End execution device

Abstract

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

Description

Technical Field

[0001] The utility model belongs to the field of medical instruments, and in particular relates to an end execution device. Background Art

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 The clip then falls off and remains in the body, and the delivery device is withdrawn.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

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

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

[0005] An end effector comprises: a clamp assembly, comprising a clamp arm unit and a tightening tube unit, wherein the proximal end of the clamp arm unit can be received in the channel of the tightening tube unit, the tightening tube unit is provided with a first locking portion, and the clamp arm unit is provided with a second locking portion; a delivery assembly, comprising a sheath tube and a mandrel arranged in the sheath tube channel, wherein the distal end of the sheath tube is detachably connected to the proximal end of the tightening tube unit, the mandrel is detachably connected to the clamp arm unit, and the mandrel can move axially in the sheath tube channel to drive the clamp assembly to switch between an open state, a closed state, and a locked state; when the clamp assembly is converted from the open state to the closed state, the second locking portion is axially displaced relative to the tightening tube; when the clamp assembly is converted from the closed state to the locked state, the second locking portion is circumferentially displaced relative to the tightening tube, and when in the locked state, the first locking portion and the second locking portion are mutually locked. Through the mutual locking of the relative circumferential movement of the first locking portion and the second locking portion, the clamp assembly can be switched from the closed state to the locked state, thereby preventing the clamp arm unit from falling off.

[0006] In one embodiment of the utility model, the first locking part is set as a locking shaft, and the second locking part is set as a locking interface. When the clamp assembly is converted from the closed state to the locked state, the locking shaft and the locking interface move relative to each other in the circumferential and axial directions and then engage with each other, so that the clamp arm unit is in the locked state; or, the first locking part is set as a locking interface, and the second locking part is a locking shaft. When the clamp assembly is converted from the closed state to the locked state, the locking shaft and the locking interface move relative to each other in the circumferential and axial directions and then engage with each other, so that the clamp arm unit is in the locked state. By the locking shaft and the locking interface moving relative to each other in the circumferential and axial directions and then engaging and locking each other, the clamp assembly is switched to the locked state while increasing the closing extrusion force, thereby further ensuring the closed state.

[0007] In one embodiment provided by the utility model, the locking interface includes a guide groove and a locking groove, the guide groove is recessed from a direction relatively close to the locking shaft toward a direction away from the locking shaft, and one side of the guide groove is convexly provided toward the other side to form a guide portion, the locking shaft can move circumferentially and axially relative to the locking interface through the guidance of the guide portion, the locking groove is provided at the proximal end of the guide groove and is interconnected with the guide groove, the locking groove is recessed toward the same side of the guide portion, and the locking shaft can be buckled into the locking groove after passing through the guide portion. The guide portion is provided so that the locking interface and the locking shaft can rotate relative to each other in the circumferential direction, and the locking groove is provided so that the guide portion is locked through the locking groove.

[0008] In an embodiment provided by the utility model, a limiting protrusion is provided at a transition position between the side edge of the guide groove and the side edge of the locking groove. By providing the limiting protrusion, the locking shaft is prevented from accidentally sliding into the locking groove, thereby avoiding accidental locking.

[0009] In one embodiment provided by the utility model, the locking interface includes a guide groove and a locking groove, the guide groove is recessed from a direction relatively close to the locking shaft toward a direction away from the locking shaft, and both sides of the guide groove are convexly provided toward the middle to form a guide portion, the locking shaft can move relative to the locking interface in the circumferential direction and axial direction through the guidance of the guide portion, the locking groove is provided at the proximal end of the guide groove and is interconnected with the guide groove, the locking groove is recessed toward the same side of the guide portion to form a locking position, and the locking shaft can be buckled into the locking position after passing through the guide portion. The guide portion is provided so that the locking interface and the locking shaft can rotate relative to each other in the circumferential direction, and the locking groove is provided so that the guide portion is locked through the locking groove.

[0010] In one embodiment provided by the utility model, the locking interface is symmetrically arranged about the axis center of the tightening tube unit, and the locking shaft is symmetrically arranged about the axis of the tightening tube unit. By arranging the symmetrically arranged locking shaft and locking interface, the locking shaft and the locking interface can be stably docked, thereby stably locking the clamp assembly.

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

[0012] In one embodiment of the utility model, the tail pipe is provided with an elastic arm, which is elastic and can swing relatively close to the central axis of the tail pipe, and the free end of the elastic arm extends radially outward to form a locking portion, and a buckle hole is provided at a position corresponding to the tightening tube and the locking portion, and the locking portion can be buckled into the buckle hole. By arranging the elastic arm on the tail pipe and the locking portion on the elastic arm, and arranging the buckle hole on the tightening tube that cooperates with the elastic arm, the elastic arm can lock the tail pipe and the tightening tube through the cooperation of the locking portion and the buckle hole.

[0013] In one embodiment of the utility model, a through disassembly groove is provided on the outer circumference of the tightening tube, the disassembly groove is relatively close to the proximal end of the tightening tube, and is provided corresponding to the elastic arm. By providing the disassembly groove on the outer circumference of the tightening tube, the elastic arm is pressed by the disassembly groove so that the elastic arm can be withdrawn from the buckle hole, thereby enabling the tail tube to be separated from the tightening tube.

[0014] In an embodiment provided by the utility model, the elastic arms are symmetrically arranged about the central axis of the tail pipe, the disassembly grooves are symmetrically arranged about the central axis of the tightening tube, and each disassembly groove corresponds to an elastic arm. By providing symmetrically arranged elastic arms and symmetrically arranged disassembly grooves, it is convenient to disassemble the elastic arms through the symmetrically arranged disassembly grooves.

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

[0016] In an embodiment provided by the utility model, the first locking portion is provided on the tail pipe, and the second locking portion is provided on the clamp arm unit; or, the first locking portion is provided on the clamp arm unit, and the second locking portion is provided on the tail pipe. By providing the first locking portion or the second locking portion on the tail pipe, the tail pipe can be mutually locked with the second locking portion or the first locking portion on the clamp arm unit.

[0017] In one embodiment provided by the utility model, the tightening tube unit further includes an elastic pin and a spring end, the elastic pin includes a base and a mounting arm, the base is sleeved on the core shaft, the mounting arm is mounted to the base at a preset angle, the free end of the mounting arm extends radially, the spring end is fixedly mounted on the proximal end of the sheath tube, a mounting groove is provided on the inner side of the spring end, a mounting hole is provided on the distal end of the tail tube, the mounting arm is installed in the mounting groove through the mounting hole, and the tail tube and the spring end are fixedly mounted. By providing the elastic pin and the spring end, the elastic pin can lock the spring end and the tail tube, thereby locking the tail tube and the spring end, and the elastic pin can also be moved to make the mounting arm of the elastic pin withdraw from the mounting hole, thereby making the spring end and the tail tube detach from each other.

[0018] In one embodiment provided by the utility model, the conveying assembly further includes a limit table, the clamp arm unit includes a connecting piece, the limit table is fixedly mounted on the core shaft, and the limit table is located between the elastic pin and the connecting piece, and the limit ring can abut against the base of the elastic pin, drive the elastic pin to move in a direction away from the clamp assembly, and unlock the spring end and the tail tube. By providing the limit ring, the limit ring can abut against the elastic pin during the axial movement, thereby driving the elastic pin to move axially, so that the mounting arm exits the mounting hole.

[0019] In summary, the utility model provides an end execution device, which enables the clamp assembly to be relatively locked with the tightening tube unit when clamped by arranging a first locking part and a second locking part that cooperate with each other to prevent the clamp arm from falling off and avoid secondary injury to the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the structure of an end actuator in an embodiment of the utility model;

[0021] Figure 2 for Figure 1 A partial enlarged view of the end effector at point A shown;

[0022] Figure 3 for Figure 2 A schematic structural diagram of a clamp assembly in the end effector shown in another perspective;

[0023] Figure 4 for Figure 2 A cross-sectional view of the end effector with the clamp assembly closed;

[0024] Figure 5 for Figure 2 A cross-sectional view of the end effector when the clamp assembly is opened;

[0025] Figure 6 for Figure 1A schematic diagram of the structure of the tightening tube in the end-actuator shown;

[0026] Figure 7 for Figure 1 A schematic diagram of the structure of the tail pipe in the end execution device shown;

[0027] Figure 8 for Figure 1 A schematic diagram of the structure in which the tail pipe in the end execution device is installed in the tightening pipe;

[0028] Fig. 9 for Figure 8 A cross-sectional view showing the tail pipe installed into the tightening tube;

[0029] Fig.10 for Figure 1 A schematic structural diagram of a tail pipe in another embodiment of the end effector shown;

[0030] Fig.11 for Fig. 9 The structure schematic diagram of the tail pipe when it is installed in the tightening tube and the first locking part is locked with the second locking part;

[0031] Fig.12 for Figure 1 A schematic structural diagram of the first locking portion and the second locking portion of the end execution device shown in FIG.

[0032] Fig.13 for Figure 1 A schematic diagram of the structure when the first locking portion and the second locking portion of the end execution device are locked;

[0033] Fig.14 for Figure 1 A schematic diagram of the structure of the end effector when the clip assembly is disengaged;

[0034] Fig.15 for Fig.14 A schematic diagram of the structure of the clip assembly before disassembly is shown;

[0035] Fig.16 for Fig.14 The schematic diagram of the structure after the clip assembly is disassembled is shown.

[0036] 100, end effector; 10, clamp assembly; 11, clamp arm unit; 111, locking shaft; 112, clamp arm; 113, connecting piece; 12, tightening tube unit; 121, locking interface; 1211, guide groove; 1212, locking groove; 1213, limiting convex; 1214, guide part; 122, tightening tube; 1221, buckle hole; 1222, disassembly groove; 1223, limiting rib; 122 4. Lug; 123. Tail pipe; 1231. Elastic arm; 1232. Locking part; 1233. Mounting hole; 124. Elastic pin; 1241. Base; 1242. Mounting arm; 1243. Snap-fit ​​part; 125. Spring end; 1251. Mounting groove; 20. Conveying assembly; 21. Sheath tube; 22. Mandrel; 23. Limiting platform; 30. Operating assembly; 31. Rotating bracket; 32. Pulling handle. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] It should be noted that when a component is referred to as being "mounted on" another component, it may be directly mounted on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component at the same time. When a component is considered to be "fixed to" another component, it may be directly fixed on the other component or there may be a central component at the same time.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more related listed items.

[0040] See also Figure 1 , Figure 1 This is a structural schematic diagram of an end execution device 100 in an embodiment of the utility model; the utility model provides an end execution device 100, which is used to clamp a wound in the body and a position to be treated to achieve hemostasis and suturing of the position to be treated.

[0041] In an embodiment provided by the present utility model, the end execution device 100 includes an operating component 30, a conveying component 20 and a clamp component 10. One end of the conveying component 20 is connected to the operating component 30, and the other end is connected to the clamp component 10, which is used to convey the clamp component 10; the operating component 30 controls the rotation and movement of the clamp component 10 by pulling and rotating, the clamp component 10 and the operating component 30 cooperate in transmission to clamp the target tissue at the position to be processed, and the conveying component 20 is used to convey the clamp component 10 to the position to be processed.

[0042] In an embodiment provided by the present utility model, the conveying component 20 includes a sheath tube 21 and a core shaft 22. The sheath tube 21 has a through cavity, the core shaft 22 is installed in the cavity, and the core shaft 22 can move in the cavity. The sheath tube 21 is used to isolate the core shaft 22 from the external space and protect the core shaft 22.

[0043] In the present utility model, the end of the end effector 100 extending into the body is defined as the distal end, and the end located outside the body is defined as the proximal end; in the following description, the direction toward the distal end is uniformly referred to as the distal direction, and the direction toward the proximal end is uniformly referred to as the proximal direction; it can be understood that in the process of describing the various components of the end effector 100, the end toward the distal direction can be described as the distal end, and the end toward the proximal direction can be described as the proximal end.

[0044] In an embodiment provided by the present utility model, an operating component 30 is arranged at the proximal end of the sheath tube 21, and the operating component 30 includes a rotating bracket 31 and a traction handle 32. The traction handle 32 is slidably installed on the rotating bracket 31, and the traction handle 32 is used to pull the core shaft 22. The rotating bracket 31 is used to support the traction handle 32 and control the rotation of the core shaft 22; specifically, the rotating bracket 31 is set to be cylindrical, and the distal end of the rotating bracket 31 is connected to the proximal end of the sheath tube 21 and can rotate relatively. A connecting hole is opened at the distal end of the rotating bracket 31 and is connected to the sheath tube 21. The core shaft 22 is connected to the rotating bracket 31 through the connecting hole, and the rotating bracket 31 can drive the core shaft 22 to rotate; the traction handle 32 is sleeved on the rotating bracket 31, and the core shaft 22 is connected to the traction handle 32 through the connecting hole. The sliding of the traction handle 32 on the rotating bracket 31 is controlled to drive the core shaft 22 to move relatively close to the proximal end or the distal end along the axial direction.

[0045] With such arrangement, the core shaft 22 is driven to move axially by pulling the handle 32 so that the clamp assembly 10 can switch states, and the core shaft 22 is driven to rotate by rotating the bracket 31 so that the clamp assembly 10 can rotate. The clamping posture can be adjusted according to actual conditions.

[0046] It should be noted that the present invention does not limit the setting form and relative movement mode of the traction handle 32 and the rotating bracket 31, as long as the traction handle 32 can drive the core shaft 22 to move axially and the rotating bracket 31 can drive the core shaft 22 to rotate. In other embodiments, the rotating bracket 31 and the traction handle 32 can also drive the core shaft 22 to move axially through other forms such as a lever mechanism.

[0047] See also Figures 2 to 5 In one embodiment provided by the present invention, the clamp assembly 10 includes a tightening tube unit 12 and a clamp arm unit 11. The proximal end of the clamp arm unit 11 can be received in the channel of the tightening tube unit 12. The clamp arm unit 11 can be switched between different states through the mutual cooperation between the tightening tube unit 12 and the clamp arm unit 11.

[0048] Among them, the tightening tube unit 12 includes a tightening tube 122, a tail tube 123, an elastic pin 124 and a spring end 125. The spring end 125 is installed at the distal end of the sheath tube 21 to connect the tightening tube 122 and the sheath tube 21. The tail tube 123 is detachably connected to the spring end 125 through the elastic pin 124.

[0049] Specifically, the spring end 125 is fixedly installed at the distal end of the sheath tube 21. The spring end 125 is roughly cylindrical. A through communication hole is opened in the middle of the spring end 125. The core shaft 22 extends out of the sheath tube 21 through the communication hole, and the inner wall of the distal end of the communication hole is radially recessed outward to form a mounting groove 1251. The distal end surface and the proximal end surface of the mounting groove 1251 are perpendicular to the central axis of the core shaft 22. The elastic pin 124 is sleeved on the core shaft 22. The elastic pin 124 includes The base 1241 and the mounting arm 1242, the base 1241 is roughly disc-shaped and extends into the sheath tube 21, a through hole is provided in the middle of the base 1241, the base 1241 is sleeved on the core shaft 22 through the through hole, the mounting arm 1242 is roughly strip-shaped, one end of the mounting arm 1242 is mounted to the base 1241 at a preset angle, in this embodiment, the preset angle is 15 degrees, and the free end of the mounting arm 1242 extends radially outward to form a buckle portion 1243, and Installed in the installation groove 1251, the installation arm 1242 has a certain elasticity and can swing relatively close to and away from the core shaft 22. Under normal circumstances, the installation arm 1242 has a tendency to bounce radially outward. The installation arm 1242 can be buckled into the installation groove 1251, and the elastic pin 124 is limited to move within a certain axial range through the abutment of the buckling portion 1243 with the distal end surface and the proximal end surface of the installation groove 1251, and the end of the installation arm 1242 connected to the base 1241 abuts against the proximal end surface of the installation groove 1251; a mounting portion is provided at the distal end of the tail pipe 123, and the mounting portion extends into the interior of the spring end 125. The mounting portion is provided with a through mounting hole 1233, and the mounting hole 1233 is correspondingly arranged with the installation groove 1251. The buckling portion 1243 of the elastic pin 124 extends into the installation groove 1251 through the mounting hole 1233, so that the tail pipe 123 is fixedly connected to the spring end 125 through the elastic pin 124.

[0050] In this way, by opening a mounting hole 1233 on the tail pipe 123 to cooperate with the elastic pin 124, and opening a mounting groove 1251 on the spring end 125 to cooperate with the elastic pin 124, the elastic pin 124 can extend into and withdraw from the mounting hole 1233 and the mounting groove 1251 to lock and unlock the tail pipe 123 and the spring end 125, so that the tail pipe 123 and the spring end 125 can be detachably connected.

[0051] It can be understood that the utility model does not limit the installation angle of the installation arm 1242. In other embodiments, it can also be set to 30 degrees, as long as the elastic pin 124 can make the installation arm 1242 abut against the proximal surface of the installation groove 1251 when moving axially, so that the installation arm 1242 can shrink radially inward.

[0052] In the process of the elastic pin 124 moving toward the distal direction of the sheath tube 21, the mounting arm 1242 of the elastic pin 124 contracts radially inward under the abutment of the proximal surface of the mounting groove 1251, so that the buckling portion 1243 of the elastic pin 124 disengages from the mounting groove 1251, thereby enabling the tail tube 123 to disengage from the spring end 125.

[0053] It should be noted that the present invention does not limit the shape of the base 1241 . In other embodiments, the base 1241 may also be configured as a cube or a pentagonal prism, as long as the base 1241 can move within the sheath 21 .

[0054] In addition, in the present embodiment, the spring end 125 is fixedly mounted to the distal end of the sheath tube 21 by welding. It is to be understood that in other embodiments, the spring end 125 and the sheath tube 21 may be mounted by other fixed connection methods such as threaded fixed connection.

[0055] In this embodiment, the number of the mounting arms 1242 of the elastic pin 124 is set to two, and the two mounting arms 1242 are symmetrically arranged about the central axis of the base 1241. The symmetrically arranged mounting arms 1242 of the elastic pin 124 are buckled into the mounting groove 1251, so that the elastic pin 124 can stably lock the tail pipe 123 and the spring end 125. The symmetrically arranged mounting arms 1242 can enable the spring end 125 and the tail pipe 123 to be stably installed; it can be understood that the present utility model does not limit the number of mounting arms 1242. In other embodiments, the number of mounting arms 1242 can also be set to three or four, as long as the tail pipe 123 and the spring end 125 can be stably locked and installed.

[0056] In one embodiment provided by the utility model, the conveying assembly 20 further includes a stopper 23, which is radially protruded from the core shaft 22 and is used to abut against the elastic pin 124. Specifically, the cross section of the stopper 23 is roughly disc-shaped, and the diameter of the stopper 23 is approximately equal to the diameter of the base 1241 of the elastic pin 124. The stopper 23 can move axially with the core shaft 22. When the tail tube 123 and the spring end 125 need to be unlocked and installed, the core shaft 22 is pulled toward the proximal direction of the core shaft 22, so that the stopper 23 moves toward the proximal direction of the core shaft 22 and then abuts against the base 1241 of the elastic pin 124, driving the elastic pin 124 to move toward the proximal direction of the core shaft 22, so that the installation arm 1242 of the elastic pin 124 exits the installation hole 1233 of the tail tube 123 and the installation groove 1251 of the spring end 125, so that the tail tube 123 and the spring end 125 are separated from each other. In this way, by setting the limit platform 23, the core shaft 22 can be driven to move axially through the limit platform 23, so that the tail pipe 123 and the spring end 125 are separated from each other, so that the clip assembly 10 has a detachable function.

[0057] It can be understood that the utility model is not limited to the form of setting a limit platform 23 to abut and adjust the elastic pin 124. In other embodiments, a limit ring can also be set, and the limit ring is fixedly sleeved on the core shaft 22. The limit ring fixedly installed on the core shaft 22 moves axially along the core shaft 22 to abut the base 1241, thereby driving the elastic pin 124 to move axially, thereby unlocking the tail pipe 123 and the spring end 125, as long as it can drive the elastic pin 124 to move axially.

[0058] In one embodiment provided by the present utility model, the clamp arm unit 11 includes a fixing member, a connecting piece 113 and a clamp arm 112. The proximal end of the clamp arm 112 is fixedly installed on the fixing member, and the fixing member is connected to the core shaft 22 through the connecting piece 113. The clamp arm 112 is used to clamp tissue, and the fixing member is used to fix the proximal end of the clamp arm 112. The connecting piece 113 is used to connect the fixing member and the core shaft 22, so that the clamp assembly 10 can move axially with the core shaft 22.

[0059] Specifically, the number of clamp arms 112 is set to two, and the two clamp arms 112 are symmetrically arranged about the axis of the tightening tube 122. The proximal ends of the two clamp arms 112 are fixedly installed on the fixing member, and the distal ends of the clamp arms 112 can be relatively close or relatively far away, switching between an open state and a closed state. The connecting piece 113 is roughly in the shape of a long strip, and the connecting piece 113 is folded in half. After folding, one end of the connecting piece 113 is two free ends, and the other end is a folded end. The folded end is fixedly connected to the proximal end of the core shaft 22, and the two free ends are arranged at an angle to each other and fixedly connected to the fixing member, so that the clamp arms 112 can be driven to move axially by controlling the axial movement of the core shaft 22, so that the clamp arms 112 can switch between an open state and a closed state.

[0060] In this way, by providing the connecting piece 113 between the core shaft 22 and the fixing member, the core shaft 22 can drive the clamping arm 112 to move axially, so that the clamping arm 112 switches between the open state and the closed state.

[0061] It can be understood that the present invention does not limit the number of clamp arms 112, and the number of clamp arms 112 can be set according to the actual usage scenario and purpose. For example, in other embodiments, when the clamp arms 112 are suturing a wound, a structure with four clamp arms 112 can be selected. The four clamp arms 112 are symmetrically arranged about the central axis of the tightening tube 122. The four clamp arms 112 clamp the wound by contracting toward the middle, as long as the wound can be stably clamped by the clamp arms 112.

[0062] In addition, in the present embodiment, the two clamp arms 112 are integrally formed, that is, the proximal ends of the clamp arms 112 are connected to each other, and the clamp arms 112 are folded in half so that the distal ends of the clamp arms 112 can be relatively close to and far away from each other, and the folded proximal ends are fixedly connected to the fixing member. It should be noted that the present invention does not limit the setting form of the clamp arms 112. In other embodiments, the clamp arms 112 can be separately set and then fixed to the fixing member, as long as the proximal ends of the clamp arms 112 can be fixed so that the clamp arms 112 can be relatively close to and far away from each other when the clamp arms 112 move in the accommodating cavity to clamp the target.

[0063] It should be noted that, in the present invention, in order to enable the clamp arms 112 to detach from the core shaft 22 after being locked, so that the clamp assembly 10 is continuously clamped at the wound location, the free end of the connecting piece 113 is configured as a hook-shaped structure, and the connecting piece 113 with the hook-shaped structure is hooked to the fixing piece, so that the connecting piece 113 and the fixing piece are axially fixed; and the connecting piece 113 will be broken when the tension is between 30-80N, that is, the connecting piece 113 will break or deform, so that the connecting piece 113 will detach from the fixing piece; specifically, in the present embodiment, the connecting piece 113 is made of 304 stainless steel. In other embodiments, the connecting piece 113 may also be made of other materials as long as the tension deformation requirements can be met.

[0064] It is understandable that the present invention is not limited to setting the connecting piece 113 as a hook-shaped structure. In other embodiments, the connecting piece 113 can also be set to a U-shape, and the bent position of the connecting piece 113 can be wrapped around the fixing piece, as long as it can be fixedly connected to the fixing piece.

[0065] In one embodiment of the present invention, the fixing member is cylindrical and passes through the proximal ends of the two symmetrically arranged clamp arms 112, so that the proximal ends of the two clamp arms 112 can be relatively fixed; at the same time, the fixing member is also connected to the end of the connecting piece 113, so that the connecting piece 113 drives the clamp arms 112 to move axially through the cylindrical fixing member. It can be understood that the present invention is not limited to the shape of the fixing member. In other embodiments, the fixing member can also be set as long as it can fix the clamp arms 112 and the connecting piece 113.

[0066] See also Figures 6 to 10 In one embodiment of the present invention, the tightening tube unit 12 further includes a tightening tube 122, which is sleeved on the clamping arm unit 11. The tightening tube 122 is used to tighten the clamping arm unit 11 so that the clamping arm unit 11 is transformed from an open state to a closed state.

[0067] Specifically, the tightening tube 122 is provided with a through accommodating cavity, and the proximal end of the clamp arm unit 11 is arranged in the accommodating cavity. The clamp arm unit 11 moves in the accommodating cavity and abuts the clamp arm 112 through the inner wall of the tightening tube 122, so that the clamp arms 112 can approach and move away from each other, thereby realizing the switching of the clamp arm unit 11 between the open state and the closed state; that is, when the core shaft 22 drives the clamp arm unit 11 to move toward the proximal end of the tightening tube 122, the contact position between the inner wall of the tightening tube 122 and the clamp arm 112 moves from the proximal end of the clamp arm 112 to the distal end of the clamp arm 112, so that the clamp arm 112 can swing relative to the fixing member, thereby realizing the transition of the clamp arm 112 from the open state to the closed state.

[0068] With such arrangement, the inner wall of the tightening tube 122 abuts against the clamp arm 112, and the clamp arm 112 moves axially along the tightening tube 122, so that the clamp arm 112 can swing relative to the fixing member, thereby enabling the clamp arm 112 to switch between an open state and a closed state so as to clamp the wound to be treated.

[0069] Furthermore, a protrusion 1213 is protruded toward the distal direction at the distal end of the tightening tube 122, and the protrusion 1213 is symmetrically arranged about the central axis of the tightening tube 122. The symmetrically arranged protrusions 1213 are bent inwardly about 90° toward the center line of the tightening tube 122, thereby dividing the distal through hole of the tightening tube 122 into two symmetrically arranged clamp arm holes, and the two clamp arms 112 extend out of the tightening tube 122 through the clamp arm holes.

[0070] In this way, the inwardly bent protrusion 1213 is provided to limit the clamp arm 112 and restrict the rotation of the clamp arm 112 .

[0071] For further information, see Figures 14 to 16 The outer circumference of the tightening tube 122 is provided with a through buckling hole 1221, the number of which is set to two, and the two buckling holes 1221 are symmetrically arranged about the central axis of the tightening tube 122; the tail tube 123 is roughly cylindrical, and the distal end surface of the tail tube 123 is protruding with an elastic arm 1231 facing the distal end, the number of which is two, and the two elastic arms 1231 are symmetrically arranged about the central axis of the tail tube 123, the elastic arm 1231 is elastic and can swing toward and away from the central axis of the tail tube 123, and the free end of the elastic arm 1231 extends radially toward the outer circumference to form a locking portion 1232, the locking portion 1232 is arranged corresponding to the buckling hole 1221, and can extend into the buckling hole 1221, and the movement of the tail tube 123 in the tightening tube 122 is limited by the mutual cooperation between the locking portion 1232 and the buckling hole 1221.

[0072] In this way, by setting a locking portion 1232 on the tail pipe 123 and a buckling hole 1221 on the tightening tube 122, and making the locking portion 1232 and the buckling hole 1221 buckle with each other, the tail pipe 123 can be locked into the tightening tube 122 to limit the movement of the tail pipe 123.

[0073] It is understandable that the present invention is not limited to limiting the axial movement of the tail tube 123 and the tightening tube 122 by the mutual cooperation between the radially extending locking portion 1232 and the snap-fit ​​hole 1221. In other embodiments, a protruding snap-fit ​​platform may be provided inside the tightening tube 122, and the snap-fit ​​platform and the locking portion 1232 may be locked by mutual cooperation, as long as the axial movement of the tail tube 123 and the tightening tube 122 can be limited.

[0074] In addition, in the present embodiment, the outer diameter of the tail tube 123 is the same as the inner diameter of the tightening tube 122. After the locking portion 1232 exits the snap-fit ​​hole 1221, the tail tube 123 can slide in the tightening tube 122. It should be noted that the present invention does not limit the outer diameter of the tail tube 123. In other embodiments, the outer diameter of the tail tube 123 is smaller than the inner diameter of the tightening tube 122, as long as the tail tube 123 can slide in the tightening tube 122.

[0075] Furthermore, a disassembly groove 1222 is provided on the outer periphery of the tightening tube 122, and the disassembly groove 1222 is arranged at the proximal end of the tightening tube 122, closer to the sheath tube 21 relative to the buckling hole 1221; the disassembly groove 1222 is opened along the radial direction of the outer peripheral surface of the tightening tube 122 and extends along the circumferential direction of the part, the radial depth of the disassembly groove 1222 is greater than the radial length of the locking portion 1232, and the disassembly groove 1222 is arranged corresponding to the elastic arm 1231; therefore, by radially pressing the elastic arm 1231 through the disassembly groove 1222, the locking portion 1232 can be moved out of the buckling hole 1221, thereby allowing the tail tube 123 to be separated from the tightening tube 122.

[0076] See also Figure 15-16 In the above process, the elastic arm 1231 is pressed radially inwardly by the disassembly groove 1222. After the locking portion 1232 of the elastic arm 1231 withdraws from the buckling hole 1221, the tightening tube 122 and the tail tube 123 can move relative to each other after losing the limitation of the locking portion 1232 and the buckling hole 1221, and under the elastic action of the clamping arm unit 11 itself, the clamping arm unit 11 can move toward the distal end of the tightening tube 122, so that the clamping arm unit 11 is transformed from a locked state to an open state.

[0077] In this way, by setting a disassembly groove 1222 corresponding to the elastic arm 1231, the radial swing of the elastic arm 1231 can be adjusted through the disassembly groove 1222, so that the locking part 1232 of the elastic arm 1231 can withdraw from the buckle hole 1221, so that the tail pipe 123 and the tightening tube 122 can be separated from each other.

[0078] In this embodiment, after the clamp assembly 10 is closed and clamped on the target tissue, the detached tightening tube unit 12 is taken out through the snare, so that the snare loop docks with the disassembly port, and after applying force, the detached locking portion 1232 of the elastic arm 1231 is detached from the snap-on hole 1221, so that the tail tube 123 and the tightening tube 122 are detached from each other, thereby releasing the locking state of the clamp assembly 10.

[0079] It is understandable that the present invention is not limited to releasing the lock between the tail pipe 123 and the tightening tube 122 by adjusting the elastic arm 1231 through the disassembly groove 122. In other embodiments, an elastic paddle can be provided at the position of the snap-fit ​​hole 1221 of the tightening tube 122. By prying the elastic paddle, the locking portion 1232 at the position of the snap-fit ​​hole 1221 can be disengaged from the snap-fit ​​hole 1221, as long as the locking can be disengaged from the snap-fit ​​hole 1221.

[0080] Therefore, it can be known that the common hemostatic clip clamps the edges of the wound or incision together to stop internal bleeding and allow the wound or incision to heal autonomously through the relatively arranged clamp arms 112 in cooperation with the core shaft 22 and the tightening tube 122. However, the commonly used hemostatic clip is prone to loosening after closing, causing the clamp that clamps the wound to open, resulting in failure of hemostasis and suturing, causing secondary damage to the patient.

[0081] In view of the above problems, the utility model provides an improved end execution device 100, which enables the clamping arm unit 11 to be relatively locked with the tightening tube unit 12 when clamped by providing a first locking part and a second locking part that cooperate with each other to prevent the clamping arm 112 from falling off and avoid secondary injury to the patient.

[0082] See also Figures 10 to 13 In one embodiment provided by the utility model, the first locking portion is arranged on the tightening tube unit 12, and the second locking portion is arranged on the clamping arm unit 11. The first locking portion and the second locking portion can cooperate and lock with each other, so that the tightening tube unit 12 and the clamping arm unit 11 can be relatively locked.

[0083] Specifically, the first locking portion is arranged on the tail pipe 123 of the tightening tube unit 12, and the second locking portion is arranged on the fixing piece of the clamp arm unit 11. The first locking portion can cooperate with the second locking portion to lock, so that the clamp arm 112 and the tail pipe 123 are locked with each other; wherein the first locking portion is arranged as a locking interface 121, and the second locking portion is arranged as a locking shaft 111, the locking interface 121 is opened on the tail pipe 123, the locking shaft 111 is arranged on the clamp arm 112, and the locking interface 121 is arranged opposite to the locking shaft 111; the locking interface 121 includes a guide groove 1211 and a locking groove 1211. 12, the guide groove 1211 is recessed from a direction relatively close to the locking shaft 111 toward a direction away from the locking shaft 111, and one side of the guide groove 1211 is convexly provided toward the other side to form a guide portion 1214, and the locking shaft 111 can move circumferentially and axially through the surface of the guide portion 1214, and the locking groove 1212 is provided at the proximal end of the guide groove 1211 and is communicated with the guide groove 1211, and the locking groove 1212 is recessed toward the same side direction of the guide portion 1214, and the locking shaft 111 can slide into the locking groove 1212 through the guide portion 1214; please refer to Figure 5 , Fig.12 , Fig.13 , Fig.14 ; When the clamp arm unit 11 changes from an open state to a closed state ( Figure 5 Transformed into Fig.12 ), the locking shaft 111 and the locking interface 121 move axially relative to each other, and when the clamp arm unit 11 changes from the closed state to the locked state ( Fig.12 Transformed into Fig.13 ), the locking shaft 11 and the locking interface 121 move relative to each other axially and circumferentially, so that the clamping arm unit 11 is locked after further clamping to stably clamp the target tissue.

[0084] In this way, by providing the guide portion 1214 , the locking shaft 111 can move around the outer periphery of the guide portion 1214 , so that the first locking portion and the second locking portion are locked after relative circumferential and axial movement, thereby locking the clamp arm 112 and the tightening tube unit 12 .

[0085] It can be understood that in the present invention, the first locking part can also be set as a locking interface 121, and the second locking part can be set as a locking shaft 111, or the first locking part can be set as a locking shaft 111, and the second locking part can be set as a locking interface 121, as long as the locking shaft 111 and the locking interface 121 can cooperate with each other to lock the clamp arm unit 11 and the tightening tube unit 12.

[0086] Furthermore, in order to avoid the locking of the clamping arm 112 and the tightening tube unit 12 due to accidental touch during the operation of the clamping arm 112, a limiting protrusion 1213 is provided at the transition position between the side of the guide groove 1211 and the side of the locking groove 1212. By providing the limiting protrusion 1213, the opening of the locking groove 1212 becomes smaller. Under normal circumstances, the locking shaft 111 will be blocked outside the locking groove 1212 by the limiting protrusion 1213. Only when the clamping arm 112 is clamped accurately and the pulling force is increased, the locking shaft 111 will crush the limiting protrusion 1213 and slide into the locking groove 1212, thereby locking the clamping arm 112 and the tightening tube unit 12.

[0087] It should be noted that the utility model is not limited to preventing the locking shaft 111 from accidentally sliding into the locking groove 1212 by setting a limiting protrusion 1213. In other embodiments, the locking shaft 111 can also be prevented from accidentally sliding by setting the diameter of the locking groove 1212 mouth to be slightly smaller than the diameter of the locking shaft 111, as long as the locking shaft 111 can be prevented from accidentally sliding into the locking groove 1212.

[0088] In addition, in order to enable the locking interface 121 to guide the locking shaft 111, in other embodiments, the locking interface 121 includes a guide groove 1211 and a locking groove 1212, the guide groove 1211 is recessed from a direction relatively close to the locking shaft 111 toward a direction away from the locking shaft 111, and both sides of the guide groove 1211 are convexly provided toward the middle to form a guide portion 1214, the locking shaft 111 can move circumferentially and axially through the surface of the guide portion 1214, the locking groove 1212 is arranged at the proximal end of the guide groove 1211, and is communicated with the guide groove 1211, and the locking groove 1212 is concave toward the guide portion 1214. The locking shaft 111 is recessed in the side direction, and the locking shaft 111 can slide into the locking position through the guide part 1214; in the present embodiment, in order to prevent the locking shaft 111 from accidentally sliding, the distance between the tops of the guide parts 1214 on both sides of the guide groove 1211 is slightly smaller than the diameter of the locking shaft 111. When the locking shaft 111 slides to the top of the guide part 1214 through the guide part 1214, the top of the guide part 1214 will limit the locking shaft 111 from continuing to slide. Only when the clamping arm 112 is clamped accurately and the pulling force is increased, the locking shaft 111 can crush the top of the guide part 1214 and then slide into the locking groove 1212, thereby locking the clamping arm 112 and the tightening tube unit 12.

[0089] It should be noted that, although the present invention distinguishes between "fixing member" and "locking shaft 111", the fixing member and the locking shaft 111 can be one entity, that is, in order to facilitate manufacturing and simplify the process, the fixing member is extended axially towards both ends to form the locking shaft 111, that is, the locking shaft 111 can not only cooperate with the locking interface 121 to lock, but also fix the connecting clamp arm 112 and the connecting plate 113.

[0090] In summary, by respectively providing the first locking portion and the second locking portion on the tightening tube unit 12 and the clamping arm unit 11, the first fixed portion and the second locking portion can be locked after relative circumferential rotation, so that the tightening unit and the clamping arm unit 11 can be relatively locked.

[0091] The following briefly describes an operation flow of an end effector 100, which is used to operate any of the end effectors 100 described above;

[0092] The control core shaft 22 drives the clamp arm unit 11 to move toward the proximal end of the end effector 100, so that the clamp assembly 10 is in a closed state, and the clamp assembly 10 is sent to the target position through the endoscope channel by the conveying assembly 20; in this embodiment, by moving the traction handle 32 toward the proximal end of the end effector 100, the traction handle 32 drives the core shaft 22 and the clamp arm unit 11 to move toward the proximal end of the end effector 100, so that the clamp assembly 10 is changed from an open state to a closed state;

[0093] After reaching the target position, the control mandrel 22 drives the clamp arm unit 11 to move toward the distal end of the end effector 100, driving the clamp assembly 10 to change from a closed state to an open state; in this embodiment, by moving the traction handle 32 toward the distal end of the end effector 100, the traction handle 32 drives the mandrel 22 and the clamp arm unit 11 to move toward the distal end of the end effector 100, so that the clamp assembly 10 changes from a closed state to an open state;

[0094] The conveying assembly 20 is controlled to bring the open clamp assembly 10 close to the target, and the core shaft 22 is controlled to move toward the proximal end of the end actuator 100, so that the open clamp assembly 10 is gradually closed to clamp the target; in this embodiment, by moving the traction handle 32 toward the proximal end of the end actuator 100, the traction handle 32 drives the core shaft 22 and the clamp arm unit 11 to move toward the proximal end of the end actuator 100, so that the clamp assembly 10 is gradually closed to clamp the target; in this embodiment, the relative position between the clamp arm unit 11 and the target can also be adjusted by rotating the rotating bracket 31, so as to clamp the target in a better posture;

[0095] After clamping the target, the mandrel 22 is controlled to move so that the first locking portion can move relative to the second locking portion in the circumferential direction, so that the first locking portion can be mutually locked with the second locking portion, and the clamp arm unit 11 and the tightening tube unit 12 are locked, so that the clamp assembly 10 remains in a locked state. In this embodiment, after the clamp arm unit 11 is closed, the traction handle 32 is moved toward the proximal end of the end actuator 100, and the traction handle 32 drives the mandrel 22 and the locking shaft 111 disposed on the clamp arm unit 11 to move toward the proximal end of the end actuator 100, and during the axial movement, the locking shaft 111 abuts against the outer edge of the guide portion 1214 of the locking interface 121, so that the locking shaft 111 and the locking interface 121 can move relative to each other in the circumferential direction, and after the relative circumferential movement, the locking shaft 111 and the locking interface 121 are mutually buckled, so that the clamp arm unit 11 and the tightening tube unit 12 can be relatively locked.

[0096] In other embodiments, after the clamp arm unit 11 is closed, the traction handle 32 is moved toward the proximal end of the end actuator 100, and the traction handle 32 drives the core shaft 22 and the locking interface 121 provided on the clamp arm unit 11 to move toward the proximal end of the end actuator 100, and during the axial movement, the locking interface 121 can abut against the locking shaft 111 provided on the tightening tube unit 12, and the locking shaft 111 abuts against the outer edge of the guide portion 1214 of the locking interface 121, so that the locking shaft 111 and the locking interface 121 can move relative to each other in the circumferential direction, and after the relative circumferential movement, the locking shaft 111 and the locking interface 121 are interlocked with each other, so that the clamp arm unit 11 and the tightening unit can be relatively locked.

[0097] After the clamp assembly 10 is locked, the traction force of the traction handle 32 is increased toward the proximal end of the end effector 100, and the traction force is transmitted to the connecting piece 113 through the mandrel 22. When the traction force is greater than the threshold, the connecting piece 113 begins to deform or break, so that the mandrel 22 and the clamp arm unit 11 are separated from each other. In this embodiment, when the traction force is between 30-80N, the connecting piece 113 begins to deform or break, so that the mandrel 22 and the clamp arm unit 11 are separated from each other.

[0098] After the core shaft 22 and the clamp arm unit 11 are separated from each other, the traction handle 32 is continuously moved toward the proximal end of the end actuator 100. The core shaft 22 is continuously moved toward the proximal end of the end actuator 100 under the action of the traction force. The limit platform 23 provided on the core shaft 22 also moves with the core shaft 22 and abuts against the elastic pin 124, so that the elastic pin 124 withdraws from the mounting groove 1251 and the mounting hole 1233, so that the sheath tube 21 is separated from the tightening tube unit 12.

[0099] The locked and disengaged clip assembly 10 is pressed inward at the position of the disassembly groove 1222 of the clip assembly 10, so that the tail tube 123 and the tightening tube 122 are disengaged from each other, and the locked state of the clip assembly 10 is released. In this embodiment, at the position of the disassembly groove 1222, the elastic arm 1231 of the tail tube 123 is pressed inward, so that the elastic arm 1231 exits the buckling hole 1221 of the tightening tube 122, and the tail tube 123 and the tightening tube 122 that are buckled and fixed to each other are disengaged from each other, thereby allowing the clamp arm unit 11 to be disengaged from the tightening tube 122 and slide in the tightening tube 122, and the clamp arm unit 11 moves toward the distal end of the tightening tube 122 under the elastic action of the clamp arm 112, thereby changing from a locked state to an open state.

[0100] In this embodiment, the snare is contracted at the position of the disassembly groove 1222, and the snare presses the elastic arm 1231 of the tail tube 123 inwardly, so that the elastic arm 1231 contracts inwardly and exits the buckle hole 1221, unlocking the tail tube 123 and the tightening tube 122, so that the clip assembly 10 exits the locked state;

[0101] In other embodiments, the elastic arm 1231 of the tail pipe 123 may be squeezed inwardly at the position of the disassembly groove 1222 by disassembly pliers, so that the elastic arm 1231 shrinks inwardly and exits the buckle hole 1221, thereby unlocking the tail pipe 123 and the tightening tube 122, so that the clip assembly 10 exits the locked state;

[0102] By operating the end effector 100 by the above method, the end effector 100 can be stably operated, and when clamping is required, the target to be processed can be stably clamped to avoid secondary damage; when disassembly is required, it can be quickly disassembled to reduce the operation time.

[0103] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

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

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

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

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

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

6. The end effector according to claim 2, characterized in that: The locking interface is symmetrically arranged with respect to the axis center of the tightening tube unit, and the locking shaft is symmetrically arranged with respect to the axis center of the tightening tube unit.

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

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

9. The end effector according to claim 8, characterized in that: The outer peripheral surface of the tightening tube is provided with a through disassembly groove, the disassembly groove is relatively close to the proximal end of the tightening tube and is arranged corresponding to the elastic arm.

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

11. The end effector according to claim 7, characterized in that: A limiting rib is protruded from the proximal end of the tightening tube toward the central axis of the tightening tube, and the limiting rib can abut against the proximal end of the tail tube to limit the axial movement of the tail tube.

12. The end effector according to claim 7, characterized in that: The first locking portion is disposed on the tail pipe, and the second locking portion is disposed on the clamp arm unit; or, The first locking portion is disposed on the clamp arm unit, and the second locking portion is disposed on the tail pipe.

13. The end effector according to claim 7, characterized in that: The tightening tube unit also includes an elastic pin and a spring end, the elastic pin includes a base and a mounting arm, the base is sleeved on the core shaft, the mounting arm is installed to the base at a preset angle, the free end of the mounting arm extends radially, the spring end is fixedly installed at the proximal end of the sheath tube, a mounting groove is provided on the inner side of the spring end, and a mounting hole is provided at the distal end of the tail tube, the mounting arm is installed in the mounting groove through the mounting hole, and the tail tube and the spring end are fixedly installed.

14. The end effector according to claim 13, characterized in that: The conveying assembly also includes a limiting ring, and the clamping arm unit includes a connecting plate. The limiting ring is fixedly sleeved on the core shaft, and the limiting ring is located between the elastic pin and the connecting plate. The limiting ring can abut the base of the elastic pin, drive the elastic pin to move in a direction away from the clamp assembly, and unlock the spring end and the tail tube.

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