proximal end. When the driving member 500 causes the tension generated between the operating arm 110 and the clips 120 to exceed the tension threshold or the relative displacement to exceed the distance threshold, the connection structure of the operating arm 110 and the engaging portion of the clips 120 are disengaged, and the operating arm 110 and the clips 120 are released. At this time, the clips 120 and the locking member 400 remain in the body together, and other components such as the operating arm 110, the drive member 500, the clamp seat 600, and the sheath 210 are withdrawn from the body.

[0113] Figure 11 This is an exemplary structural block diagram of the clamping device 10 shown in some embodiments of this specification.

[0114] like Figure 11 As shown, some embodiments of this specification also provide a clamping device 10, which includes a clamping arm 100, a driving member 500, and a clamping base 600.

[0115] In some embodiments, the clamping arm 100 includes at least two clamping portions 101, the proximal end of which includes a cam structure 115. The cam structure 115 can change direction when subjected to an external force, causing the clamping portion 101 to rotate.

[0116] In some embodiments, the drive member 500 is rotatably connected to the cam structure 115. In some embodiments, the drive member 500 moves axially along the sheath 210, and the cam structure 115 rotates relative to the drive member 500 about a rotation axis 510 line, wherein the rotation axis 510 line is perpendicular to the direction of movement of the drive member 500.

[0117] In some embodiments, the drive member 500 is axially movable within the clamp 600. In some embodiments, the clamp 600 includes at least one first control portion 630, which is configured such that when the drive member 500 moves relative to the clamp 600 from proximal to distal end, the first control portion 630 slides into contact with the outer surface of the cam structure 115 and drives at least two clamping portions 101 to open. In this specification, the term "control portion" refers to a component capable of converting the linear motion of the drive member 500 into rotation of the clamping portions 101.

[0118] According to the clamping device 10 in the above embodiment, the cam structure 115 of the clamping part 101 cooperates with the first control part 630 of the clamping seat 600 to open at least two clamping parts 101. This enables the clamping parts 101 to operate effectively and stably in limited space, without occupying excessive operating space, reducing obstructed vision during surgery, allowing the operator to fully and clearly observe the surgical area, and improving surgical safety. The cam structure 115 transmits driving force, enabling in-position change of motion and reducing the overall structural length. The sliding contact between the first control part 630 and the outer surface of the cam structure 115 simplifies the cam structure 115, facilitating processing and assembly.

[0119] Figure 12A This is an exemplary structural front view of the clamp 600 shown according to some embodiments of this specification. Figure 12B It is based on Figure 12A An exemplary cross-sectional view of the clamp 600 taken along section line BB. Figure 13 This is an exemplary structural diagram of the driver 500 shown according to some embodiments of this specification.

[0120] like Figures 10 to 13 As shown, in some embodiments, a guide structure 650 is provided between the drive member 500 and the clamp 600. The guide structure 650 is used to limit the movement direction of the drive member 500 relative to the clamp 600. That is, the guide structure 650 is used to guide the drive member 500 to move along the axial direction of the clamp 600 and limit the drive member 500 to rotate about the axial axis relative to the clamp 600, so as to improve the stability of the movement of the drive member 500.

[0121] In some embodiments, the guide structure 650 includes a guide groove 651 and a slider 511. One of the drive member 500 and the clamp 600 includes the guide groove 651, and the other includes the slider 511. The guide groove 651 extends axially along the clamp 600, and the slider 511 engages with a groove to allow the drive member 500 to be axially slidably connected relative to the clamp 600. In some embodiments, the drive member 500 includes the slider 511. For example, the drive member 500 includes a rotating shaft 510 connected to the clamping portion 101, with both ends of the rotating shaft 510 configured as sliders 511. The clamp 600 includes a guide groove 651 formed in the sidewall, which is arranged axially along the clamp 600. In other embodiments, the clamp 600 includes a slider, which may be a protrusion protruding from the inner wall of the clamp 600. The drive member 500 includes a guide groove that extends axially along the drive member 500.

[0122] In some embodiments, the drive member 500 includes a slider 511, which elastically contacts the inner wall of the clamp 600, allowing the drive member 500 to move stably within the clamp 600. This eliminates the need for a guide groove 651 on the clamp 600, thus saving on processing costs.

[0123] In some embodiments, the clamp 600 includes a hollow channel, and the drive member 500 is axially movable within the hollow channel. In some embodiments, the difference between at least a portion of the lateral dimension of the hollow channel of the clamp 600 and the lateral dimension of the drive member 500 is less than a preset threshold. The lateral dimension refers to the dimension perpendicular to the axial direction of the clamp 600; the hollow channel at least partially refers to a portion of the hollow channel structure or the entire hollow channel; the preset threshold includes, but is not limited to, a range of 0.01 mm to 0.1 mm. A small gap is maintained between the drive member 500 and the clamp 600, which ensures the stability of the drive member 500 while reducing the frictional resistance of the drive member 500's movement, improving the operability of the drive member 500, and reducing the kinetic energy loss of the drive member 500.

[0124] In some other embodiments, the clamp 600 includes a hollow channel, and the drive member 500 is axially movable within the hollow channel. At least a portion of the cross-section of the hollow channel is adapted to the cross-section of the drive member 500, that is, the cross-section of the hollow channel and the cross-section of the drive member 500 are the same in shape and size, so as to limit the circumferential displacement of the drive member 500 and improve the stability of the axial movement of the drive member 500.

[0125] In some embodiments, the sidewall of the clamp 600 includes at least two clearance grooves 660 for accommodating the clamping part 101. In this way, when the clamping part 101 is in the closed state, at least a portion of the clamping part 101 can be housed within the clamp 600, making the structure more compact.

[0126] In some embodiments, the drive member 500 is connected to the cam structure 115 via a rotating shaft 510, the axis of which is perpendicular to the direction of movement of the drive member 500. In some embodiments, the drive member 500 includes a push-pull rod 520 and a connector 530 fixed to the distal end of the push-pull rod 520. The rotating shaft 510 and the distal end of the connector 530 are integrally formed, improving the connection stability between the drive member 500 and the cam structure 115. The proximal end of the push-pull rod 520 is fixed to the spindle 220, which can control the push-pull rod 520 to move axially along the clamp 600.

[0127] Figure 14A This is an exemplary structural front view of the outer sleeve 700 shown according to some embodiments of this specification. Figure 14B It is based on Figure 14A An exemplary cross-sectional view of the outer sleeve 700 taken along section line CC. Figure 15This is an exemplary structural diagram of the distal end of the clamping device 10 according to some embodiments of this specification.

[0128] Figures 12A to 15 As shown, in some embodiments, the clamp device 10 includes a sheath 210 and an outer sleeve 700 fixed to the distal end of the sheath 210. The outer sleeve 700 is sleeved on the outside of the clamp seat 600 and serves to protect the clamp seat 600.

[0129] In some embodiments, the proximal end of the clamp 600 is rotatably connected to the outer sleeve 700, and the clamp 600 is configured to rotate about the axis of the outer sleeve 700. In some embodiments, when the spindle 220 rotates about its own axis, it drives the drive member 500 to rotate about its own axis. The drive member 500 drives the clamp 600 to rotate about the axis of the outer sleeve 700, and the drive member 500 also drives the clamping part 101 to rotate about the axis of the outer sleeve 700, so that the closing direction of the clamping part 101 is consistent with the wound closing direction.

[0130] In some embodiments, one of the clamp 600 and the outer sleeve 700 has an annular groove 670, and the other has an annular protrusion 710. The annular groove 670 and the annular protrusion 710 are slidably engaged, allowing the clamp 600 to rotate relative to the outer sleeve 700. In some embodiments, the clamp 600 includes a first cylindrical structure 680 and a second cylindrical structure 690. The inner diameter of the first cylindrical structure 680 is equal to the outer diameter of the second cylindrical structure 690. The proximal end of the second cylindrical structure 690 has an annular rib 691 protruding from its outer surface. When the proximal end of the first cylindrical structure 680 engages with the distal end of the second cylindrical structure 690, a gap is formed between the proximal end of the first cylindrical structure 680 and the annular rib 691, which constitutes the annular groove 670. The inner wall of the outer sleeve 700 forms an annular protrusion 710 adapted to the annular groove 670. By providing the first cylindrical structure 680 and the second cylindrical structure 690, it is convenient to rotatably assemble the clamp 600 into the outer sleeve 700.

[0131] Combination Figure 6 As shown, in some embodiments, the cam structure 115 includes a first guide surface 1151, and a first control portion 630 is disposed at the distal end of the clamp 600 and located between at least two clamping portions 101. The first control portion 630 is configured such that when the drive member 500 moves from the proximal end to the distal end, the first control portion 630 applies a first driving force to the first guide surface 1151 to open at least two clamping portions 101.

[0132] In some embodiments, the first guide surface 1151 is located inside the clamping portion 101 and is inclined relative to the first direction, wherein the inside of the clamping portion 101 may be the side of the clamping portion 101 facing the clamping space 20. In some embodiments, the inclination direction of the first guide surface 1151 is configured such that the distal end of the first guide surface 1151 is close to the inner surface of the clamping portion 101, and the proximal end is far from the inner surface of the clamping portion 101, and the distance from each point from the distal end to the proximal end of the first guide surface 1151 to the rotation axis of the clamping portion 101 decreases sequentially. In some embodiments, the cam structure 115 includes at least two cams perpendicular to the inner surface of the clamping portion 101, the first guide surface 1151 is provided on the inner edge of the cam, and the proximal end of the cam is provided with a hole for connecting the rotating shaft 510 of the drive member 500.

[0133] In some embodiments, the first positioning part 630 includes a positioning rod, which is fixedly connected to the distal end of the clamp 600. The axial direction of the positioning rod is parallel or substantially parallel to the rotation axis of the clamping part 101. Substantially parallel means that the angle between the axial direction of the positioning rod and the rotation axis of the clamping part 101 is less than 10°. During the movement of the driving member 500 from the proximal end to the distal end, the distal end of the first guide surface 1151 first abuts against the positioning rod. The first driving force between the positioning rod and the first guide surface 1151 causes the first guide surface 1151 to slide relative to the positioning rod, driving the clamping part 101 to deflect about the rotation axis 510. In other embodiments, the proximal end face of the locking member 400 is configured as the first positioning part.

[0134] In some embodiments, a second control portion 640 is provided at the distal end of the outer sleeve 700. The second control portion 640 is configured to control the opening angle of at least two clamping portions 101 to be less than or equal to a maximum preset angle, so as to prevent the opening angle of at least two clamping portions 101 from being too large. In some embodiments, the maximum preset angle includes, but is not limited to, an angle between 90° and 160°. In some embodiments, the first control portion 630 applies a first driving force to the cam structure 115, and the second control portion 640 applies a second driving force to the cam structure 115. When the first driving force and the second driving force are equal in magnitude and opposite in direction, the angle at which at least two clamping portions 101 are located is the maximum preset angle.

[0135] In some embodiments, the cam structure 115 includes a second guide surface 1152, and the second control portion 640 is further configured such that when the drive member 500 moves from the distal end to the proximal end, the second control portion 640 applies a second driving force to the second guide surface 1152, causing at least two clamping portions 101 to close. In some embodiments, the second guide surface 1152 is parallel to the outer surface of the clamping portion 101, wherein the outer surface of the clamping portion 101 refers to the surface of the clamping portion 101 facing away from the clamping space 20. In some embodiments, the end face of the distal end of the outer sleeve 700 is configured as the second control portion 640.

[0136] In some embodiments, the clamping part 101 deflects between the first control part 630 and the second control part 640, which is beneficial to realize the in-situ rotation of the clamping part 101 and avoid the clamping part 101 occupying too much operating space during the rotation process.

[0137] In some embodiments, at least a portion of the distal end of the clamp 600 extends from the distal end of the outer sleeve 700 to avoid interfering with the rotation of the clamping portion 101. In the open state of the clamp arm 100, at least two clamping portions 101 extend beyond the outer sleeve 700 to facilitate tissue clamping; in the closed state of the clamp arm 100, at least a portion of the proximal end of at least two clamping portions 101 is retracted within the outer sleeve 700 to protect the clamping portion 101.

[0138] In some embodiments, the clamping device 10 further includes a locking member 400, which is releasably disposed at the distal end of the clamping base 600 and located between at least two clamping portions 101. Each clamping portion 101 includes a locking portion 130, which, when engaged with the locking member 400, locks the at least two clamping portions 101. For more detailed exemplary embodiments of the locking member 400, please refer to... Figures 8 to 10 And its related descriptions.

[0139] Figures 16A to 20C This is an exemplary operation diagram of the clamping device 10 according to some embodiments of this specification.

[0140] Figure 16A and Figure 16B The clamping device 10 is shown in its open state. In some embodiments, the control unit 300 controls the spindle 220 to move from the proximal end to the distal end, and the spindle 220 pushes the drive member 500 to move from the proximal end to the distal end. The drive member 500 applies a distal thrust to the clamping part 101, the first guide surface 1151 of the cam structure 115 abuts against the first control part 630, and the first control part 630 applies resistance perpendicular to the first guide surface 1151 to the clamping part 101, causing at least two clamping parts 101 to rotate, and the distal ends of at least two clamping parts 101 to move away from each other and open. After at least two clamping parts 101 are opened, the clamping direction of at least two clamping parts 101 can be adjusted to be consistent with the wound closure direction of the tissue by rotating the clamping seat 600 and the clamping parts 101.

[0141] Figure 17A and Figure 17BThe clamping device 10 is shown in its closed state. In some embodiments, the control unit 300 controls the spindle 220 to move from the distal end to the proximal end, and the spindle 220 pushes the drive member 500 to move from the distal end to the proximal end. The drive member 500 applies a proximal pulling force to the clamping part 101, the second guide surface 1152 of the cam structure 115 abuts against the second control part 640, and the second control part 640 applies a resistance perpendicular to the second guide surface 1152 to the clamping part 101, causing at least two clamping parts 101 to rotate, and the distal ends of at least two clamping parts 101 to come closer to each other and close. After at least two clamping parts 101 close, tissue is clamped between the clamping parts 101 to achieve hemostasis or assist tissue healing.

[0142] Figure 18A and Figure 18B The pre-locked state of the clamping device 10 is shown. In some embodiments, the control unit 300 controls the spindle 220 to move from the distal end to the proximal end, and the spindle 220 pushes the drive member 500 to move from the distal end to the proximal end. The drive member 500 pulls the clamping part 101 from the distal end to the proximal end, and the proximal end of the clamping part 101 enters the clamping seat 600. The clamping part 101 includes an operating arm 110 and a clamping plate 120. The operating arm 110 is retracted into the clamping seat 600, so that the locked part 130 of the clamping plate 120 approaches the locking member 400. When the locked part 130 of the clamping part 101 abuts against the distal end of the locking member 400, the locking member 400 generates feedback resistance against the clamping part 101 to prevent the clamping part 101 from moving proximally. This feedback resistance is fed back to the operator or force detector through the spindle 220, prompting the operator that the clamping part 101 is about to enter the locked state. In some embodiments, after the operator feels feedback resistance or the force detector detects feedback resistance, they can reconfirm the clamping status of the clamping part 101 on the tissue. If the clamping part 101 does not clamp the tissue properly, the mandrel 220 is pushed from the proximal end to the distal end, causing the clamping part 101 to change from a closed state to an open state, thus re-clamping the tissue. If the clamping part 101 clamps the tissue properly, the mandrel 220 is pulled from the distal end to the proximal end, causing the locking part 130 to pass over the distal end of the locking member 400 and enter the receiving cavity 410 to engage with the locking recess, thus locking the clamping part 101 into its final locked state. The feedback resistance formed by the locking part 130 and the distal end of the locking member 400 prompts the operator to confirm the tissue clamping status before locking, reducing surgical errors.

[0143] Figure 19A , Figure 19B , Figure 19C , Figure 19DThe locked state of the clamping device 10 is shown. In some embodiments, the control unit 300 controls the spindle 220 to move from the distal end to the proximal end, and the spindle 220 pushes the drive member 500 to move from the distal end to the proximal end. The drive member 500 pulls the clamping part 101 to move from the distal end to the proximal end, and the actuating part 135 of the clamping part 101 actuates the locking member 400 to disengage from the clamping seat 600. At the same time, the locked part 130 of the clamping piece 120 of the clamping part 101 engages with the locking member 400.

[0144] In some embodiments, the actuating part 135 of the clamping part 101 enters the receiving cavity 410 of the locking member 400. When the actuating part 135 moves from the distal end to the proximal end, it pushes the second abutting structure 620, causing the second abutting structure 620 to deform, displace, or break and disengage from the limiting surface, thereby disengaging the locking member 400 from the clamping seat 600. In some embodiments, the actuating part 135 pushes the limiting spring to deform outward of the locking member 400, causing the second abutting structure 620 of the clamping seat 600 to separate from the second limiting part 450 of the locking member 400, thereby disengaging the locking member 400 from the clamping seat 600.

[0145] In some embodiments, the locked portion 130 of the clamping portion 101 enters the receiving cavity 410 of the locking member 400, the first limiting structure 133 of the locked portion 130 cooperates with the first stop structure 420 of the locking member 400, and the second limiting structure 134 of the locked portion 130 cooperates with the second stop structure 430 of the locking member 400. At this time, the locked portion 130 is locked with the locking member 400, that is, the clamping piece 120 is locked with the locking member 400.

[0146] Figure 20A , Figure 20B , Figure 20CThe released state of the clamping device 10 is shown. In some embodiments, the control unit 300 controls the spindle 220 to move from the distal end to the proximal end, and the spindle 220 pushes the drive member 500 to move from the distal end to the proximal end. The clamping part 101 includes an operating arm 110 and a clamping plate 120. The driving member 500 drives the operating arm 110 to move from the distal end to the proximal end. Since the clamping plate 120 cooperates with the locking member 400, the locking member 400 prevents the clamping plate 120 from moving from the distal end to the proximal end, so that a tension is generated between the operating arm 110 and the clamping plate 120. When the tension generated between the first mating part 123 of the clamping plate 120 and the first connecting structure 113 of the operating arm 110 is greater than the tension threshold, at least one of the first connecting structure 113 and the first mating part 123 deforms or breaks and the cooperation is released. At this time, the operating arm 110 moves from the distal end to the proximal end under the action of the driving member 500 and generates a relative displacement with the clamping plate 120. When the relative displacement between the second connecting structure 114 of the operating arm 110 and the second mating part 124 of the clamping plate 120 is greater than the distance threshold, the second connecting structure 114 and the second mating part 124 separate from each other and the cooperation is released, and the clamping plate 120 is released from the operating arm 110. In some embodiments, the clip 120 and the locking member 400 remain inside the body, while other components such as the operating arm 110, the drive 500, the clamp 600, and the sheath 210 are removed from the body.

[0147] Some embodiments of this specification also provide a control method for a clamping device 10, which is applied to the clamping device 10 shown in any of the above embodiments.

[0148] Figure 21 This is an exemplary flowchart of a control method for a clamping device 10 according to some embodiments of this specification.

[0149] like Figure 21 As shown, in some embodiments, the control method for the clamping device 10 includes process 2100. In some embodiments, process 2100 may be executed by control unit 300 and includes the following steps:

[0150] In step 2110, the control unit 300 controls the drive member 500 to move from the distal end to the proximal end, causing at least two clamping parts 101 of the clamping arm 100 to open.

[0151] In some embodiments, the control unit 300 includes an automatic control handle or a manual control handle, which is used to control the spindle 220 to move axially along the sheath 210.

[0152] In some embodiments, the control unit 300 controls the spindle 220 to move from the distal end to the proximal end, and the spindle 220 drives the drive member 500 to move from the distal end to the proximal end. At least two clamping parts 101 rotate to move their distal ends away from each other, and at least two clamping parts 101 open.

[0153] In some embodiments, the control drive 500 moves from the proximal end to the distal end, causing at least two clamping portions 101 to abut against the first control portion 630 of the clamping seat 600; wherein the first control portion 630 is located at the distal end of the sheath 210 and between the at least two clamping portions 101. When the control unit 300 controls the drive 500 to continuously push the at least two clamping portions 101 distally, the first control portion 630 generates resistance to the at least two clamping portions 101, which provides rotational torque to the clamping portions 101.

[0154] In some embodiments, the clamping portion 101 includes a cam structure 115, which includes a first guide surface 1151. When the control unit 300 controls the drive member 500 to continuously push the at least two clamping portions 101 distally, it can control the first guide surface 1151 of the at least two clamping portions 101 to slide relative to the first control unit 630, thereby opening the at least two clamping portions 101.

[0155] In step 2120, the control unit 300 acquires the motion resistance of the drive member 500. When the motion resistance is greater than a preset force value, the control unit 500 stops moving. When at least two clamping parts 101 are opened to the maximum preset angle, the second control unit 640 at the distal end of the sheath 210 restricts the rotation of at least two clamping parts 101, so that at least two clamping parts 101 generate motion resistance to the drive member 500.

[0156] In some embodiments, the distal end of the sheath 210 includes a second control portion 640. After at least two clamping portions 101 are opened, the second control portion 640 abuts against the outer surfaces of the at least two clamping portions 101. In some embodiments, the first control portion 630 applies a first driving force to the cam structure 115, and the second control portion 640 applies a second driving force to the cam structure 115. When the first driving force and the second driving force are equal in magnitude and opposite in direction, the rotational torque of the at least two clamping portions 101 is zero, and they cannot continue to open at this opening angle. At this time, the at least two clamping portions 101 are opened to the maximum preset angle.

[0157] In some embodiments, since the second control part 640 restricts the rotation of at least two clamping parts 101, the at least two clamping parts 101 generate motion resistance to the drive member 500, and the motion resistance is fed back to the control part 300 through the spindle 220.

[0158] In some embodiments, the control unit 300 includes a force detector for detecting the motion resistance of the spindle 220. When the motion resistance is greater than a preset force value, the control unit 300 controls the spindle 220 to stop moving, and the spindle 220 controls the drive member 500 to stop moving.

[0159] By controlling at least two clamping parts 101 to stop opening when they open to the maximum preset angle, over-opening of the clamping parts 101 can be avoided.

[0160] Step 2130: The control unit 300 moves the clamping arm 100 to the preset target position, so that the clamping space 20 of at least two clamping parts 101 is aligned with the clamping target.

[0161] In some embodiments, the clamping target refers to a tissue wound to be closed. In some embodiments, the preset target position refers to a position where the distance between the distal end of the clamping part 101 and the clamping target is less than a specific distance and / or the clamping direction of the clamping part 101 is consistent with the closing direction of the clamping target. In some embodiments, the control unit 300 moves the clamping arm 100 to within 3 mm of the tissue wound, so that the clamping space 20 between at least two clamping parts 101 is aligned with the tissue wound. The clamping direction of at least two clamping parts 101 can be adjusted to be consistent with the closing direction of the tissue wound by rotating the clamping base 600 and the clamping part 101.

[0162] In step 2140, the control unit 300 controls the drive member 500 to move from the distal end to the proximal end, thereby causing at least two clamping parts 101 to close, lock, and release.

[0163] In some embodiments, the control unit 300 controls the drive member 500 to move from the distal end to the proximal end, causing at least two clamping parts 101 to close, so that the tissue wound is clamped in the clamping space 20; then the locking member 400 locks at least two clamping parts 101; finally, the control unit 300 controls at least two clamping parts 101 to release from the sheath 210.

[0164] In some embodiments, the control unit 300 controls at least two clamping portions 101 of the clamping arm 100 to close, including at least the following methods:

[0165] First, the control unit 300 controls the drive member 500 to move from the distal end to the proximal end, and the drive member 500 drives at least two clamping parts 101 to abut against the second control part 640 of the clamping seat 600. In some embodiments, the clamping device 10 includes an outer sleeve 700, and the second control part 640 is disposed at the distal end of the outer sleeve 700. In some embodiments, the outer sleeve 700 is fixed to the distal end of the sheath 210. In some embodiments, the second control part 640 is disposed at the distal end of the sheath 210.

[0166] Next, the control unit 300 controls the second guide surfaces 1152 of at least two clamping portions 101 to slide relative to the second control unit 640, thereby closing the at least two clamping portions 101. In some embodiments, the control unit 300 controls the drive member 500 to move from the distal end to the proximal end via the spindle 220. The second control unit 640 then generates a torque on the second guide surfaces 1152 to rotate the clamping portions 101. The distal ends of the clamping portions 101 move closer to each other through rotation, thereby closing the at least two clamping portions 101. The second guide surfaces 1152 of the clamping portions 101 slide relative to the second control unit 640, causing the proximal end of the clamping portion 101 to be received within the clamping seat 600 or the sheath 210.

[0167] In some embodiments, the control unit 300 controls the release of the clip 120 and the sheath 210 before, simultaneously with, or after the clip 120 and the locking member 400 are locked.

[0168] In some embodiments, the control unit 300 controls the clamping arm 100 to move from the distal end to the proximal end, causing the locked portion 130 of the clamping piece 120 of the clamping arm 100 to engage with the locking member 400. In some embodiments, the locked portion 130 of the clamping part 101 enters the receiving cavity 410 of the locking member 400, the first limiting structure 133 of the locked portion 130 engages with the first stop structure 420 of the locking member 400, and the second limiting structure 134 of the locked portion 130 engages with the second stop structure 430 of the locking member 400. At this time, the locked portion 130 is locked with the locking member 400, that is, the clamping piece 120 is locked with the locking member 400.

[0169] In some embodiments, the actuating part 135 of the control clamping part 101 actuates the locking member 400, thereby disengaging the locking member 400 from the sheath 210. In some embodiments, the actuating part 135 of the clamping part 101 enters the receiving cavity 410 of the locking member 400. When the actuating part 135 moves from the distal end to the proximal end, it pushes the limiting spring, causing the limiting spring to deform, displace, or break, thus disengaging it from the limiting surface, and the locking member 400 is disengaged from the clamping seat 600. In some embodiments, the actuating part 135 pushes the limiting spring to deform outward of the locking member 400, causing the second abutting structure 620 of the clamping seat 600 to separate from the second limiting part 450 of the locking member 400, and the locking member 400 is disengaged from the clamping seat 600.

[0170] In some embodiments, at least two clamping portions 101 are released from the sheath 210. This includes at least the following methods:

[0171] In some embodiments, the clamping arm 100 includes an operating arm 110 and a clamping plate 120. The control unit 300 controls the clamping arm 100 to move from the distal end to the proximal end. Since the locking member prevents the clamping plate 120 from continuing to move distally, a tension is generated between the operating arm 110 and the clamping plate 120. In some embodiments, when the tension generated between the first connecting structure 113 of the operating arm 110 and the first mating portion 123 of the clamping plate 120 exceeds a tension threshold, at least one of the first connecting structure 113 and the first mating portion 123 deforms, breaks, or displaces, thereby disengaging the mating.

[0172] In some embodiments, the control unit 300 controls the operating arm 110 to move from the distal end to the proximal end. Since the locking member prevents the clamping piece 120 from continuing to move distally, a relative displacement is generated between the operating arm 110 and the clamping piece 120. In some embodiments, when the relative displacement between the second connecting structure 114 of the operating arm 110 and the second mating portion 124 of the clamping piece 120 is greater than a distance threshold, the second connecting structure 114 and the second mating portion 124 are disengaged.

[0173] The beneficial effects that the embodiments of this application may bring include, but are not limited to:

[0174] (1) The connection structure of the operating arm and the mating part of the clip can be released. After the tissue is clamped, only the clip is left on the tissue. Compared with the traditional clamping part, the retention length of the clip can be reduced by 30% to 70%, which effectively improves the operating field of surgery and reduces the difficulty of surgery.

[0175] (2) By means of the cooperation of the groove and the sliding part, the relative movement of the clamp and the operating arm in the direction perpendicular to the first direction is restricted. This restriction ensures the positional stability of the clamp and the operating arm in a specific direction, thereby improving the reliability and stability of the clamping part.

[0176] (3) The release of the clips and operating arms is controlled by tension and / or displacement, which simplifies the operation and reduces the difficulty of the surgery.

[0177] (4) The locking element is located inside at least two clips and will not occupy the space outside the clips, making the structure more compact and small after the clips are closed, thereby reducing the surgical field of view obstructed by the clips.

[0178] (5) By cooperating with the cam structure of the clamping part and the control part of the clamping seat, at least two clamping parts can be opened, enabling the clamping parts to operate effectively and stably in limited space without occupying too much operating space. This reduces the obstructed field of vision during surgery, allowing the operator to observe the surgical area comprehensively and clearly, thus improving surgical safety. The cam structure transmits driving force, enabling the in-position change of motion mode and reducing the overall structural length.

[0179] (6) A small gap is maintained between the drive component and the clamp, which reduces the frictional resistance of the drive component's movement while ensuring the stability of the drive component, improving the operability of the drive component, and reducing the kinetic energy loss of the drive component.

[0180] (7) By forming feedback resistance between the locked part and the distal end of the locking element, the operator can be prompted to confirm the tissue clamping status before locking, thereby reducing surgical errors.

[0181] It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects may be any one or a combination of the above, or any other possible beneficial effects.

[0182] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

[0183] Furthermore, this specification uses specific terms to describe embodiments thereof. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Moreover, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0184] Similarly, it should be noted that, in order to simplify the descriptions disclosed herein and thus aid in the understanding of one or more embodiments, the foregoing description of embodiments in this specification sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this method of disclosure does not imply that the subject matter of this specification requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0185] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this specification are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0186] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and should be considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. A clamp arm for an endoscope clamping instrument, characterized in that, The device includes at least two clamping portions, each clamping portion including an operating arm and a clamping plate. The operating arm includes at least one connecting structure, and the clamping plate includes at least one mating portion releasably connected to the at least one connecting structure. The at least one connecting structure includes a channel arranged along a first direction, and the at least one mating portion includes a sliding portion that movably engages with the channel. The channel is configured to restrict the relative movement of the clamping plate and the operating arm in a direction perpendicular to the first direction. The at least one connecting structure further includes a first connecting structure, and the at least one mating part further includes a first mating part. The first connecting structure and the first mating part cooperate to restrict the relative movement of the clamp and the operating arm in the first direction.

2. The clamping arm as described in claim 1, characterized in that, When the relative displacement between the channel and the sliding part is greater than the distance threshold, the channel and the sliding part separate and disengage, and the operating arm and the clamp are released.

3. The clamping arm as described in claim 1, characterized in that, The two sides of the operating arm are formed with rolled edges facing the inside of the operating arm, and the channel is provided inside the rolled edges.

4. The clamping arm as described in claim 1, characterized in that, The sliding part is formed by the two sides of the clip.

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