A dual joint clip applier

Abstract

The application provides a double-joint clip applier, and belongs to the technical field of medical devices. The double-joint clip applier is provided with a first finger joint and a second finger joint between a clamp head and an outer sleeve. One end of the first finger joint is hinged to the clamp head and shares a first hinge pin with the clamp head. The other end of the first finger joint is hinged to the two sides opposite to one end of the adjacent second finger joint through a second hinge pin, and the axial centers of the second hinge pin and the first hinge pin are perpendicular. The other end of the second finger joint is hinged to the two sides opposite to one end of the adjacent outer sleeve through a third hinge pin, and the axial centers of the third hinge pin and the second hinge pin are perpendicular. A finger joint control mechanism for controlling the first finger joint and the second finger joint is further arranged on the outer sleeve. In the application, the first finger joint and the second finger joint which can be independently controlled but are coordinated with each other and the matched finger joint control mechanism are added, and combined with a rotating mechanism, a total of 6 degrees of freedom directions can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a double-joint clip applier. BACKGROUND

[0002] A clip applier is a precision surgical instrument used in various surgical procedures to close blood vessels, ducts or other tissue structures. Its core function is to achieve mechanical closure of metal clips or absorbable ligature clips by squeezing them.

[0003] The currently commonly used clip applier shaft can rotate 360 degrees, but the conventional clip applier does not have a bendable joint. For some ligature sites in relatively narrow or hidden locations, the traditional clip applier cannot directly deliver the ligature clip to the ligature site, making the surgical operation more difficult. Therefore, industry technicians have developed a variety of clip appliers with bendable jaws. For example, Chinese invention patent (name: “A clip applier”, publication number: CN110215258B, publication date: 20241101) discloses a clip applier comprising a transmission member provided with a jaw at the distal end, a shaft body is sleeved on the outer periphery of the transmission member, a track body that can rotate circumferentially and is axially locked is sleeved on the outer periphery of the shaft body, the track body is provided with an equal-thickness annular active gap extending circumferentially along the shaft body, the included angle between the end face of the active gap and the axis of the shaft body is less than 90 degrees, a side pull strip top column that circumferentially locks with the shaft body is arranged in the active gap, the side pull strip is connected to the side pull strip top column at the proximal end and connected to the distal end of the bending assembly at the distal end, and the distal end of the bending assembly is fixed to the jaw and the proximal end is axially locked relative to the shaft body. The jaw of the clip applier provided in the present application can bend and swing, so that in the case of bleeding or other ducts that need to be closed during surgery, the clip applier can adjust its bending form as needed, so that the ligature clip is delivered to the desired ligature site.

[0004] However, due to the diameter specification (φ5mm or φ10mm) of the existing clip applier sleeve, only 4 degrees of freedom can be achieved for operation control. SUMMARY

[0005] The present application aims to provide a double-joint clip applier, which increases the first and second fingers that can be independently controlled but coordinated with each other, and the matching finger control mechanism, combined with the rotation mechanism, which can realize 6 degrees of freedom for operation control.

[0006] The technical solution adopted by the present application is:

[0007] A double-joint clip applier comprises a jaw, an outer sleeve, a rotating mechanism and a handle mechanism; the jaw is located at one axial end of the outer sleeve, the rotating mechanism and the handle mechanism are arranged on the other end of the outer sleeve; a driving spindle of the handle mechanism is located in the outer sleeve for controlling the opening and closing of the jaw, the jaw and the adjacent end of the outer sleeve are sequentially provided with a first finger joint and a second finger joint; one end of the first finger joint is hinged with the jaw and shares a first hinge pin with the jaw; the other end of the first finger joint is hinged with the two sides of the adjacent end of the second finger joint through a second hinge pin respectively, and the axial centers of the second hinge pin and the first hinge pin are perpendicular, and the axial centers of the two second hinge pins coincide; the other end of the second finger joint is hinged with the two sides of the adjacent end of the outer sleeve through a third hinge pin respectively, and the axial centers of the third hinge pin and the second hinge pin are perpendicular, and the axial centers of the two third hinge pins coincide; the outer sleeve is further provided with a finger joint control mechanism for controlling the bending of the first finger joint and the second finger joint in different directions.

[0008] Further, the first finger joint comprises a first finger joint body; the two axial ends of the first finger joint body are respectively provided with a pair of first ear plates and a pair of second ear plates arranged in parallel, and the two pairs of ear plates have an included angle of 90°; a part adjacent to the jaw is arranged between the pair of first ear plates and is hinged with the jaw by sharing the first hinge pin; the pair of second ear plates simultaneously extend into the end of the adjacent second finger joint and are hinged by the second hinge pin respectively.

[0009] Further, the first finger joint further comprises a first connecting rod; the first connecting rod passes through the axial hollow area of the first finger joint body, one end of the first connecting rod is in transmission connection with the corresponding part of the jaw between the first ear plate, so as to control the opening and closing of the jaw, and the other end of the first connecting rod is in transmission cooperation with the transmission part of the second finger joint and the driving spindle.

[0010] Further, the second finger joint comprises a second finger joint body; the two axial ends of the second finger joint body are respectively provided with a pair of third ear plates and a pair of fourth ear plates arranged in parallel, and the two pairs of ear plates have an included angle of 90°; the second ear plate is arranged between the pair of third ear plates and is hinged by the second hinge pin respectively; the pair of fourth ear plates simultaneously extend into the pair of fifth ear plates arranged in parallel in the end of the adjacent outer sleeve and are hinged by the third hinge pin respectively; at the same time, the pair of fourth ear plates are also hinged with the part of the finger joint control mechanism extending therebetween through an eighth hinge pin along the outer sleeve for linear motion; the axial centers of the eighth hinge pin and the third hinge pin are parallel.

[0011] Further, the second phalange further comprises a second connecting rod; the second connecting rod passes through the axial hollow region of the second phalange body, one end of the second connecting rod is hinged with one end of the first connecting rod, and the other end of the second connecting rod is hinged with the poking spindle.

[0012] Further, the second phalange further comprises a third connecting rod; one end of the third connecting rod extends into a pair of the second ear plates and is hinged with the sixth hinge pin, and the other end of the third connecting rod extends into a pair of the fourth ear plates and is hinged with the part of the phalange control mechanism extending into the fourth ear plates and moving linearly along the outer sleeve through the seventh hinge pin; the axial centers of the sixth hinge pin and the second hinge pin are parallel, and the axial centers of the seventh hinge pin and the eighth hinge pin are parallel, which are respectively located on the opposite sides of the third hinge pin.

[0013] Further, the phalange control mechanism comprises an outer housing; the outer housing is arranged on the outer sleeve, and the first outer nut and the second outer nut are arranged to rotate on the outer housing; the axial centers of the first outer nut, the second outer nut and the outer sleeve coincide, and at least part of the circumferential side wall of the first outer nut and the second outer nut is exposed outside the outer housing; the first inner nut and the second inner nut are respectively threadedly arranged in the first outer nut and the second outer nut; the phalange control mechanism further comprises a first transmission member and a second transmission member; one end of the first transmission member is hinged with the third connecting rod through the seventh hinge pin, and the other end of the first transmission member is connected with one of the first inner nut and the second inner nut; one end of the second transmission member is hinged with the fourth ear plate through the eighth hinge pin, and the other end of the second transmission member is connected with the remaining one of the first inner nut and the second inner nut.

[0014] Further, the first transmission member and / or the second transmission member is in the shape of a straight rod or a cylinder with pointed ends.

[0015] Further, the second phalange comprises a second phalange body; the axial two ends of the second phalange body are respectively provided with a pair of third ear plates and a pair of fourth ear plates arranged in parallel, and the two pairs of ear plates have an included angle of 90°; a pair of the third ear plates are hinged with one end of the adjacent first phalange extending therebetween through the second hinge pin; a pair of the fourth ear plates are simultaneously hinged with a pair of fifth ear plates arranged in parallel at one end of the adjacent outer sleeve extending therebetween through the third hinge pin; meanwhile, a pair of the fourth ear plates are hinged with the part of the phalange control mechanism extending therebetween through the eighth hinge pin; the axial centers of the eighth hinge pin and the third hinge pin are parallel.

[0016] Further, the second finger joint further comprises a second connecting rod; the second connecting rod passes through the axial hollow region of the second finger joint body, one end of which is hingedly connected with the poking spindle; the other end of the second connecting rod is in transmission cooperation with the transmission part of the first finger joint and the forceps head.

[0017] Further, the second finger joint further comprises a third connecting rod; one end of the third connecting rod is hingedly connected with one end of the adjacent first finger joint through a sixth hinge pin, and the other end of the third connecting rod is hingedly connected with the other part of the finger joint control mechanism which makes linear motion along the outer sleeve through a seventh hinge pin between a pair of the fourth ear plates; the axial centers of the sixth hinge pin and the second hinge pin are parallel; the axial centers of the seventh hinge pin and the eighth hinge pin are parallel, which are respectively located on the opposite sides of the third hinge pin.

[0018] Further, the first finger joint comprises a first finger joint body; the axial two ends of the first finger joint body are respectively provided with a pair of parallel first ear plates and a pair of parallel second ear plates, which have an included angle of 90°; a part of the adjacent forceps head is arranged between a pair of the first ear plates and is hingedly connected with the forceps head through the first hinge pin; a pair of the second ear plates are simultaneously arranged in one end of the adjacent second finger joint and are respectively hingedly connected with the second hinge pin;

[0019] Alternatively, the first finger joint comprises a first connecting rod; one end of the first connecting rod is in transmission connection with the corresponding part of the forceps head to control the opening and closing of the forceps head; the other end of the first connecting rod is in transmission cooperation with the second finger joint and the poking spindle.

[0020] Further, the finger joint control mechanism comprises an outer housing; the outer housing is arranged on the outer sleeve, and a first outer nut and a second outer nut are arranged on the outer housing; the axial centers of the first outer nut, the second outer nut and the outer sleeve coincide, and at least part of the circumferential side wall of the first outer nut and the second outer nut is exposed outside the outer housing; the first inner nut and the second inner nut are respectively threadedly arranged in the first outer nut and the second outer nut; the finger joint control mechanism further comprises a first transmission member and a second transmission member; one end of the first transmission member is hingedly connected with the third connecting rod through the seventh hinge pin, and the other end of the first transmission member is connected with one of the first inner nut and the second inner nut; one end of the second transmission member is hingedly connected with the fourth ear plate through the eighth hinge pin, and the other end of the second transmission member is connected with the remaining one of the first inner nut and the second inner nut.

[0021] Further, the first transmission member and / or the second transmission member is in the shape of a straight rod or a pointed cylinder.

[0022] The beneficial effects of the present application are:

[0023] The double-joint clip applier in the present application, on the basis of the existing clip applier structure, increases the first finger joint and the second finger joint which can be independently controlled but coordinated with each other, and the matched finger joint control mechanism, combined with the rotating mechanism, a total of 6 degrees of freedom directions can be realized. In actual surgery, the operation in each direction can be quickly and accurately performed, the flexibility is further improved, the clamping operation time under complex angle is significantly reduced, the operation efficiency is improved, the awkward posture operation of the operator to reach the target position is reduced, and the operator fatigue is reduced. At the same time, the bending angles of the first finger joint and the second finger joint can be accurately controlled through the finger joint control mechanism. For example, the first finger joint can realize large pitch bending, and the maximum bending angle can be 20-30° (the maximum included angle between the axial length direction of the first finger joint and the axial direction of the first finger joint). The second finger joint can fine-tune the lateral angle on the basis of the bending of the first finger joint, and the maximum bending angle can be 15-20° (the maximum included angle between the axial length direction of the second finger joint and the axial direction of the outer sleeve). The flexibility of the instrument in a small space is greatly expanded. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0025] Figure 1 It is a cross-sectional structure schematic view of the double-joint clip applier in embodiment 1.

[0026] Figure 2 It is a front view of the combination structure of the head, the first finger joint, the second finger joint, the outer sleeve and the finger joint control mechanism in the embodiment.

[0027] Figure 3 It is Figure 2 A-A cross-sectional view in the embodiment.

[0028] Figure 4 It is a bottom view of the combination structure of the head, the first finger joint, the second finger joint, the outer sleeve and the finger joint control mechanism in the embodiment.

[0029] Figure 5 It is Figure 4 B-B cross-sectional view in the embodiment.

[0030] Figure 6 It is a three-dimensional structure schematic view of the combination structure of the head, the first finger joint, the second finger joint, the outer sleeve and the finger joint control mechanism in the embodimentFigure 1 .

[0031] Figure 7 Three-dimensional structure diagram of the combination structure of the plier head, the first finger joint (the first finger joint body is hidden), the second finger joint (the second finger joint body is hidden), and the finger joint control mechanism (the outer shell body is hidden) in the embodiment Figure 1 .

[0032] Figure 8 Three-dimensional structure diagram of the combination structure of the plier head, the first finger joint, the second finger joint, the outer sleeve, and the finger joint control mechanism in the embodiment Figure 2 .

[0033] Figure 9 Three-dimensional structure diagram of the combination structure of the plier head, the first finger joint (the first finger joint body is hidden), the second finger joint (the second finger joint body is hidden), and the finger joint control mechanism (the outer shell body is hidden) in the embodiment Figure 2 .

[0034] Figure 10 Diagram of the plier head, the first finger joint, and the second finger joint in the bent state in the embodiment Figure 1 .

[0035] Figure 11 Diagram of the plier head, the first finger joint, and the second finger joint in the bent state in the embodiment Figure 2 .

[0036] Figure 12 Structure diagram of another form of the first transmission member and the second transmission member in the embodiment.

[0037] The reference signs are:

[0038] 100, plier head; 200, outer sleeve; 300, rotating mechanism; 400, handle mechanism; 500, first finger joint; 600, second finger joint; 700, finger joint control mechanism;

[0039] 110, upper plier head; 120, lower plier head; 130, first hinge pin; 140, oblique slot hole;

[0040] 210, fifth ear plate;

[0041] 410, push main shaft;

[0042] 510, second hinge pin; 520, first finger joint body; 530, first connecting rod; 540, first ear plate; 550, second ear plate; 560, push pin; 570, seventh hinge pin;

[0043] 610, third hinge pin; 620, second knuckle body; 630, second link; 640, third link; 650, third ear plate; 660, fourth ear plate; 670, fourth hinge pin; 680, fifth hinge pin; 690, sixth hinge pin;

[0044] 710, outer housing; 720, first transmission member; 730, second transmission member; 740, first outer nut; 750, second outer nut; 760, first inner nut ring; 770, second inner nut ring; 780, eighth hinge pin. DETAILED DESCRIPTION

[0045] In the description of the application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0046] The following disclosure provides many different embodiments or examples for implementing different structures of the application. For the purpose of simplifying the present disclosure, the components and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the application.

[0047] The embodiments of the application will be described in detail below with reference to the accompanying drawings. EMBODIMENT

[0048] Figure 1 The cross-sectional structure of the double-joint clip applier in Example 1 is shown schematically. As shown in the figure, the double-joint clip applier comprises a handle 100, a shaft 200, a first joint 300, a second joint 400, a third joint 500, and a fourth joint 600. Figure 1As shown, the dual-joint clamp includes a clamp head 100, an outer sleeve 200, a rotating mechanism 300, and a handle mechanism 400. The clamp head 100 is located at one axial end of the outer sleeve 200 and includes an upper clamp head 110 and a lower clamp head 120; the upper clamp head 110 and the lower clamp head 120 are cross-hinged by a cooperating first hinge pin 130. The rotating mechanism 300 and the handle mechanism 400 are located at the other axial end of the outer sleeve 200, and the actuating spindle 410 of the handle mechanism 400 is located inside the outer sleeve 200. By rotating the rotating mechanism 300, the outer sleeve 200, the actuating spindle 410, and the clamp head 100 can rotate within a 360° range. By actuating the handle mechanism 400, the actuating spindle 410 can be moved along the axial direction of the outer sleeve 200, controlling the opening and closing of the clamp head 100. This further closes the metal clip or absorbable ligation clip installed inside the clamp head 100, thereby clamping blood vessels and other tubular tissue structures.

[0049] It should be noted that the structures of the clamp head 100, the rotating mechanism 300 and the handle mechanism 400 in this embodiment are the same as or similar to the corresponding parts in existing publicly available clamping pliers, and are only adapted according to installation requirements.

[0050] In this embodiment, in order to enable the clamp to have more degrees of freedom, a tubular first phalanx 500 and a second phalanx 600 are sequentially provided between the clamp head 100 and one end of the adjacent outer sleeve 200. Figure 2 This is a front view of the combined structure of the pliers head, first phalanx, second phalanx, outer sleeve, and phalanx control mechanism in the embodiment. Figure 3 for Figure 2 Sectional view along line AA. Figure 4 This is a bottom view of the combined structure of the pliers head, first phalanx, second phalanx, outer sleeve, and phalanx control mechanism in the embodiment. Figure 5 for Figure 4 Sectional view along the BB direction. Figure 6 This is a three-dimensional structural diagram of the combined structure of the pliers head, first phalanx, second phalanx, outer sleeve, and phalanx control mechanism in the embodiment. Figure 1 . Figure 7 This is a three-dimensional structural diagram of the combined structure (within the outer shell) of the pliers head, the first knuckle (hidden by the knuckle body), the second knuckle (hidden by the second knuckle body), and the knuckle control mechanism in the embodiment. Figure 1 . Figure 8 This is a three-dimensional structural diagram of the combined structure of the pliers head, first phalanx, second phalanx, outer sleeve, and phalanx control mechanism in the embodiment. Figure 2 . Figure 9 This is a three-dimensional structural diagram of the combined structure (outer shell) of the pliers head, first knuckle (the body of the first knuckle is hidden), second knuckle (the body of the second knuckle is hidden), and knuckle control mechanism in the embodiment. Figure 2 As attachedFigures 2-9 As shown, one end of the first phalanx 500 is hinged to the jaw 100, and the first phalanx 500 shares a first hinge pin 130 with the upper jaw 110 and the lower jaw 120; the other end of the first phalanx 500 is hinged to the two opposite sides of one end of the adjacent second phalanx 600 by a second hinge pin 510, and the axial centers of the second hinge pin 510 and the first hinge pin 130 are perpendicular, and the axial centers of the two second hinge pins 510 coincide; the other end of the second phalanx 600 is hinged to the two opposite sides of the adjacent outer sleeve 200 by a third hinge pin 610, and the axial centers of the third hinge pin 610 and the second hinge pin 510 are perpendicular, that is, the axial length direction of the third hinge pin 610 is parallel to the axial center of the first hinge pin 130, and the axial centers of the two third hinge pins 610 coincide. Meanwhile, the outer tube 200 also has a knuckle control mechanism 700, which can control the first knuckle 500 and the second knuckle 600 to bend in different directions respectively.

[0051] Figure 10 This is a schematic diagram of the pliers head, first knuckle, and second knuckle in a bent state, as shown in the embodiment. Figure 1 . Figure 11 This is a schematic diagram of the pliers head, first knuckle, and second knuckle in a bent state in the embodiment. Figure 2 According to requirements, in this embodiment, the axial center of both the first phalanx 500 and the second phalanx 600 can be adjusted to coincide with the axial center of the outer sleeve 200 via the phalanx control mechanism 700. Figure 2 and Figure 4 As shown in the diagram. Alternatively, in this embodiment, the knuckle control mechanism 700 can be used to adjust the bending of the first knuckle 500 and the second knuckle 600 in different directions, thereby causing the pliers head 100 to bend, as shown in the diagram. Figure 10 and Figure 11 As shown in the image. For example... Figure 10 and Figure 11 From the perspective of the first knuckle 500, the first knuckle 500 can achieve a large angle of pitch flexion, while the second knuckle 600 can make fine adjustments to the lateral angle (perpendicular to the pitch direction of the first knuckle 500) based on the flexion of the first knuckle 500.

[0052] The double-joint clip applier in the embodiment is based on the existing clip applier structure, and a first finger joint and a second finger joint which can be independently controlled but are coordinated with each other and a matched finger joint control mechanism are added. In combination with a rotating mechanism, a total of 6 degrees of freedom directions can be realized for operation control. In actual surgery, the operation in each direction can be quickly and accurately performed, the flexibility is further improved, the clipping operation time under a complex angle is obviously reduced, the surgical efficiency is improved, the awkward posture operation of the operator to reach the target position is reduced, and the operator fatigue is reduced. At the same time, the bending angles of the first finger joint and the second finger joint can be accurately controlled through the finger joint control mechanism. For example, the first finger joint can realize a large angle of pitch bending, and the maximum bending angle can be 20-30° (the maximum angle between the axial center of the first finger joint and the axial center of the second finger joint). The second finger joint can fine-tune the lateral angle on the basis of the bending of the first finger joint, and the maximum bending angle can be 15-20° (the maximum angle between the axial center of the second finger joint and the axial center of the outer sleeve). The flexibility of the instrument in a small space is greatly expanded.

[0053] In the optimized technical solution in the embodiment, the first finger joint 500 includes a first finger joint body 520 and a first connecting rod 530, as shown in FIG. Figures 2-11 The inside of the first finger joint body 520 is hollow, and the hollow size needs to meet the movement of the first connecting rod 530 in each direction without interference. The axial ends of the first finger joint body 520 are respectively provided with a pair of first ear plates 540 and second ear plates 550 which are arranged in parallel. The length extension directions of the first ear plates 540 and the second ear plates 550 are perpendicular to each other, that is, the planes between the first ear plates 540 and the second ear plates 550 are perpendicular to each other, that is, the positions between the first ear plates 540 and the second ear plates 550 have a 90° angle. A part of the upper jaw 110 and the lower jaw 120 is located between the two first ear plates 540, and a first hinge pin 130 passes through the two first ear plates 540, the upper jaw 110 and the lower jaw 120 to realize the hinge connection between the jaw 100 and the first finger joint 500. The first connecting rod 530 passes through the axial hollow inside of the first finger joint body 520, and one end of the first connecting rod 530 is connected between the part of the upper jaw 110 and the lower jaw 120 located between the two first ear plates 540 to realize the opening and closing control of the upper jaw 110 and the lower jaw 120. The other end of the first connecting rod 530 is in transmission cooperation with the transmission part of the second finger joint 600 and the driving main shaft 410. In the embodiment, the structure of the first finger joint is optimized to meet the requirement of directly driving the jaw bending.

[0054] It should be noted that the transmission connection structure of the first connecting rod 530 driving the opening and closing of the upper and lower clamp heads 110 and 120 in the embodiment is the same as or the same as the existing disclosed transmission connection structure of the clamp head of the clip applier, and only adaptive adjustment is made according to the installation requirement. For example, one end of the first connecting rod 530 is provided with a toggle pin 560, which is parallel to the axial length direction of the first hinge pin; the two ends of the toggle pin 560 are respectively located in the oblique slot holes 140 opened in the upper and lower clamp heads 110 and 120, the groove length direction of the oblique slot holes 140 is different from the length direction of the corresponding upper or lower clamp head 110 or 120, and the two oblique slot holes 140 are arranged in a "V" shape. The first connecting rod 530 and the toggle pin 560 move at different positions in the oblique slot holes 140, that is, the opening and closing of the upper and lower clamp heads 110 and 120 can be realized.

[0055] In the optimized technical solution of the embodiment, the second knuckle 600 includes a second knuckle body 620, a second connecting rod 630, and a third connecting rod 640, as shown in Figures 2-11The second knuckle body 620 is similar in structure to the first knuckle body 520, hollow inside, with a hollow size that allows the second connecting rod 630 and the third connecting rod 640 to move in various directions without interference; the second knuckle body 620 has a pair of parallel third ear plates 650 and a pair of parallel fourth ear plates 660 at its two axial ends, with the length extension directions of the third ear plates 650 and the fourth ear plates 660 perpendicular to each other. The two second ear plates 550 simultaneously extend into the two third ear plates 650, with one-to-one corresponding cooperation, i.e., one second ear plate 550 corresponds to one third ear plate 650; a second hinge pin 510 is correspondingly arranged on each of the corresponding second ear plate 550 and the third ear plate 650, with the axial centers of the second hinge pin 510 and the first hinge pin 130 perpendicular to each other, and the axial centers of the two second hinge pins 510 coinciding; thus, the first knuckle 500 and the second knuckle 600 are hingedly connected. The end of the adjacent outer sleeve 200 opposite to the side where the first knuckle 500 is arranged is formed with a pair of fifth ear plates 210, and the two fourth ear plates 660 simultaneously extend into the two fifth ear plates 210, with one-to-one corresponding cooperation; a third hinge pin 610 is correspondingly arranged on each of the fourth ear plate 660 and the fifth ear plate 210, with the axial centers of the third hinge pin 610 and the second hinge pin 510 perpendicular to each other, and the axial centers of the two third hinge pins 610 coinciding, thus realizing the hinged connection between the second knuckle 600 and the outer sleeve 200; the fourth ear plate 660 is further hingedly connected to the part of the knuckle control mechanism 700 that moves linearly along the outer sleeve 200 through an eighth hinge pin 780, with the axial centers of the eighth hinge pin 780 and the third hinge pin 610 parallel to each other. The second connecting rod 630 passes through the axial hollow interior of the second knuckle body 620, with one end of the second connecting rod 630 hingedly connected to the other end of the first connecting rod 530 through a fourth hinge pin 670, and the axial centers of the fourth hinge pin 670 and the first hinge pin 130 perpendicular to each other; the other end of the second connecting rod 630 is hingedly connected to the other end of the actuating main shaft 410 of the actuating handle mechanism 400 through a fifth hinge pin 680, with the axial centers of the fifth hinge pin 680 and the fourth hinge pin 670 perpendicular to each other; thus, the actuating main shaft 410 of the actuating handle mechanism 400 can further drive the second connecting rod 630 and the first connecting rod 530 to move, thereby controlling the opening and closing of the plier head 100.The third connecting rod 640 also passes through the axial hollow interior of the second knuckle body 620, one end of which is hinged to the second ear plate 550 through a sixth hinge pin 690, the axial centers of the sixth hinge pin 690 and the fourth hinge pin 670 being parallel; the other end of the third connecting rod 640 is hinged to the part of the knuckle control mechanism 700 that moves linearly along the outer sleeve tube 200 through a seventh hinge pin 570, the axial centers of the seventh hinge pin 570, the fifth hinge pin 680, and the eighth hinge pin 780 being parallel, and the seventh hinge pin 570 and the eighth hinge pin 780 being located on opposite sides of the fifth hinge pin 680, while the axial center of the seventh hinge pin 570 is perpendicular to that of the sixth hinge pin 690; the above connection structure also reflects that the third connecting rod 640 is not linear in shape, and is twisted on both sides in the length direction. In this embodiment, the structure of the second knuckle is optimized to meet the requirement of bending in a direction perpendicular to the bending direction of the first knuckle.

[0056] In the optimized technical solution of this embodiment, the knuckle control mechanism 700 includes an outer housing 710, a linear rod-shaped first transmission member 720, a linear rod-shaped second transmission member 730, a first outer nut 740, a second outer nut 750, a first inner screw ring 760, and a second inner screw ring 770, as shown in Figures 2-11The outer shell 710 is sleeved on the outer sleeve 200, that is, the outer sleeve 200 passes through the outer shell 710, and the outer sleeve 200 part of the outer shell 710 is entirely hollowed out, that is, the outer shell 710 truncates the outer sleeve 200 into two parts. The first outer nut 740 is rotationally arranged on the outer shell 710, that is, the first outer nut 740 can rotate 360° in situ on the outer shell 710, and at least part of the circumferential side wall of the first outer nut 740 is exposed outside the outer shell 710. The first inner screw ring 760 is threadedly arranged on the inner side of the first outer nut 740, that is, the first outer nut 740 and the first inner screw ring 760 are arranged in a concentric circle manner, and the adjacent surfaces therebetween are threadedly connected; the first outer nut 740, the first inner screw ring 760 and the axial center of the outer sleeve 200 coincide. Similarly, the second outer nut 750 is rotationally arranged on the outer shell 710, closer to the handle mechanism 400 than the first outer nut 740, and at least part of the circumferential side wall of the second outer nut 750 is exposed outside the outer shell 710; the second inner screw ring 770 is threadedly arranged on the inner side of the second outer nut 750; the first outer nut 740, the second outer nut 750, the first inner screw ring 760 and the second inner screw ring 770 coincide with the axial center of the outer sleeve 200. The driving spindle 410 of the handle mechanism 400 passes through the first outer nut 740, the second outer nut 750, the first inner screw ring 760 and the second inner screw ring 770, and is hingedly connected to the second connecting rod 630 through the fifth hinge pin 680. The first transmission member 720 is located in the outer sleeve 200, one end of which is connected to the first inner screw ring 760; the other end of the first transmission member 720 is connected to the other end of the third connecting rod 640 through the seventh hinge pin 570, and the axial directions of the seventh hinge pin 570 and the third hinge pin 610 are parallel; thus, rotating the first outer nut 740 can make the first inner screw ring 760 and the first transmission member 720 move along the axial direction of the outer sleeve 200, driving the first finger 500 to bend. The second transmission member 730 is located in the outer sleeve 200, on the other side of the driving spindle 410 opposite the first transmission member 720; one end of the second transmission member 730 is connected to the second inner screw ring 770 after passing through the first inner screw ring 760; the other end of the second transmission member 730 is hingedly connected to a pair of fourth ear plates 660 through an eighth hinge pin 780, and the axial centers of the eighth hinge pin 780, the seventh hinge pin 570 and the fifth hinge pin 680 are parallel, and the eighth hinge pin 780 and the seventh hinge pin 570 are located on opposite sides of the fifth hinge pin 680; thus, rotating the second outer nut 750 can make the second inner screw ring 770 and the second transmission member 730 move along the axial direction of the outer sleeve 200, driving the second finger 600 to bend. In this embodiment, by optimizing the structure of the finger control mechanism, the bending control of the first finger and the second finger can be realized in a more convenient manner.

[0057] It should be noted that the hinge seat set at the corresponding position in the embodiment to meet the hinge requirement is a routine technical means of the person skilled in the art.

[0058] It should be noted that the bending control of the second knuckle in the embodiment can be realized by cooperation of the first outer nut 740, the first inner screw ring 760 and the first transmission member 720, and the bending control of the corresponding first knuckle can be realized by cooperation of the second outer nut 750, the second inner screw ring 770 and the second transmission member 730.

[0059] It should be noted that in addition to the first transmission member 720 and the second transmission member 730 in the form of straight rod, the first transmission member 720 and the second transmission member 730 can also be in the form of tubular structure, as shown in FIG. 6. Figure 12 When the first transmission member 720 and the second transmission member 730 are in the form of tube, the two ends of the first transmission member 720 and the second transmission member 730 are processed to be in the form of slender tip so as to be in transmission connection with the first knuckle 500 and the second knuckle 600 and the first inner screw ring 760 and the second inner screw ring 770.

Claims

1. A double action clip applier comprising a jaw, an outer sleeve, a rotation mechanism and a handle mechanism; said jaw is located at one axial end of said outer sleeve, said rotation mechanism and said handle mechanism are arranged on the other end of said outer sleeve; a toggle spindle of said handle mechanism is located in said outer sleeve for controlling opening and closing of said jaw, characterized in that, The first finger joint and the second finger joint are arranged in sequence between the jaw and the adjacent end of the outer sleeve; one end of the first finger joint is hinged to the jaw and shares a first hinge pin with the jaw; the other end of the first finger joint is hinged to the two sides of the adjacent end of the second finger joint through a second hinge pin respectively, and the axial centers of the second hinge pin and the first hinge pin are perpendicular, and the axial centers of the two second hinge pins coincide; the other end of the second finger joint is hinged to the two sides of the adjacent end of the outer sleeve through a third hinge pin respectively, and the axial centers of the third hinge pin and the second hinge pin are perpendicular, and the axial centers of the two third hinge pins coincide; the outer sleeve is further provided with a finger joint control mechanism for controlling the bending of the first finger joint and the second finger joint in different directions; The first finger joint comprises a first finger joint body; the axial two ends of the first finger joint body are respectively provided with a pair of first ear plates and a pair of second ear plates arranged in parallel, and the two have an included angle of 90°; a part of the adjacent jaw is arranged between a pair of the first ear plates and is hinged to the jaw through the first hinge pin; The first finger joint further comprises a first connecting rod; the first connecting rod passes through the axial hollow area of the first finger joint body, one end of the first connecting rod is in transmission connection with the corresponding part of the jaw between the first ear plates, so as to control the opening and closing of the jaw, and the other end of the first connecting rod is in transmission cooperation with the transmission part of the second finger joint and the driving main shaft; The second finger joint comprises a second finger joint body; the axial two ends of the second finger joint body are respectively provided with a pair of third ear plates and a pair of fourth ear plates arranged in parallel, and the two have an included angle of 90°; the second ear plates are arranged between a pair of the third ear plates and are hinged through the second hinge pin respectively; a pair of the fourth ear plates simultaneously extend into a pair of fifth ear plates arranged in parallel in the adjacent end of the outer sleeve, and are hinged through the third hinge pin respectively; at the same time, a pair of the fourth ear plates are hinged through an eighth hinge pin between the part of the finger joint control mechanism extending into the fourth ear plates and moving linearly along the outer sleeve; the axial centers of the eighth hinge pin and the third hinge pin are parallel; The second finger joint further comprises a third connecting rod; one end of the third connecting rod extends into a pair of the second ear plates and is hinged through a sixth hinge pin, and the other end of the third connecting rod extends into a pair of the fourth ear plates and is hinged through a seventh hinge pin between the other part of the finger joint control mechanism extending into the fourth ear plates and moving linearly along the outer sleeve; the axial centers of the sixth hinge pin and the second hinge pin are parallel, and the axial centers of the seventh hinge pin and the eighth hinge pin are parallel, and they are respectively located on the opposite sides of the third hinge pin.

2. The double-joint clip applier of Claim 1, wherein, A pair of the second ear plates simultaneously extend into the adjacent end of the second finger joint and are hinged through the second hinge pin respectively.

3. The double-joint clip applier of claim 1, wherein, The second knuckle further comprises a second connecting rod; the second connecting rod passes through an axial hollow region of the second knuckle body, one end of the second connecting rod is hingedly connected with one end of the first connecting rod, and the other end of the second connecting rod is hingedly connected with the poking spindle.

4. The double-joint clip applier of claim 1, wherein, The knuckle control mechanism comprises an outer housing; the outer housing is arranged on the outer sleeve, and a first outer nut and a second outer nut are arranged on the outer housing in a rotating manner; axial centers of the first outer nut, the second outer nut and the outer sleeve coincide, and at least part of a circumferential sidewall of the first outer nut and the second outer nut is exposed outside the outer housing; the first outer nut and the second outer nut are respectively threadedly matched with a first inner screw ring and a second inner screw ring; the knuckle control mechanism further comprises a first transmission member and a second transmission member; one end of the first transmission member is hingedly connected with the third connecting rod through the seventh hinge pin, and the other end of the first transmission member is connected with one of the first inner screw ring and the second inner screw ring; one end of the second transmission member is hingedly connected with the fourth ear plate through the eighth hinge pin, and the other end of the second transmission member is connected with the remaining one of the first inner screw ring and the second inner screw ring.

5. The double-joint clip applier of claim 4, wherein, The first transmission member and / or the second transmission member is in a straight rod shape or a sharp-end-shaped cylinder shape.

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