Multi-fire clip applier

Abstract

This application provides a multi-shot clamp applicator. The multi-shot clamp applicator includes a clamp assembly, a clamp closing assembly, and a clamping assembly. The clamp assembly is openable and closeable. The clamp closing assembly is connected to the clamp assembly. The clamp closing assembly is configured to translate relative to the clamp assembly. A proximal translation of the clamp closing assembly can drive the clamp assembly to close. The clamping assembly is located proximal to the clamp assembly. The clamping assembly is configured to translate relative to the clamp assembly. A distal translation of the clamping assembly can load a clamp into the clamp assembly. The clamping assembly is slidably connected to the clamp closing assembly. The clamping assembly includes a closing actuator. The clamp closing assembly includes a closing transmission member. The closing transmission member is located on the path of the proximal translational movement of the closing actuator. During the proximal translational movement of the clamping assembly, the clamp closing assembly is driven to translate proximally to close the clamp assembly.

Description

Technical Field

[0001] This application relates generally to the technical field of medical devices, and more specifically to a multi-application clamp. Background Technology

[0002] In minimally invasive surgery, there are three main methods for placing clips such as hemostatic clips and ligation clips: the first method is using a wristless single-shot clip applicator; the second method is using a wristless multi-shot clip applicator; and the third method is using a single-shot clip applicator with a wrist. In the first method, the applicator is not only inflexible but also requires reinstallation after each clip application, prolonging the surgery time. In the second method, while clip installation time is saved, the lack of a wrist limits operational flexibility. In the third method, the applicator's flexibility is greatly improved, but it still requires removing surgical instruments from the patient during surgery to install new clips, further increasing surgical time. Therefore, medical personnel usually prepare two surgical instruments to save time spent changing clips, which leads to increased surgical costs. Summary of the Invention

[0003] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] To at least partially solve the above problems, this application provides a multi-shot applicator, the multi-shot applicator comprising:

[0005] The clamp assembly can be opened or closed;

[0006] A clamp closing assembly, connected to the clamp assembly, the clamp closing assembly being configured to translate relative to the clamp assembly, the clamp closing assembly, when translated proximally, driving the clamp assembly to close; and

[0007] A clamping assembly is located proximal to the clamp assembly and is configured to translate relative to the clamp assembly. The clamping assembly, when translated distally, can load a clamp into the clamp assembly. The clamping assembly is slidably connected to the clamp closing assembly.

[0008] The clamping assembly includes a closing actuator, and the clamp closing assembly includes a closing transmission member, wherein the closing transmission member is located on the path of the closing actuator's proximal translational movement.

[0009] During the proximal translation of the clamping assembly, the clamping assembly is translated proximal to the clamp closing assembly until the closing actuator engages the closing transmission member. Then, the closing actuator pushes the closing transmission member to drive the clamp closing assembly to translate proximal, thereby closing the clamp assembly.

[0010] According to the multi-pronged clamp applicator of this application, the clamp can be loaded onto the clamp assembly by translating the clamping assembly distally, and can be linked with the clamp closing assembly by translating the clamping assembly proximally, thereby closing the clamp assembly. Moreover, compared to separately loading the clamp and separately driving the clamp assembly to close, the structure is simplified and the structural compactness is improved. Attached Figure Description

[0011] The following drawings, illustrating embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings illustrate embodiments of this application and their descriptions, serving to explain the principles of this application. In the drawings,

[0012] Figure 1 This is a schematic diagram of a surgical robot to which the multi-shot clamp applicator of this application is applicable;

[0013] Figure 2 The flowchart is a control method for a multi-shot applicator with a wrist according to some embodiments of this application;

[0014] Figure 3 A perspective view of a multi-shot applicator according to some embodiments of this application;

[0015] Figure 4 A perspective view of the shaft and end effector (hereinafter referred to as: front end) of a multi-shot clamp according to some embodiments of this application;

[0016] Figure 5 for Figure 4 An enlarged view of part I in the image;

[0017] Figure 6 for Figure 4 The diagram shows the assembly of the shaft and clamping components.

[0018] Figure 7 for Figure 6 An enlarged view of part II;

[0019] Figure 8 This is a schematic diagram of a clip in its naturally extended state according to some embodiments of this application;

[0020] Figure 9 for Figure 8 The diagram shows the clamp being conveyed in the clamping chamber.

[0021] Figure 10 This is an assembly diagram omitting the front end of the drive transistor according to some embodiments of this application;

[0022] Figure 11 for Figure 10 An enlarged view of part III;

[0023] Figure 12 for Figure 10 The front view of the multi-shot clamping device without the drive tube and clamp support installed is shown.

[0024] Figure 13 for Figure 4 An exploded view of the front end of the multi-shot applicator shown;

[0025] Figure 14 for Figure 12 The diagram shows the assembly of the distal portion of the front end of a multi-shot applicator without the drive tube and clamp support installed with the wrist.

[0026] Figure 15 for Figure 14 An exploded view of the front end of a multi-shot clamping device without the drive tube and clamping support installed.

[0027] Figure 16 (a) to (e) are Figure 12 The multi-shot applicator is shown in a three-dimensional view with its front end in different motion states.

[0028] Figure 17 for Figure 4 The diagram shows the assembly of the front end of the multi-shot clamp applicator.

[0029] Figure 18 for Figure 17 An enlarged view of part IV;

[0030] Figure 19 A cross-sectional view of the proximal end of a multi-shot applicator according to some embodiments of this application;

[0031] Figure 20 A perspective view of the clamping compartment according to some embodiments of this application;

[0032] Figure 21 for Figure 20 An enlarged view of section V;

[0033] Figure 22 A perspective view of a clamping aid according to some embodiments of this application;

[0034] Figure 23 A perspective view of a first clamp according to some embodiments of this application;

[0035] Figure 24 for Figure 12 A cross-sectional view of the distal portion of the front end of the multi-shot applicator shown; and

[0036] Figure 25 for Figure 4 A cross-sectional view of the front end of the multi-shot applicator in the open clamp position;

[0037] Figure 26 for Figure 25 An enlarged view of section VI. Detailed Implementation

[0038] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with embodiments of this application.

[0039] To fully understand the embodiments of this application, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art.

[0040] It should be understood that the terminology used herein is intended only to describe particular embodiments and is not intended to limit the scope of this application. The singular forms “a,” “an,” and “the” / “the” are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0041] The ordinal numbers such as "first" and "second" used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term "first component" does not imply the existence of a "second component," and the term "second component" does not imply the existence of a "first component." It should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.

[0042] The terms "distal" and "proximal" used in this application are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during surgery, while "proximal" refers to the end closest to the operator during surgery. In a remotely operated surgical robot system, "operator" refers to the patient-side robot that holds and actuates the surgical instruments.

[0043] The terms “parallel” / “perpendicular” and similar expressions used in this application include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (e.g., relationships that differ from absolute parallel / perpendicular relationships by a range of -5° to +5°), and have equivalent effects.

[0044] The specific embodiments of this application will be described in more detail below with reference to the accompanying drawings, which illustrate representative embodiments of this application and are not intended to limit this application.

[0045] See Figures 1 to 26 This application provides a multi-shot clamp applicator 100 with a wrist 130 and a control method for the multi-shot clamp applicator 100 with a wrist 130. The multi-shot clamp applicator 100 is a surgical instrument capable of continuously loading clamps 10. The multi-shot clamp applicator 100 of this application can be used in surgical robots, but the multi-shot clamp applicator 100 in some embodiments of this application can also be a non-robot controlled handheld multi-shot clamp applicator. The embodiments of this application will describe in detail the structure of the distal end of the multi-shot clamp applicator 100 and the linkage structure and other structures related to achieving the clamping and use purposes.

[0046] Multi-shot applicator 100 with wrist 130 and its control method

[0047] See Figure 3 This application provides a multi-shot clip applicator 100 with a wrist 130. The clip applicator 100 has at least two operating modes: a directional mode and a clamping mode. In the clamping mode, surgical clips are loaded from inside the applicator into the clamp jaws, ready for application. In the directional mode, the wrist can perform joint movements to change shape. In the directional mode, the wrist 130 of the clip applicator 100 has pitch and yaw degrees of freedom, allowing for flexible movement and meeting surgical requirements.

[0048] See Figure 3 , Figure 5 , Figure 6 as well as Figure 17This application provides a multi-shot applicator 100. The multi-shot applicator 100 includes, from proximal to distal, an instrument housing 150, a shaft 110, a wrist 130, and a clamp assembly 140. The multi-shot applicator 100 also includes a clamping assembly 120 housed within the shaft 110. The shaft 110 includes an outer tube 111. A central cavity 112 is formed inside the outer tube 111. The central cavity 112 extends along the axial direction AX of the shaft 110. The wrist 130 is connected to the distal end of the shaft 110. The wrist 130 has joints such as a rotational joint and / or a rolling joint, and can be operated to perform joint movements. The clamp assembly 140 is connected to the distal end of the wrist 130 and can be operated to open or close. The clamping assembly 120 is translatably disposed within the central cavity 112. The clamping assembly 120 is located proximal to the clamp assembly 140. The clamping assembly 120 is configured to translate relative to the clamp assembly 140. The distally translating clamping assembly 120 can load the clamp 10 into the clamp assembly 140. The translational direction of the clamping assembly 120 in the central cavity 112 can be either the axial direction AX of the shaft or the length direction of the shaft 110. A rear-end drive assembly is provided within the instrument housing 150 for driving or actuating the wrist 130, the clamp assembly 140, and the clamping assembly 120.

[0049] like Figure 5 and Figure 19 As shown, the interior of the wrist 130 is adapted to form a channel 136 for the clamping assembly 120 to pass through. Figure 5 In the middle, channel 136 extends in the direction indicated by the dashed arrow. The direction indicated by the dashed arrow is parallel to the axial direction AX. The clamping assembly 120 can be translated into or out of channel 136. That is, with channel 136 formed inside the wrist 130, the clamping assembly 120 can be translated into or out of channel 136.

[0050] According to the embodiments of the present application, the multi-shot clamp applicator 100 with a wrist has a channel 136 formed inside the wrist 130 for the clamping assembly 120 to pass through. Therefore, by allowing the clamping assembly 120 to enter the channel 136, clamps 10 can be loaded onto the clamping assembly 140 without removing surgical instruments from the patient's body during surgery to install new clamps 10. This allows for continuous loading and firing of clamps 10, reducing the time spent installing new clamps 10 and thus saving surgical time. Furthermore, when the clamping assembly 120 is withdrawn from the channel 136, the wrist 130 can perform joint movements, ensuring operational flexibility.

[0051] like Figure 5 and 16 As shown, exemplarily, the multi-shot applicator 100 has a clamping mode and a directional mode. Figure 16In the middle section, the drive tube 126 and the clamping support 127 were not installed; the wrist 130 and the clamping support 127 were disassembled. (See reference...) Figure 16 (a) to (c), in the clamping mode, a channel 136 is formed inside the wrist 130, through which the clamping assembly 120 can translate to load the clamp 10 onto the clamping assembly 140. In the clamping mode, the channel 136 inside the wrist 130 also allows the clamping assembly 120 to translate proximally to the axis 110, thereby exiting the channel 136. See also... Figure 16 (d) In orientation mode, the clamping assembly 120 is located within the shaft 110, and the wrist 130 can be oriented via joint movement. Orientation here refers to determining the direction and posture of the wrist so that the end effector can operate.

[0052] Optionally, in clamping mode, the wrist 130 is extended, and the channel 136 extends linearly along the axial direction AX of the shaft 110. This allows the clamping assembly 120 to enter or exit the channel 136 by translating along the axial direction AX of the shaft 110. This simplifies the structure and improves the control accuracy of the clamping assembly 120's displacement.

[0053] See Figure 16 As illustrated in Figures (d) to (e), the multi-shot clamp applicator 100 also features a clamping mode. In the clamping mode, the clamping assembly 120 is also located within the axis 110, and the wrist 130 is locked in an oriented position to release the clamp 10. Here, the oriented position refers to the position of the wrist 130 after adjustment in the oriented mode.

[0054] The multi-pinch applicator 100 can be used as follows: In the initial state, the jaws 143 of the clamp assembly 140 are empty of clamps 10, awaiting clamp installation. At this time, the doctor inputs clamp control commands related to clamping via the medical robot, such as selecting a clamping mode. The control unit responds to the clamp control commands by controlling the power source of the rear-end transmission device to drive the wrist 130 joint to extension. If the wrist 130 is already extended in the initial state, it can be kept in that extended state. Once the wrist 130 is extended and a channel 136 is formed internally, the clamp assembly 120 is driven to move distally, pushing the clamp 10 into the clamp assembly 140, loading the clamp 10 into the jaws 143 of the clamp assembly 140. The elasticity of the clamp 10 opens the jaws 143 to accommodate the tissue to be clamped. After the clamp 10 is loaded, the clamp assembly 120 is driven to exit through the channel 136 and retract proximally to the wrist 130, allowing the wrist 130 to move. Next, the doctor controls the wrist 130 to move its joints via an input device. Once the joint is in position, the wrist 130 is locked. The doctor inputs a clamping control command via the input device, and the control unit responds by controlling the power source of the clamp assembly 140 to close the clamp assembly 140, thereby placing the clamp 10 onto the tissue. To load the next clamp 10, the above clamping operation is repeated.

[0055] This application also provides a control method for a multi-shot applicator with a wrist, used in a surgical robot 20 having the aforementioned multi-shot applicator 100. The surgical robot 20 according to this embodiment is a surgical robot system capable of remotely maneuvering to perform surgery. The control of the multi-shot applicator 100 is executed by the controller of the surgical robot. See also... Figure 1 The surgical robot 20 may include a doctor's console 21, a patient-side robot 22, and an imaging device 23, which can communicate with each other.

[0056] The doctor's control console 21 includes a display unit for showing the environment of the surgical instruments 100, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments 100, and the armrests are for supporting the doctor's arms. In addition, the doctor's control console 21 also has other control switches that are easily touched or pressed by hand or foot for various functional operations and human-computer interaction.

[0057] The imaging device 23 includes a display screen, an endoscope controller, system electronics, an image processor, etc. In some examples, the imaging device 23 can be set up independently of the doctor's console 21 and the patient-side robot 22. In other examples, the imaging device 23 can be integrated into the doctor's console 21 and / or the patient-side robot 22.

[0058] See Figure 2 The control method includes the following steps:

[0059] Step S101: Receive clamping signal, control the wrist to move according to the clamping signal, form a channel inside the wrist, drive the clamping assembly into the channel, load the clamp into the clamping assembly, and control the clamping assembly to exit the channel.

[0060] Step S102: Receive the firing signal and drive the clamp assembly to release the clamp according to the firing signal.

[0061] In step S101, the clamping signal is used to indicate the start of clamping. The clamping signal can be a signal input by the user via an input device (doctor's console) to control the instrument actuator at the end of the robotic arm connected to the wrist 130, thereby driving the wrist 130 to perform joint movements and change its posture. The input device can be a touchscreen, buttons, or other device that can be operated by the user to input information to the control unit. Based on the input signal, the doctor's console generates a control signal and sends it to the robotic arm to actuate the instrument actuator.

[0062] Optionally, the wrist is controlled to move according to the clamping signal, forming a channel inside the wrist, including:

[0063] The wrist 130 is controlled to extend and remain extended, thereby extending the channel 136 inside the wrist 130 in the axial direction AX of the shaft 110 to facilitate the movement of the clamping assembly 120 into and out of the channel 136.

[0064] In step S102, the firing signal is used to indicate that the clamp can be fired. The firing signal can be a signal input by the user through an input device (doctor's console) to control the instrument driver to drive the clamp assembly 140 to close and release the clamp.

[0065] The control method of the multi-shot clamp with wrist according to the embodiments of this application can realize the continuous loading and launching of the clamp 10 and ensure the flexibility of operation.

[0066] For example, after the clamping assembly 120 exits the channel 136 and before receiving the firing signal, the control method may further include the following step S103:

[0067] It receives a directional signal and controls the wrist to perform joint movements for orientation based on the directional signal. The clamp assembly 140 is structured in relation to the loading of the clamp 10.

[0068] The structure of the clamp assembly 140 in some embodiments of this application will be described below. (See reference...) Figure 8 and Figure 9The clamp 10 has a first leg 11 and a second leg 13 arranged opposite to each other, and an abutment portion 15 connecting the two. The first leg 11 has a first protrusion 12. The second leg 13 has a second protrusion 14. The abutment portion 15 is used to be abutted by the clamping assembly 120 during loading of the clamp 10 into the clamping assembly 140. The clamping assembly 140 includes a first clamp 141 and a second clamp 142. The first clamp 141 is configured to receive the first leg 11 of the clamp 10. The second clamp 142 is configured to receive the second leg 13 of the clamp 10. After the clamp 10 is loaded into the clamping assembly 140 by the clamping assembly 120, the first leg 11 is located in the first clamp 141, and the second leg 13 is located in the second clamp 142.

[0069] During the loading of the clamp 10 into the clamp assembly 140 by the clamping assembly 120, in order to enable the clamp 10 to move in the extension direction or installation orientation of the clamp, and to be limited after moving into place, this embodiment provides the following solution.

[0070] Please refer to Figure 23 The first clamp 141 has a first guide groove 141c suitable for loading the auxiliary clamp 10 and a first limiting groove 141d for limiting the first protrusion 12 of the first leg 11. The first limiting groove 141d is located at the distal end of the first guide groove 141c. The first clamp 141 guides the movement direction of the clamp 10 relative to the first clamp 141 through the first guide groove 141c to prevent the clamp 10 from slipping off the side of the clamp or tilting to the side during movement. The first clamp 141 limits the movement of the first leg 11 in place through the first limiting groove 141d to restrict the first leg 11 from continuing to move, thereby preventing the clamp 10 from slipping off the distal side of the clamp assembly 140. The first limiting groove 141d can hold the clamp 10 within the clamp assembly 140 after the clamping assembly 120 is withdrawn from the channel 136.

[0071] Similarly, the second clamp 142 has a second guide groove 142c suitable for loading the auxiliary clamp 10 and a second limiting groove 142d for limiting the second protrusion 14 of the second leg 13. The second limiting groove 142d is located at the distal end of the second guide groove 142c. The second clamp 142 guides the movement direction of the clamp 10 relative to the second clamp 142 through the second guide groove 142c to prevent the clamp 10 from slipping off the side of the clamp or tilting to the side during movement. The second clamp 142 limits the movement of the second leg 13 in place through the second limiting groove 142d to restrict the second leg 13 from continuing to move, thereby preventing the clamp 10 from slipping off the distal side of the clamp assembly 140. The second limiting groove 142d can hold the clamp 10 within the clamp assembly 140 after the clamping assembly 120 is withdrawn from the channel 136.

[0072] When the clamps 10 are arranged in the clamping assembly and are first fed into the clamping assembly 140 by the clamping member 122, the included angle between the two legs of the clamps 10 is small, for example, they may be in a close-fitting position. However, the clamps 10 are elastic, and in their natural state without external force, the included angle between the two legs of the clamps 10 is large, that is, they are in a relatively separated state. After the clamps 10 are fed into the clamping assembly 140, the clamps 10 have a restoring elastic force, which drives the clamping assembly 140 to open.

[0073] Optionally, the first clamp 141 further includes a first gear portion 141a. The second clamp 142 includes a second gear portion 142a. The second gear portion 142a meshes with the first gear portion 141a. With this arrangement, the first clamp 141 and the second clamp 142 can rotate synchronously. In addition, this synchronous gear mechanism can also achieve mechanical limiting to restrict the opening angle of the clamp assembly 140.

[0074] The clamp 10 is pushed from the proximal side of the wrist 130 into the clamp assembly 140 during the distal movement of the drive rod 124. The clamp 10 slides along the guide groove of the clamp assembly 140 through the guide engagement of the legs and the guide groove to the end of the clamp assembly 140, and the protrusion of the clamp 10 slides into the limiting groove of the clamp assembly 140 under the elastic force of the clamp 10 to stop the slippage of the clamp 10 in the clamp assembly 140, thereby completing the loading and fixing of the clamp 10.

[0075] Clamp assembly 140

[0076] See Figure 6 , Figure 15 ,as well as Figure 16 By way of example, the multi-shot applicator 100 may also include a clamp closure assembly 160. The clamp closure assembly 160 is configured to be translatably connected to the clamp assembly 140 relative to the clamp assembly 140. Proximal translation of the clamp closure assembly 160 can drive the clamp assembly 140 to close.

[0077] See Figures 11 to 13 The clamp closure assembly 160 includes a flexible actuating member 165. The flexible actuating member 165 is movably disposed within the wrist 130 and connected to the clamp assembly 140. Proximal movement of the flexible actuating member 165 drives the clamp assembly 140 to close. That is, the flexible actuating member 165 can drive the clamp assembly 140 to close when subjected to a proximal force. When the clamp assembly 140 is closed by the flexible actuating member 165, the clamp 10 can be applied to the surgical site, i.e., clamping.

[0078] This embodiment of the application utilizes a flexible actuator 165 to drive the clamp assembly 140 to close, which can better adapt to the joint movement of the wrist 130. For example, when the wrist 130 performs joint movement and bends, the flexible actuator 165 passing through the wrist 130 can bend along with the wrist 130.

[0079] See Figure 5 , Figure 14 ,as well as Figures 23 to 26 Exemplarily, a first clamp 141 is movably connected to the distal end of the wrist 130. Further, the first clamp 141 is pivotally connected to the distal end of the shaft 110 about a first pivot axis AX5. The first clamp 141 includes a first cam surface 141e. A second clamp 142 is movably connected to the distal end of the wrist 130. Further, the second clamp 142 is pivotally connected to the distal end of the shaft 110 about a second pivot axis AX6. The second clamp 142 includes a second cam surface 142e opposing the first cam surface 141e.

[0080] See Figure 5 , Figure 24 and Figure 26 The clamp closing assembly 160 may further include a first cam member 161. The first cam member 161 is located between the first clamp 141 and the second clamp 142, and is movably engaged with both the first cam surface 141e and the second cam surface 142e simultaneously. Proximal translation of the first cam member 161 brings the first clamp 141 and the second clamp 142 closer together, thereby closing the clamp assembly 140. That is, during the proximal translation of the first cam member 161, the first clamp 141 and the second clamp 142 are brought closer together, thereby closing the clamp assembly 140.

[0081] Optionally, the first cam member 161 has a first engagement surface 161a that engages with the first cam surface 141e and a second engagement surface 161b that engages with the second cam surface 142e. The first cam surface 141e, the second cam surface 142e, the first engagement surface 161a, and the second engagement surface 161b are all curved surfaces. The first cam member 161, which translates proximally, drives the first clamp 141 to rotate about the first pivot axis AX5 and the second clamp 142 to rotate about the second pivot axis AX6. The first cam surface 141e, the second cam surface 142e, the first engagement surface 161a, and the second engagement surface 161b can be curved surfaces, inclined surfaces, or a combination of curved and inclined surfaces. As shown, the first cam surface 141e and the second cam surface 142e can be concave curved surfaces, and the first engagement surface 161a and the second engagement surface 161b are convex curved surfaces that match the first cam surface 141e and the second cam surface 142e. The flexible drive element 165 includes a first drive cable 165a. The first drive cable 165a is fixedly connected to the first cam element 161. The first drive cable 165a, driven to move proximally, causes the first cam element 161 to translate proximally, thereby bringing the first clamp 141 and the second clamp 142 closer together, thus achieving the closure of the clamp assembly 140.

[0082] Furthermore, the clamp closing assembly 160 also includes a second cam member 163 disposed opposite to the first cam member 161. Both the first cam member 161 and the second cam member 163 are located between the first clamp 141 and the second clamp 142, and are movably engaged with both clamp 141 and clamp 142. The first cam member 161 and the second cam member 163, when translated proximally, can drive the distal ends of the first clamp 141 and the second clamp 142 to move closer together via cam action, thereby closing the clamp assembly 140. That is, during the proximal translation of the first cam member 161 and the second cam member 163, the first cam member 161 and the second cam member 163 can drive the distal ends of the first clamp 141 and the second clamp 142 to move closer together via cam engagement with the first cam surface 141e and the second cam surface 142e, thereby closing the clamp assembly 140. The structure of the second cam element 163, the first cam surface 141e, and the second cam surface 142e can be referenced from the first cam element 161, the first cam surface 141e, and the second cam surface 142e, and their description is omitted here.

[0083] Accordingly, the flexible drive member 165 also includes a second drive cable 165b. The second drive cable 165b is fixedly connected to the proximal end of the second cam member 163 and can move proximally to drive the second cam member 163 to translate proximally.

[0084] See Figure 23 , Figure 24 as well as Figure 26The first clamp 141 includes a first clamp receiving portion 141g and a first base 141h and a second base 141i disposed near the proximal end of the first clamp receiving portion 141g. The first clamp receiving portion 141g is provided with a first guide groove 141c and a first limiting groove 141d. The first base 141h and the second base 141i are disposed opposite to each other along a first pivot axis AX5, and a portion of a channel 136 for the clamping assembly 120 to pass through is formed between the first base 141h and the second base 141i. A first cam surface 141e is located on the first base 141h.

[0085] The second clamp 142 includes a second clamp receiving portion 142g and a third base 142h and a fourth base 142i disposed near the proximal end of the second clamp receiving portion 142g. The second clamp receiving portion 142g is provided with a second guide groove 142c and a second limiting groove 142d. The third base 142h and the fourth base 142i are disposed opposite to each other along the second pivot axis AX6, and a portion of a channel 136 for the clamping assembly 120 to pass through is formed between the third base 142h and the fourth base 142i. A second cam surface 142e is located on the third base 142h. The third base 142h is arranged opposite to the first base 141h. The fourth base 142i is arranged opposite to the second base 141i. A first cam member 161 and a first drive cable 165a extend on one side of the channel 136.

[0086] Here, a portion of the channel 136 is defined by the first base 141h and the second base 141i of the first clamp 141, and a portion of the channel 136 is defined by the third base 142h and the fourth base 142i of the second clamp 142, thereby forming a channel 136 at the proximal end of the clamp assembly 140 for the clamping assembly 120 to pass through. This channel 136, together with the channel 136 within the wrist 130, constitutes a channel 136 for the translation of the clamping assembly 120. The cable is positioned outside the channel 136, not obstructing the clamping assembly 120 from moving into or out of the channel 136. That is, by providing the driving member 165 (first driving cable 165a and second driving cable 165b) of the clamp closing assembly 160 that drives the clamp to close, and the first base 141h to the fourth base 142i actuated by the driving member 165 on opposite sides of the first clamp receiving portion 141g and the second clamp receiving portion 142g along the axial direction AX, a channel 136 for translation of the clamping assembly 120 is formed in at least the wrist and the clamp. Furthermore, by providing the third driving cable 165c and the fourth driving cable 165d at the axial and / or wrist position of the clamp closing assembly 160 that drives the clamp to close, opposite sides of the axial direction AX, a channel 136 for translation of the clamping assembly 120 is formed in at least the axial and / or wrist.

[0087] See Figure 23Furthermore, the first clamp 141 also includes a third cam surface 141f disposed opposite to the first cam surface 141e. The third cam surface 141f is disposed at the second base 141i. That is, the first clamp 141 has two cam surfaces, the first cam surface 141e and the third cam surface 141f. The first cam surface 141e and the third cam surface 141f may be arranged at intervals along the first pivot axis AX5 on both sides of the channel 136. The second clamp 142 also includes a fourth cam surface 142f disposed opposite to the second cam surface 142e. The fourth cam surface 142f is disposed at the fourth base 142i. That is, the second clamp 142 has two cam surfaces, the second cam surface 142e and the fourth cam surface 142f. The second cam surface 142e and the fourth cam surface 142f may be arranged at intervals along the second pivot axis AX6 on both sides of the channel 136. The second cam member 163 is located between the first clamp 141 and the second clamp 142, and is movably engaged with the third cam surface 141f and the fourth cam surface 142f. A second drive cable 165b is connected to the proximal end of the second cam member 163. The second drive cable 165b, moving proximally, causes the second cam member 163 to translate proximally, which in turn causes the first clamp 141 and the second clamp 142 to move closer together, closing the jaws 143. The second cam member 163 and the second drive cable 165b extend on the other side of the channel 136.

[0088] By arranging two sets of cams, namely the first cam 161 and the second cam 163, on both sides of the channel 136, and correspondingly, providing cam surfaces that cooperate with the first cam 161 and the second cam 163 respectively on the first clamp 141 and the second clamp 142, and arranging two sets of drive cables, namely the first drive cable 165a and the second drive cable 165b, on both sides of the channel 136, a more balanced closing force can be applied to the clamp assembly 140, thereby driving the clamp assembly 140 to close more stably.

[0089] Furthermore, the clamp closing assembly 160 of the applicator is unidirectionally driven. When driven to move proximally, it can drive the clamp assembly 140 to close. The restoring elastic force of the clamp 10 entering the clamp assembly 140 causes the clamp assembly 140 to open. The opening of the clamp assembly 140 drives the clamp closing assembly 160 to move distally. See also Figures 11 to 14 , Figure 16 as well as Figure 24 The flexible actuator 165 may further include a third drive cable 165c and a fourth drive cable 165d. The third drive cable 165c is connected to the proximal end of the first drive cable 165a and configured to move the first drive cable 165a proximally. The fourth drive cable 165d is connected to the proximal end of the second drive cable 165b and configured to move the second drive cable 165b proximally.

[0090] See Figure 6 , Figures 11 to 14 Exemplarily, clamping assembly 120 is slidably connected to clamp closure assembly 160. Clamping assembly 120 is configured to load clamp 10 into clamp assembly 140 during distal translation. Clamping assembly 120 includes a closure actuator 121a. Specifically, closure actuator 121a is fixed to clamping magazine 121 and moves with clamping magazine 121. Clamp closure assembly 160 includes a closure drive 162. Closure drive 162 is located in the path of proximal translation of closure actuator 121a to engage with closure drive 162 during proximal translation of closure actuator 121a. Engagement here can be understood as a detachable connection such as abutment or hook connection.

[0091] During the process of the clamping assembly 120 translating proximally, when the clamping assembly 120 is translated proximally to a certain position relative to the clamp closing assembly 160, the closing actuator 121a begins to engage with the closing transmission member 162. As the clamping assembly 120 continues to translate proximally relative to the clamp closing assembly 160, the closing actuator 121a pushes the closing transmission member 162 to drive the clamp closing assembly 160 to translate proximally, thereby switching the clamp assembly 140 to the closed state and ultimately achieving the closure of the clamp assembly 140.

[0092] Optionally, the end of the third drive cable 165c away from the first drive cable 165a is connected to a closing transmission member 162. The end of the fourth drive cable 165d away from the second drive cable 165b is connected to another closing transmission member 162. The closing transmission member 162 may be a hollow cable terminal. Two closing actuators 121a are provided on the outside of the clamping chamber 121 of the clamping assembly 120. The closing actuators 121a are hollow abutment members. The two closing actuators 121a are each slidably sleeved on the outer periphery of the third drive cable 165c and the fourth drive cable 165d. As the closing actuators 121a move closer to the clamping assembly 120, they can gradually approach and abut against the closing transmission member 162, and can drive the flexible drive member 165 to move closer to the clamping assembly 140 by pushing the closing transmission member 162, thereby realizing the closure of the drive clamp assembly 140. In other words, during the proximal translational movement of the clamping assembly 120, the clamping assembly 120 translates proximally relative to the clamp closing assembly 160 until the closing actuator 121a engages with the closing transmission member 162. The closing actuator 121a then pushes the closing transmission member 162 to drive the clamp closing assembly 160 to translate proximally, thereby closing the clamping assembly 140. During the distal movement of the closing actuator 121a with the clamping assembly 120, it gradually approaches and abuts against the first limiting member 101a, and the first limiting member 101a holds the clamping chamber 121 in a first position, while allowing the clamping member 122 to move relative to the clamping chamber 121 until the clamping member 122 moves to a second position. At this point, the clamping member 122 extends into the channel 136 at the proximal end of the clamping assembly 140 and loads the clamp 10 at the farthest end of the clamping chamber 121 into the clamping assembly 140. The clamping assembly 120, which moves to the distal side, does not cause the clamp closing assembly 160 to move.

[0093] Optionally, the aforementioned flexible drive element 165 can be made of tungsten wire. That is, the first drive cable 165a, the second drive cable 165b, the third drive cable 165c, and the fourth drive cable 165d can each be made of tungsten wire.

[0094] In short, the clamp closure assembly 160 is implemented by two sets of tungsten wires located outside the axial direction AX of the surgical instrument and whose respective planes are 90° apart, in order to leave a channel for the clamping assembly.

[0095] In some embodiments, the first clamp 141 and the second clamp 142 of the clamp assembly 140 are normally closed under the action of two leaf springs, facilitating the installation of a multi-pronged clamp applicator, for example, to be inserted into a cannula or into the patient's body in the normally closed state. When the clamp 10 is pushed out into the clamp assembly 140, the clamp assembly 140 automatically switches to the open state.

[0096] See Figure 5In other examples, the first clamp 141 includes a first cam surface 141e. The second clamp 142 includes a second cam surface 142e. The multi-shot applicator 100 also includes a first biasing member and a second biasing member. The first biasing member is disposed within the first clamp 141 for providing a force to the first clamp 141 toward the second clamp 142. The second biasing member is disposed within the second clamp 142 for providing a force to the second clamp 142 toward the first clamp 141. In the initial state, the first biasing member and the second biasing member keep the jaws 143 closed. During the loading of the clamp 10 into the clamp assembly 140, the clamp 10 is positioned between the first clamp 141 and the second clamp 142, and the clamp assembly 140 opens under the elastic force of the clamp 10.

[0097] Optionally, the first bias member and the second bias member are each as follows: Figure 5 The third elastic element 146 is shown. The third elastic element 146 can be constructed as another leaf spring, etc.

[0098] Due to the action of the first and second biasing members, the jaws 143 of the clamp assembly 140 are naturally closed. During the loading of the clamp 10, the jaws 143 of the clamp assembly 140 are pushed open by the clamp 10, that is, they are opened by the restoring elasticity of the clamp 10.

[0099] In addition, to enable the clamp 10 to be reliably and smoothly loaded into the clamp assembly 140, this application provides corresponding embodiments. The first clamp 141 and the second clamp 142 of the clamp assembly 140 are normally open under the action of two leaf springs. When the clamping assembly 120 moves to its extreme position, the jaws 143 of the clamp assembly 140 are partially open due to the cooperation of the clamping chamber 121 and the clamping auxiliary member 145. When the clamping member 122 pushes the clamp 10 into the clamp assembly 140 and the clamping assembly 120 retracts, the jaws 143 of the clamp assembly 140 return to the open state under the elastic force of the clamp 10 and the action of the two leaf springs.

[0100] See Figure 18 , Figure 19 , Figure 22 as well as Figure 23 In some examples, the first clamp 141 includes a fifth cam surface 141b. The second clamp 142 includes a sixth cam surface 142b. The multi-shot clamp applicator 100 also includes a clamping aid 145 slidably disposed within the wrist 130. The clamping aid 145 includes a first cam portion 145a and a second cam portion 145b. The first cam portion 145a faces the fifth cam surface 141b to engage the fifth cam surface 141b. The second cam portion 145b faces the sixth cam surface 142b to engage the sixth cam surface 142b.

[0101] In the clamping mode, the clamping aid 145, which translates distally, actuates the first clamp 141 via the fifth cam surface 141b and the second clamp 142 via the sixth cam surface 142b to close or open the clamp assembly of the continuously applying clamps, thereby changing the clamp assembly 140 to a partially open state. Furthermore, the closing angle of the first and second clamps is adjusted to an angle suitable for clamp loading. The angle suitable for clamp loading refers to an angle where the first and second clamps are approximately parallel.

[0102] In an embodiment where the initial state is fully closed, the clamping aid 145, which is translated to the distal side, is used to open the jaws 143 of the clamp assembly 140 by a certain angle but not fully open, thereby changing the clamp assembly 140 to a partially open state.

[0103] In an embodiment where the initial state is fully open, the clamping aid 145, which is translated to the distal side, is used to close the jaws 143 of the clamp assembly 140 at a certain angle but not a fully closed angle, thereby changing the clamp assembly 140 to a partially open state.

[0104] See Figure 21 and Figure 22 Furthermore, the clamping assembly 120 includes a first one-way connector 121c. The clamping aid 145 includes a second one-way connector 145c. The second one-way connector 145c is located on the path of the first one-way connector 121c as it translates distally with the clamping assembly 120. The first one-way connector 121c is adapted to be detachably engaged with the second one-way connector 145c.

[0105] During the process of the clamping assembly 120 moving to the far side, the first one-way connector 121c can engage with the second one-way connector 145c and drive the clamping auxiliary 145 to move to the far side, thereby changing the clamping assembly 140 to a partially open state.

[0106] During the process of the clamping assembly 120 moving to the proximal side, the first unidirectional connector 121c can disengage from the second unidirectional connector 145c.

[0107] Optionally, the second one-way connector 145c can be configured as a protrusion or a hook. The first one-way connector 121c is configured as a groove or hanging hole at the distal end of the clamping compartment 121, and is disposed in the clamping compartment 121.

[0108] Optionally, the clamping auxiliary component 145 is constructed as a sheet metal part formed by shearing, bending, or other processing of an elastic plate. The outer contour shape of the clamping auxiliary component 145 can be a V-shape, a C-shape, or a combination of V-shape and C-shape, etc.

[0109] See Figure 5 , Figure 14 as well as Figure 26 Furthermore, the multi-shot clamp applicator 100 includes a first biasing member and a second biasing member. The first biasing member is connected to or disposed on the first clamp 141 for providing a force on the first clamp 141 away from the second clamp 142. The second biasing member is connected to or disposed on the second clamp 142 for providing a force on the second clamp 142 away from the first clamp 141. In the initial state, the first biasing member and the second biasing member keep the clamp assembly 140 fully open. A fifth cam surface 141b and a sixth cam surface 142b are arranged facing each other. The fifth cam surface 141b and the sixth cam surface 142b are located on the proximal side of the plane containing the first pivot axis AX5 and the second pivot axis AX6. The fifth cam surface 141b and the sixth cam surface 142b gradually move away from each other in a direction from the distal side to the proximal side. During the distal translation of the clamping aid 145, the angle between the fifth cam surface 141b and the sixth cam surface 142b increases, while the jaws 143 of the clamp assembly 140 decrease. The first cam portion 145a and the second cam portion 145b are elastic structures, allowing them to move closer together as the clamp assembly 140 closes. Compared to using a rigid structure for the first cam portion 145a and the second cam portion 145b, this facilitates a smoother movement of the clamp 10 from the proximal end to the distal end of the clamp assembly 140.

[0110] Optionally, the first bias member and the second bias member are each as follows: Figure 5 and Figure 26 The second elastic element 144 is shown. The second elastic element 144 can be constructed as a leaf spring or the like. Preferably, to reduce space occupation, a leaf spring is used in this embodiment.

[0111] The linkage of clamping assembly 120, clamp closing assembly 160 and drive rod 124

[0112] See Figures 6 to 17 as well as Figure 20 and Figure 21 For example, the clamping assembly 120 may include a clamping magazine 121 and a clamping member 122. The clamping member 122 is slidably connected to the clamping magazine 121. The clamping magazine 121 is used to arrange the clamps 10 to be loaded. The clamping magazine 121 may have multiple positioning spaces for temporarily positioning the clamps 10. Each positioning space is adapted to hold one clamp 10. The clamping member 122 is slidable relative to the clamping magazine 121. When the clamping member 122 moves to its extreme position relative to the clamping magazine 121, it is possible to push each clamp 10 in the clamping magazine 121 forward by one position, while the farthest clamp 10 can be removed from the clamping magazine 121. If the clamping assembly 120 is located entirely within the channel 136 of the wrist 130 at this time, the farthest clamp 10 in the clamping magazine 121 can be loaded into the clamping assembly 140.

[0113] The clamping assembly 120 operates on the following principle: the clamping member 122 reciprocates relative to the clamping chamber 121, thereby continuously removing the clamp 10 from the clamping chamber 121. The clamping assembly 120 can adopt a structure from the prior art. For example, the clamping assembly 120 consists of two sheet metal parts: the clamping chamber 121 and the clamping member 122. During the distal movement of the clamping member 122 relative to the clamping chamber 121, the elastic arm on the clamping member 122 contacts the protrusions (first protrusion 12, second protrusion 14) of the clamp 10 and pushes the clamp 10 to the next position. During the proximal movement of the clamping member 122 relative to the clamping chamber 121, the elastic arm separates from the protrusions of the clamp 10, and the clamp 10 remains stationary. This reciprocating motion between the clamping chamber 121 and the clamping member 122 enables continuous feeding of the clamp 10.

[0114] See Figures 6 to 17 The multi-shot clamp applicator 100 may further include a drive rod 124 and a first elastic element 125. The drive rod 124 is translatably disposed within the shaft 110 along the axial direction AX of the shaft 110. The drive rod 124 is fixedly connected to the proximal end of the clamping member 122. The drive rod 124 can directly move the clamping member 122 while moving relative to the shaft 110. The first elastic element 125 is connected between the drive rod 124 and the clamping chamber 121. Before the clamping chamber 121 encounters the limiting structure, the drive rod 124 can drive the clamping chamber 121 to move relative to the shaft 110 through the first elastic element 125; when the clamping chamber 121 is limited by the limiting structure and cannot move, both the drive rod 124 and the clamping member 122 can move relative to the clamping chamber 121, and the first elastic element 125 undergoes elastic deformation.

[0115] In the clamping mode, the drive rod 124 can translate the clamping chamber 121 to the far end to the first position and drive the clamping member 122 to move. At the first position, the first elastic member 125 may not undergo elastic deformation. Then, as the drive rod 124 continues to move, the clamping chamber 121 does not continue to move, and the clamping member 122 continues to move with the drive rod 124, which causes the first elastic member 125 to undergo elastic deformation, causing the clamping member 122 to translate to the far end relative to the clamping chamber 121 at the first position to the second position, thereby pushing the clamp 10 in the clamping chamber 121 into the clamping assembly 140 to achieve clamping.

[0116] See Figure 11 and Figure 14Furthermore, the multi-shot clamping device 100 includes a first limiting member 101a. The clamping magazine 121 includes a second limiting member 121a. The second limiting member 121a cooperates with the first limiting member 101a to limit the clamping magazine 121 to a first position. This cooperation is, for example, an abutment cooperation. When the clamping magazine 121 is in the first position, the clamping assembly 120 enters the channel 136 and is located in a clamping position. The second limiting member 121a here is the aforementioned closing actuator 121a. In other words, the first limiting member 101a is located on the path of the closing actuator 121a's distal translation. During the distal translation of the clamping assembly 120, the closing actuator 121a is limited by the first limiting member 101a to limit the clamping magazine 121 to the first position.

[0117] Optionally, the first limiting member 101a is disposed at the proximal end of the wrist 130. Correspondingly, the second limiting member 121a is also located proximal to the wrist 130. By disposing the first limiting member 101a at the proximal end of the wrist 130, it is beneficial to simplify the structure of the internal channel 136 of the wrist 130, facilitate processing and manufacturing, and improve manufacturing accuracy.

[0118] See Figures 6 to 16 For example, the clamping assembly 120 may further include a clamping support 127. The proximal end of the clamping support 127 is fixedly connected to the drive rod 124. The clamping support 127 forms a receiving groove 127a. The receiving groove 127a has a distal opening. The clamping cartridge 121 is slidably received in the receiving groove 127a and can be translated from the distal opening toward the distal end of the clamping support 127. The clamping member 122 is fixedly disposed in the receiving groove 127a. A first elastic member 125 is disposed in the receiving groove 127a. The clamping support 127 can limit the radial position of the clamping cartridge 121, thereby reducing or avoiding radial swaying of the clamping cartridge 121 during the translation of the clamping assembly 120. On the other hand, by accommodating the clamping assembly 120 and the spring through the receiving groove 127a of the clamping support 127, interference between the clamping assembly 120 and the inner wall of the shaft 110 can be reduced or avoided. Furthermore, the clamping support 127 is equivalent to an intermediate connection structure between the drive rod 124 and the clamping member 122, and between the drive rod 124 and the first elastic member 125, which facilitates more flexible assembly operations between the drive rod 124 and the clamping member 122, and between the drive rod 124 and the first elastic member 125.

[0119] like Figure 13As shown, specifically, the clamping support 127 may include a connecting portion 127b and two opposing and spaced-apart support portions 127c. The support portions 127c are connected to the distal end of the connecting portion 127b and extend in the axial direction AX. A receiving groove 127a is formed between the two support portions 127c. The outer peripheral surface of the connecting portion 127b may be configured as a cylindrical surface. To ensure the consistency between the outer surface of the support portion 127c and the outer peripheral surface of the connecting portion 127b, the outer surface of the support portion 127c is configured as a partially cylindrical surface extending axially from a partial outer peripheral surface of the connecting portion 127b. Here, the outer surface of the support portion 127c is the surface of one support portion 127c that is away from the other support portion 127c.

[0120] Optionally, the first elastic element 125 is a compression spring. The end of the clamping chamber 121 has a pressing portion for abutting the compression spring or as a positioning or mounting structure for the compression spring. The surface of the clamping chamber support 127 facing the receiving groove 127a has another pressing portion for abutting the compression spring or as a positioning or mounting structure for the compression spring. The drive rod 124 drives the clamping chamber 121 to move via the compression spring. The pressing portion here can be a positioning post or a positioning groove.

[0121] Optionally, the clamping chamber 121 and the clamping member 122 are slidably connected by a sliding groove 121b and a sliding member. The sliding groove 121b can be provided on either the clamping chamber 121 or the clamping member 122, and correspondingly, the sliding member is connected to the other of the clamping chamber 121 and the sliding groove 121b. This allows the clamping member 122 to slide relative to the clamping chamber 121. The length direction of the sliding groove 121b is, for example, parallel to the axial direction AX of the shaft 110. The sliding member can be, for example, a pin, rivet, screw, or other connecting member.

[0122] Optionally, the clamping chamber 121 is provided with a sliding groove 121b. The sliding groove 121b may extend along the axial direction AX of the shaft 110. The clamping assembly 120 may also include a sliding member. The sliding member is fixedly connected to the clamping chamber support 127 and slidably disposed within the sliding groove 121b. This fixed connection can be understood as the sliding member being immovable relative to the clamping chamber support 127 in the axial direction AX of the shaft 110, not referring to a non-removable connection. The clamping chamber 121 is provided with a guide receiving groove. The clamping member 122 is disposed within the guide receiving groove. Thus, the clamping member 122 can slide relative to the clamping chamber 121. The sliding member may be, for example, a pin, rivet, screw, or other connecting member.

[0123] See Figure 6 , Figure 7 , Figure 13 , Figure 17 as well as Figure 25For example, the clamping device also includes a drive tube 126. The drive tube 126 is sleeved on the outside of the clamping support 127. The drive tube 126 is fixed to the clamping support 127. By providing the drive tube 126, the clamping assembly 120, the clamping support 127, and the first elastic member 125 can be enclosed, thereby further separating the clamping assembly 120, the clamping support 127, and the first elastic member 125 from the inner wall of the shaft 110. At the same time, this also helps to reduce or avoid the radial swing of the clamping assembly 120.

[0124] exist Figure 7 , Figure 10 , Figure 12 as well as Figure 15 In the example shown, the drive tube 126 is fixedly connected to the clamping support 127 by two fastening connectors, such as pins. Taking pins as an example, the two pins are a first pin 128 and a second pin 129. The first pin 128 is located distal to the second pin 129 and is spaced apart. The first pin 128 connects the drive tube 126, the clamping support 127, and the clamping 121, and the second pin 129 passes through a groove 121b and can translate relative to the clamping 121 along the groove 121b. The proximal end of the drive tube 126, the proximal end of the clamping support 127, and the distal end of the drive rod 124 are connected by the second pin 129.

[0125] The clamping component 122 has a first connecting hole 122a. The drive tube 126 has a second connecting hole 126a and a third connecting hole 126b. The clamping support 127 has a fourth connecting hole 127d and a fifth connecting hole 127e. A first pin 128 passes through the first connecting hole 122a, the third connecting hole 126b, the fifth connecting hole 127e, and the slide groove 121b to connect the clamping component 122, the drive tube 126, the clamping support 127, and the clamping chamber 121. A second pin 129 passes through the second connecting hole 126a, the fourth connecting hole 127d, and a hole at the distal end of the drive rod 124 to connect the drive tube 126, the clamping support 127, and the drive rod 124.

[0126] During the distal translation of the drive rod 124 within the internal cavity of the shaft 110, starting from the moment the clamping magazine 121 stops moving due to being stopped by the first limiting member 101a located proximally or at the proximal end of the wrist 130, the drive rod 124 continues to move and drives the clamping member 122 forward via the drive tube 126. Another pin connecting the drive tube 126, the clamping magazine support 127, and the clamping magazine 121 translates distally relative to the clamping magazine 121 within the groove 121b of the clamping magazine 121. During this process, the drive rod 124 translates distally, but the clamping magazine 121 does not, thereby compressing the spring between the drive rod 124 and the clamping magazine 121.

[0127] In clamping mode, the process of loading clamp 10 is as follows: In the initial state, clamping chamber 121 and clamping member 122 are fully retracted and located near the wrist 130. The first step in loading clamp 10 is that clamping chamber 121 moves distally to its extreme position, passing through or entering the wrist 130. The second step is that clamping member 122 moves distally relative to clamping chamber 121 to its extreme position and pushes clamp 10 to the designated position. During this process, clamp 10 located at the farthest end of clamping chamber 121 is pushed into clamp assembly 140. The third step is that after clamp 10 is installed, clamping chamber 121 and drive rod 124 retract to the proximal side of wrist 130.

[0128] Based on the above description and the aforementioned descriptions of the clamping assembly 120 (e.g., closing actuator 121a, etc.) and the clamp closing assembly 160 (e.g., drive member 165, etc.), it can be seen that the movement of the clamping chamber 121, the movement of the clamping member 122, and the closing movement of the clamp assembly 140 can all be driven by the same power source such as a motor. We call this mechanism a three-in-one drive mechanism. Figure 16 As shown in (a), in the initial position, the drive rod 124 of the three-in-one drive mechanism is in a position close to its proximal end, and the compression spring is not compressed. Figure 16 As shown in (b), when the drive rod 124 moves forward to the first step position, the clamp 121 moves to its farthest end (first position), and stops at the mechanical limit position due to the abutment between the closing actuator 121a and the first limiting member 101a. At this time, the compression spring is not compressed. Figure 16 As shown in (c), when the drive rod 124 continues to move forward to the second position, the compression spring is compressed, and the clamping member 122 continues to move forward relative to the clamping chamber 121 to the second position, moving to its limit position. Simultaneously, the clamp 10 is completely ejected from the clamping chamber 121 by the clamping member 122 and installed into the clamp assembly 140. After the clamp 10 is installed, the drive rod 124 moves towards the proximal end of the instrument, exceeding the... Figure 16 After the initial position shown in (a), continue moving towards the proximal end of the instrument until the position is as shown in (a). Figure 16 (d) At the third step position, the clamp 121 contacts the tungsten wire terminal of the clamp head closing mechanism and drags it towards the proximal end until the fourth step position (as shown). Figure 16 (e) shows that the clamp assembly 140 is closed at this time.

[0129] Decoupling of the drive cable of the drive clamp assembly 140 closed

[0130] See Figure 5 , Figures 12 to 14 , Figure 19 ,as well as Figure 24Exemplarily, the wrist 130 includes a first joint member 131, a second joint member 132, and a third joint member 135. The first joint member 131 is connected to the distal end of the shaft 110. The first joint member 131 has a first axis AX1. The second joint member 132 is connected to the distal end of the first joint member 131. The second joint member 132 has a second axis AX2 and a third axis AX3. The third joint member 135 is connected to the distal end of the second joint member 132. The third joint member 135 has a fourth axis AX4. The first joint member 131 is rotatable about the first axis AX1 relative to the second joint member 132. The second joint member 132 is rotatable about the second axis AX2 relative to the first joint member 131. The first joint member 131 and the second joint member 132 form, for example, a pitch joint through relative rotation. The first joint member 131 and the second joint member 132 may be connected in a rolling manner. The second joint member 132 is rotatable about the third axis AX3 relative to the third joint member 135. The third joint member 135 is rotatable about a fourth axis AX4 relative to the second joint member 132. The third joint member 135 and the second joint member 132 form, for example, a yaw joint through relative rotation. The second joint member 132 and the third joint member 135 may be connected by a rolling connection. The second axis AX2 is parallel to the first axis AX1. The second axis AX2 is out of plane from the third axis AX3. The fourth axis AX4 is parallel to the third axis AX3.

[0131] See Figure 13 , Figure 14 as well as Figure 24 The first drive cable 165a and the second drive cable 165b extend at least between the second joint member 132 and the third joint member 135. The third drive cable 165c and the fourth drive cable 165d extend at least between the first joint member 131 and the second joint member 132.

[0132] With the wrist 130 extended, the first joint 131, the second joint 132, and the third joint 135 are arranged along the axial direction AX of the shaft 110. The third drive cable 165c, the fourth drive cable 165d, the first axis AX1, and the second axis AX2 are coplanar, and the first drive cable 165a, the second drive cable 165b, the third axis AX3, and the fourth axis AX4 are coplanar.

[0133] This allows for the decoupling of the joint movement of the wrist 130 from the flexible actuator 165. Specifically, when the wrist 130 performs joint movement, forces such as tension on the flexible actuator 165 are reduced or avoided, thereby reducing or preventing damage to the flexible actuator 165 and protecting it, thus improving its reliability and service life. In other words, to avoid changes in the length of the tungsten wire during the joint movement of the wrist 130, the arrangement of the tungsten wire between the two joint components of the rolling joint is such that it passes precisely through the plane containing the rolling axes of the two joint components.

[0134] See Figure 19 Optionally, the first joint member 131 has a first cavity 131a formed inside. The second joint member 132 has a second cavity 132a formed inside. The third joint member 135 has a third cavity 135a formed inside. When the wrist 130 is in an extended state, the first cavity 131a, the second cavity 132a, and the third cavity 135a constitute the aforementioned channel 136 or a part of the channel 136 for the clamping assembly 120 to pass through. The second joint member 132 includes a first joint portion 133 and a second joint portion 134. The first joint portion 133 is fixed to the proximal end of the second joint portion 134. The first joint portion 133 has a second axis AX2. The second joint portion 134 has a third axis AX3.

[0135] See Figure 13 , Figure 14 , Figure 17 , Figure 19 as well as Figure 26 Furthermore, the clamp closure assembly 160 may also include a sliding connector 164. The sliding connector 164 is translatably disposed within the second joint 132. The distal end of the sliding connector 164 is connected to the first drive cable 165a and the second drive cable 165b. The proximal end of the sliding connector 164 is connected to the third drive cable 165c and the fourth drive cable 165d.

[0136] In the extended state of the wrist 130, the first drive cable 165a and the second drive cable 165b are located in the first plane TP1 defined by the third axis AX3 and the fourth axis AX4, and the third drive cable 165c and the fourth drive cable 165d are located in the second plane TP2 defined by the first axis AX1 and the second axis AX2. The first plane TP1 intersects the second plane TP2.

[0137] By incorporating the sliding connector 164, the first drive cable 165a, the second drive cable 165b, the third drive cable 165c, and the fourth drive cable 165d can be positioned and arranged more effectively. In short, the sliding connector 164 is used to change the wiring of the drive cables.

[0138] Optionally, when the wrist 130 is extended, the first plane TP1 is perpendicular to the second plane TP2.

[0139] See Figure 19 Optionally, the sliding connector 164 is slidably disposed within the second joint 132. The sliding connector 164 has a through hole 164a through which the clamping assembly 120 moves. In the extended state of the wrist 130, the through hole 164a forms part of the channel 136.

[0140] See also Figure 19 Optionally, the inner wall of the second joint member 132 is provided with a first limiting portion 132c and a second limiting portion 132b for limiting the sliding connector 164. The first limiting portion 132c is located on the distal side of the sliding connector 164 to limit the sliding connector 164 from moving further distally. The second limiting portion 132b is located on the proximal side of the sliding connector 164 to limit the sliding connector 164 from moving further proximally. When the sliding connector 164 abuts against the first limiting portion 132c, the sliding connector 164 is spaced apart from the second limiting portion 132b. That is, the distance between the first limiting portion 132c and the second limiting portion 132b is greater than the dimension of the sliding connector 164 in the translational direction. The first limiting portion 132c can be understood as the distal wall of the second cavity 132a, and the second limiting portion 132b can be understood as the proximal wall of the second cavity 132a. The sliding connector 164 can be, for example, a slider.

[0141] exist Figure 19 In the example shown, the first limiting portion 132c is located at the second joint portion 134. The second limiting portion 132b is located at the first joint portion 133. A portion of the second cavity 132a is formed at the first joint portion 133, and another portion is formed at the second joint portion 134.

[0142] See Figures 11 to 14 , Figure 16 as well as Figure 24 For example, the first drive cable 165a and the second drive cable 165b are respectively disposed on opposite sides of the clamping assembly 120 and spaced apart from the clamping assembly 120. The third drive cable 165c and the fourth drive cable 165d are slidably connected to the clamping assembly 120. In other words, the clamping assembly 120 is slidably connected to the clamp closing assembly 160. Here, the clamping assembly 140 is closed by four drive cables: the first drive cable 165a, the second drive cable 165b, the third drive cable 165c, and the fourth drive cable 165d. The four cables are arranged in the above manner and do not pass through the center line of the shaft 110, thereby avoiding interference with the clamping assembly 120.

[0143] In addition, the multi-shot applicator also includes a wrist connector 101. The wrist connector 101 is used to connect the wrist 130 and the outer tube 111 of the shaft 110. The aforementioned first limiting member 101a is located at the proximal end of the wrist connector 101, for example, it can be configured as part of the proximal end face of the wrist connector 101.

[0144] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “setup” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0145] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A multi-shot applicator, characterized in that, The multi-shot applicator includes: The clamp assembly can be opened or closed; A clamp closing assembly, connected to the clamp assembly, the clamp closing assembly being configured to translate relative to the clamp assembly, the clamp closing assembly, when translated proximally, driving the clamp assembly to close; and A clamping assembly is located proximal to the clamp assembly and is configured to translate relative to the clamp assembly. The clamping assembly, when translated distally, can load a clamp into the clamp assembly. The clamping assembly is slidably connected to the clamp closing assembly. The clamping assembly includes a closing actuator, and the clamp closing assembly includes a closing transmission member, wherein the closing transmission member is located on the path of the closing actuator's proximal translational movement. During the proximal translation of the clamping assembly, the clamping assembly is translated proximal to the clamp closing assembly until the closing actuator engages the closing transmission member. Then, the closing actuator pushes the closing transmission member to drive the clamp closing assembly to translate proximal, thereby closing the clamp assembly.

2. The multi-shot applicator according to claim 1, characterized in that, The clamping assembly includes: Compartment; and The clamping element is slidably connected to the clamping chamber. The multi-shot applicator also includes: A translationally movable drive rod is fixedly connected to the proximal end of the clamping member; and A first elastic element is connected between the drive rod and the clamping chamber. During the process of the drive rod moving to the distal side, the clamping chamber is first moved to the distal end to the first position, and then the clamping member is moved to the distal side to the second position relative to the clamping chamber at the first position. At the same time, the first elastic member undergoes elastic deformation, thereby pushing the clamp in the clamping chamber into the clamping assembly.

3. The multi-shot applicator according to claim 2, characterized in that, The multi-shot clamping device includes a first limiting member, during which the closing actuator is limited by the first limiting member to limit the clamping chamber at the first position as the clamping assembly moves distally.

4. The multi-shot applicator according to claim 1, characterized in that, The multi-shot applicator also includes: A shaft, wherein the clamping assembly is translatably disposed within the shaft along its axial direction; and A wrist capable of joint movement, the wrist being connected between the shaft and the clamp assembly; The clamp closing assembly further includes a flexible drive member connected to the closing transmission member, the flexible drive member passing through the wrist and connected to the clamp assembly.

5. The multi-shot applicator according to claim 4, characterized in that, The proximal end of the flexible drive member passes through the closing actuator to be slidably connected with the closing actuator, and the end of the flexible drive member is connected to the closing transmission member.

6. The multi-shot applicator according to claim 5, characterized in that, The wrist includes: A first joint member is connected to the distal end of the shaft, and the first joint member has a first axis. A second joint member, connected to the distal end of the first joint member, the second joint member having a second axis and a third axis, the second axis being parallel to the first axis and the second axis being skewed from the third axis; and A third joint member, connected to the distal end of the second joint member, has a fourth axis parallel to the third axis. Wherein, the first joint member is rotatable relative to the second joint member about the first axis, the second joint member is rotatable relative to the first joint member about the second axis, the second joint member is rotatable relative to the third joint member about the third axis, and the third joint member is rotatable relative to the second joint member about the fourth axis. The flexible component includes: A first drive cable is connected to the proximal end of the clamp assembly; A second drive cable is connected to the proximal end of the clamp assembly, and the first drive cable and the second drive cable can close the clamp assembly when they move proximally. A third drive cable is connected to the proximal end of the first drive cable and configured to move the first drive cable proximally; and A fourth drive cable is connected to the proximal end of the second drive cable and configured to move the second drive cable proximally. The first drive cable and the second drive cable extend between the second joint member and the third joint member. The third drive cable and the fourth drive cable extend between the first joint member and the second joint member. In the extended state of the wrist, the first joint, the second joint, and the third joint are arranged axially along the axis, and the third drive cable, the fourth drive cable, the first axis, and the second axis are coplanar, and the first drive cable, the second drive cable, the third axis, and the fourth axis are coplanar.

7. The multi-shot applicator according to claim 1, characterized in that, The clamp assembly includes: A first clamp, movably connected to the distal end of the wrist, the first clamp including a first cam surface; and A second clamp, movably connected to the distal end of the wrist, the second clamp including a second cam surface, The clamp closing assembly further includes a first cam member located between the first clamp and the second clamp, and movably engaging with the first cam surface and the second cam surface. When the first cam member translates proximally, it can bring the distal ends of the first clamp and the second clamp closer together to close the clamp assembly. The flexible drive component includes a first drive cable, which is connected to the proximal end of the first cam component and is movable proximally to drive the first cam component to translate proximally. The first clamp is pivotally connected to the distal end of the shaft about a first pivot axis, and the second clamp is pivotally connected to the distal end of the shaft about a second pivot axis. The first cam member has a first engagement surface that engages with the first cam surface and a second engagement surface that engages with the second cam surface. The first cam surface, the second cam surface, the first engagement surface, and the second engagement surface are all curved surfaces. The first cam member, which translates proximally, drives the first clamp to rotate about the first pivot axis and the second clamp to rotate about the second pivot axis.

8. The multi-shot applicator according to claim 6, characterized in that, The clamp closing assembly further includes a sliding connector, which is slidably disposed within the second joint member. The distal end of the sliding connector is connected to the first drive cable and the second drive cable, and the proximal end of the sliding connector is connected to the third drive cable and the fourth drive cable. In the extended wrist state, the first drive cable and the second drive cable are located in a first plane, and the third drive cable and the fourth drive cable are located in a second plane, with the first plane intersecting the second plane.

9. The multi-shot applicator according to claim 2, characterized in that, The first clamp includes a fifth cam surface, the second clamp includes a sixth cam surface, and the multi-shot applicator further includes a clamping auxiliary component slidably disposed within the wrist. The clamping auxiliary component includes a first cam portion and a second cam portion, the first cam portion opposing the fifth cam surface to engage the fifth cam surface, and the second cam portion opposing the sixth cam surface to engage the sixth cam surface. In clamping mode, the clamping aid, which is translated to the distal side, actuates the first clamp via the fifth cam surface and the second clamp via the sixth cam surface, thereby changing the clamp assembly to a partially open state.

10. The multi-shot applicator according to claim 9, characterized in that, The clamping assembly includes a first unidirectional connector, and the clamping auxiliary component includes a second unidirectional connector. The second unidirectional connector is located on the path of the first unidirectional connector as the clamping assembly translates distally. The first unidirectional connector is adapted to be detachably engaged with the second unidirectional connector. During the distal translation of the clamping assembly, the first unidirectional connector engages with the second unidirectional connector and drives the clamping auxiliary component to translate distally. During the process of the clamping assembly translating to the proximal side, the first unidirectional connector can disengage from the second unidirectional connector.

11. The multi-shot applicator according to claim 10, characterized in that, The multi-shot applicator includes: A first biasing member, connected to the first clamp, provides a force on the first clamp away from the second clamp; and A second biasing element, connected to the second clamp, provides a force to the second clamp away from the first clamp. In the initial state, the first biasing member and the second biasing member keep the clamp assembly open. The fifth cam surface and the sixth cam surface are arranged facing each other, and the fifth cam surface and the sixth cam surface gradually move away from each other in the direction from the far side to the near side. The first cam portion and the second cam portion are elastic structures that allow them to move closer to each other as the clamp assembly closes.

12. The multi-shot applicator according to claim 1, characterized in that, The clamp assembly includes: A first clamp, movably connected to the distal end of the wrist, the first clamp including a first cam surface; and A second clamp, movably connected to the distal end of the wrist, the second clamp including a second cam surface, The multi-shot applicator also includes: A first biasing member, disposed within the first clamp, provides a force to the first clamp toward the second clamp; and A second biasing member, disposed within the second clamp, provides a force to the second clamp toward the first clamp. In the initial state, the first biasing member and the second biasing member maintain the jaws closed. During the loading of the clamp into the clamp assembly, the clamp is positioned between the first clamp and the second clamp, and the clamp assembly opens under the elastic force of the clamp.

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