Automatic rebounding minimally invasive conveyor

Abstract

The automatic rebounding minimally invasive conveyor comprises a first clamping arm device and a second clamping arm device which are oppositely arranged, and the first clamping arm device comprises a first clamping arm assembly and a first connecting rod assembly rotationally connected with the first clamping arm assembly; the second clamping arm device comprises a second clamping arm assembly and a second connecting rod assembly rotationally connected with the second clamping arm assembly. The end of the second connecting rod assembly is rotationally connected with the end of the first connecting rod assembly through a common pin. The connecting device is connected with the first connecting rod assembly and the second connecting rod assembly, a sliding groove for containing a common pin is formed in the connecting device, and the common pin has the freedom degree of moving along the sliding groove; and the elastic device is arranged in the sliding groove and has pre-tightening resultant force for controlling the first clamping arm device and the second clamping arm device to automatically rebound in an assembling state. According to the device, after the device is completely separated from an object to be placed, automatic springback of the clamping arms can be achieved, meanwhile, it is guaranteed that the formed preset springback is integrally stabilized in a controllable small size, and rapid and reliable withdrawing operation can be achieved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of medical devices, and in particular to an automatic rebound minimally invasive delivery device. BACKGROUND

[0002] In the prior art, the delivery device of the auricle clamp is mainly used to send the auricle clamp to the left auricle position in the heart surgery to perform the closing operation; the front end of the delivery device is provided with two arm bodies for binding the auricle clamp, the auricle clamp comprises two parallel clamp arms, and the two clamp arms are held by two spring portions at two ends; the two arm bodies of the delivery device pull the clamp arms of the auricle clamp by using a traction rope, when the auricle clamp is sent to the lesion, the auricle clamp is first opened by an external force to control the traction rope, then the lesion is clamped by the auricle clamp, and then the auricle clamp is released to complete the surgical implantation operation. In order to smoothly complete the release of the auricle clamp during the operation, the two arm bodies are controlled to be opened to a large size by an additional wire rope, so that the auricle clamp is released from the restraint of the wire, and the delivery device is in a free state.

[0003] At present, in the process of withdrawing the device, the device is slowly closed to a small size under the action of external forces such as collision and contact by relying on the experience of the doctor, and then taken out from the target incision by slowly and carefully rotating adjustment, in this process, due to the unstable size of the device jaw, it often causes damage to the surrounding tissue, resulting in long operation time and high operation risk, not only requiring high clinical experience of the doctor, but also increasing the risk of additional infection of the patient; in addition, due to the unstable opening and closing state of the jaw of the clamping device, sometimes it cannot be directly withdrawn by evaluation, and an auxiliary instrument is also placed in the corresponding position of the human body to assist the operation to close the jaw of the clamping device to a small size, and then taken out from the target incision, but the use of the auxiliary instrument also pokes the tissue, greatly increasing the risk of damaging the tissue. CONTENT OF THE UTILITY MODEL

[0004] Therefore, the present disclosure provides an automatic rebound minimally invasive delivery device, which at least partially solves the problems of the prior art that the delivery device cannot be kept stable after being separated from the auricle clamp, the resistance is large when being withdrawn, the operation is difficult, and the tissue is easily damaged.

[0005] In a first aspect, the present disclosure provides an automatic rebound minimally invasive delivery device, which specifically comprises:

[0006] The first clamp arm device and the second clamp arm device are oppositely arranged, the first clamp arm device comprises a first clamp arm assembly and a first connecting rod assembly rotatably connected with the first clamp arm assembly;

[0007] The second clamp arm device comprises a second clamp arm assembly and a second connecting rod assembly rotatably connected with the second clamp arm assembly, and the end portions of the second connecting rod assembly and the first connecting rod assembly are rotatably connected by a common pin.

[0008] A connecting device connected with the first linkage assembly and the second linkage assembly, the connecting device being provided with a sliding groove for accommodating the common pin, the common pin having a freedom of movement along the sliding groove;

[0009] A resilient device installed in the sliding groove, the resilient device having a pre-tightening closing force for controlling the first clamping arm device and the second clamping arm device to automatically rebound in an assembled state.

[0010] Optionally, the connecting device comprises a conveying rod and a C-shaped connecting seat installed at an end of the conveying rod;

[0011] The C-shaped connecting seat comprises a transition portion, and a first cantilever portion and a second cantilever portion connected with two ends of the transition portion respectively, and the sliding groove is a C-shaped groove and penetrates through the transition portion;

[0012] The C-shaped groove comprises a first end portion of the first cantilever portion and a second end portion of the second cantilever portion;

[0013] The first cantilever portion is provided with a first through hole, and the second cantilever portion is provided with a second through hole;

[0014] The second linkage assembly and the first linkage assembly form an intersecting whole, and an assembly pin is installed at an intersection of the intersecting whole, and two ends of the assembly pin are respectively installed in the first through hole and the second through hole.

[0015] Optionally, the resilient device comprises a first elastic assembly and a second elastic assembly arranged in parallel, the first elastic assembly is installed between the first end portion and the common pin, and the second elastic assembly is installed between the second end portion and the common pin;

[0016] The first elastic assembly and the second elastic assembly have a tendency force for pushing the common pin to move towards the conveying rod in an assembled state.

[0017] Optionally, the C-shaped groove further comprises a first horizontal section provided in the first cantilever portion, an arc section provided in the transition portion, and a second horizontal section provided in the second cantilever portion;

[0018] The first elastic assembly comprises a first elastic member and a first cover plate arranged outside the first elastic member, two ends of the first elastic member are respectively abutted against the first end portion and the common pin on a side surface of the first horizontal section, the first cover plate is arranged in engagement with the first horizontal section, and the first cover plate is provided with a first guide hole for accommodating one end of the common pin;

[0019] The second elastic assembly comprises a second elastic member and a second cover plate arranged outside the second elastic member, two ends of the second elastic member are respectively abutted against the second end portion and the common pin located at the side of the second horizontal section; the second cover plate is clamped with the second horizontal section, and a second guide hole for accommodating the other end of the common pin is arranged on the second cover plate, and the common pin has the freedom of moving along the first guide hole and the second guide hole.

[0020] Optionally, the outer side of the first cover plate is flush with the first cantilever portion;

[0021] The outer side of the second cover plate is flush with the second cantilever portion;

[0022] The second cover plate is arranged in the same structure as the first cover plate;

[0023] The second elastic member is arranged in the same structure as the first elastic member.

[0024] Optionally, the two ends of the common pin are respectively provided with a first clamping portion and a second clamping portion;

[0025] The first end portion is provided with a first accommodating groove;

[0026] The second end portion is provided with a second accommodating groove;

[0027] The first elastic member comprises a first body, a first overhanging portion and a second overhanging portion arranged at two ends of the first body, the first overhanging portion is arranged in matching with the first accommodating groove, and the second overhanging portion is fixedly connected with the first clamping portion;

[0028] The second elastic member comprises a second body, a third overhanging portion and a fourth overhanging portion arranged at two ends of the second body, the third overhanging portion is arranged in matching with the second accommodating groove, and the fourth overhanging portion is fixedly connected with the second clamping portion.

[0029] Optionally, the conveying rod comprises a joint connected with the C-shaped connecting seat and a cylindrical rod fixedly connected with the joint;

[0030] The elastic device comprises a first elastic assembly and a second elastic assembly arranged in parallel, the first elastic assembly is arranged between the common pin and the joint, and the second elastic assembly is arranged between the common pin and the joint;

[0031] The first elastic assembly and the second elastic assembly have a tendency to pull the common pin to move towards the direction close to the conveying rod in the assembled state.

[0032] Optionally, the first elastic assembly comprises a first body, and a first overhanging part and a second overhanging part arranged at two ends of the first body, the first overhanging part is fixedly connected with the common pin, and the second overhanging part is fixedly connected with the joint.

[0033] The second elastic assembly comprises a second body, and a third overhanging part and a fourth overhanging part arranged at two ends of the second body, the third overhanging part is fixedly connected with the common pin, and the fourth overhanging part is fixedly connected with the joint.

[0034] Optionally, the joint is internally provided with a first installation slot matched with one end of the common pin, a second installation slot matched with the other end of the common pin, a first installation hole matched with the first installation slot, and a second installation hole matched with the second installation slot.

[0035] The opening of the first installation slot is arranged towards the C-shaped connecting seat, the first overhanging part overhangs to the first installation slot, and is fixed through a first installation pin installed in the first installation hole.

[0036] The opening of the second installation slot is arranged towards the C-shaped connecting seat, the third overhanging part overhangs to the second installation slot, and is fixed through a second installation pin installed in the second installation hole.

[0037] Optionally, the common pin is provided with a central through hole.

[0038] The elastic device further comprises a transition elastic piece located inside the central through hole, and two ends of the transition elastic piece are respectively connected with the second overhanging part and the fourth overhanging part.

[0039] Optionally, the first elastic assembly, the second elastic assembly and the transition elastic piece are integrally formed.

[0040] Optionally, the conveying rod comprises a joint connected with the C-shaped connecting seat, and a hollow cylindrical rod fixedly connected with the joint.

[0041] The joint is provided with a first guide through hole and a second guide through hole.

[0042] The elastic device comprises a first elastic assembly and a second elastic assembly, one end of the first elastic assembly is fixedly connected with the common pin, and the other end sequentially passes through the first guide through hole and the hollow cylindrical rod to form a first control end.

[0043] One end of the second elastic assembly is fixedly connected with the common pin, and the other end sequentially passes through the second guide through hole and the hollow cylindrical rod to form a second control end.

[0044] The first control end and the second control end have a tendency to pull the common pin to move in a direction close to the conveying rod in the assembled state.

[0045] Optionally, the automatic rebound micro-invasive conveyor further comprises a controller, and the first control end and the second control end are fixedly connected with the controller.

[0046] The controller has a holding part for controlling the first control end and the second control end.

[0047] The automatic rebound micro-invasive conveyor disclosed in the embodiment, by matching the first clamping arm assembly, the second clamping arm assembly and the elastic device, when the first clamping arm assembly and the second clamping arm assembly are completely separated from the object to be placed, that is, the clamping arm assembly is separated from the closing force of the object to be placed, the first clamping arm assembly and the second clamping arm assembly automatically move to form a preset rebound whole under the action of the pre-tightening closing force, the size of the preset rebound whole is smaller than the size in the state of clamping the object to be implanted, which ensures that the preset rebound whole is stably controlled in a small size, effectively reduces the damage to human tissues, reduces the difficulty of operation, effectively reduces the risk of operation and shortens the operation time.

[0048] The above description is only a summary of the technical solutions of the present disclosure, in order to more clearly understand the technical means of the present disclosure, the content of the specification can be implemented, and in order to make the above and other purposes, characteristics and advantages of the present disclosure more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0050] Figure 1 It is a perspective view of the first embodiment of the automatic rebound micro-invasive conveyor disclosed in the present application.

[0051] Figure 2 It is a perspective view of the first embodiment of the automatic rebound micro-invasive conveyor disclosed in the present application. Figure 1 It is an assembly schematic view of the first clamping arm device, the second clamping arm device, the C-shaped connecting seat and the elastic device.

[0052] Figure 3 It is an assembly schematic view of the first clamping arm device, the second clamping arm device, the C-shaped connecting seat and the elastic device. Figure 2 It is an assembly schematic view of the first clamping arm device, the second clamping arm device, the C-shaped connecting seat and the elastic device.

[0053] Figure 4 It is an assembly schematic view of the first clamping arm device, the second clamping arm device, the C-shaped connecting seat and the elastic device. Figure 3 It is a schematic view from another angle.

[0054] Figure 5 A perspective view of a third embodiment of the automatic rebound minimally invasive conveyor disclosed in the present application.

[0055] Figure 6 A perspective view of a fourth embodiment of the automatic rebound minimally invasive conveyor disclosed in the present application. Figure 5 An assembly view of the elastic device.

[0056] Figure 7 A perspective view of a fifth embodiment of the automatic rebound minimally invasive conveyor disclosed in the present application.

[0057] Figure 8 A perspective view of a fifth embodiment of the automatic rebound minimally invasive conveyor disclosed in the present application. Figure 7 An assembly view of the elastic device.

[0058] Figure 9 A perspective view of a fifth embodiment of the automatic rebound minimally invasive conveyor disclosed in the present application.

[0059] Figure 10 An assembly view of the elastic device in a fifth embodiment of the automatic rebound minimally invasive conveyor disclosed in the present application.

[0060] Figure 11 A perspective view of a fifth embodiment of the automatic rebound minimally invasive conveyor disclosed in the present application.

[0061] Figure 12 A perspective view of a C-shaped connecting seat disclosed in the present application.

[0062] BRIEF DESCRIPTION OF THE DRAWINGS

[0063] 100, first clamping arm device; 110, first clamping arm assembly; 120, first connecting rod assembly;

[0064] 200, second clamping arm device; 210, second clamping arm assembly; 220, second connecting rod assembly;

[0065] 310, common pin; 320, assembly pin;

[0066] 400, connecting device; 410, conveying rod; 411, joint; 4111, first mounting groove; 4112, second mounting groove; 412, cylindrical rod; 420, C-shaped connecting seat; 421, transition portion; 422, first cantilever portion; 423, second cantilever portion; 424, sliding groove;

[0067] 500, elastic device; 510, first elastic assembly; 511, first elastic piece; 5111, first body; 5112, first overhanging portion; 5113, second overhanging portion; 512, first cover plate; 5121, first guide hole; 520, second elastic assembly; 521, second elastic piece; 5211, second body; 5212, third overhanging portion; 5213, fourth overhanging portion; 522, second cover plate; 5221, second guide hole;

[0068] 600, controller. DETAILED DESCRIPTION

[0069] The present disclosure will be further described in details with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related content, and not to limit the present disclosure. In addition, it should be noted that, for the convenience of description, only parts related to the present disclosure are shown in the drawings.

[0070] It should be noted that the embodiments and features in the embodiments in the present disclosure can be combined with each other without conflict. The technical solutions of the present disclosure will be described in detail below with reference to the drawings and in combination with the embodiments.

[0071] Unless otherwise specified, the exemplary embodiments / examples shown will be understood to provide exemplary features of various details that can implement the technical concepts of the present disclosure in practice. Therefore, unless otherwise specified, the features of various embodiments / examples can be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of the present disclosure.

[0072] In the drawings, cross-hatching and / or shading are generally used to make the boundaries of adjacent components clear. Thus, unless otherwise specified, the presence of cross-hatching or shading does not convey or imply any preference or requirement for specific material, material properties, dimensions, proportions, commonality of the illustrated components, and / or any other characteristic, attribute, property, etc. of the components. In addition, in the drawings, the size and relative sizes of components can be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be implemented differently, a specific process sequence can be performed in a different order than described. For example, two consecutively described processes can be performed substantially simultaneously or in an order opposite to that described. In addition, the same reference numbers represent the same components.

[0073] When a component is referred to as being "on", "connected to", or "coupled to" another component, it can be directly on, connected, or coupled to the other component, or intervening components can be present. When a component is referred to as being "directly on", "directly connected to", or "directly coupled to" another component, there are no intervening components present. For example, the term "connected" can refer to physical or electrical connection, etc., with or without intervening components.

[0074] For descriptive purposes, the disclosure can use spatial or relative terms, such as "below", "lower", "lowermost", "above", "upper" and "uppermost", "vertical", "horizontal", and the like, which are sometimes used for the purpose of explanation only. Such spatial and / or relative terms can encompass different positions and orientations of the device in use, operation, and / or manufacture. For example, if the device in the figures is turned over, a component described as "below" or "beneath" other components or features would then be oriented "above" the other components or features. Thus, the exemplary term "below" can encompass both an "above" and a "below" orientation. In addition, the device can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

[0075] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, to the extent that the terms "including", "includes", "having", "has", "with", or variants thereof are used in either the detailed description and / or the claims, such terms are intended to be inclusive in a manner similar to the term "comprising". It is also noted that the terms "substantial" and "substantially" are used herein to refer to an inherent inaccuracy in measurements, calculations, and / or other physical or functional properties of a device, material, or component, as would be recognized by one of ordinary skill in the art.

[0076] Embodiment One

[0077] Reference Figure 1 And Figure 2This application discloses an automatic rebound minimally invasive delivery device, including: a first clamping arm device 100, a second clamping arm device 200, a connecting device 400, and an elastic device 500. The first clamping arm device 100 and the second clamping arm device 200 are arranged opposite to each other. The first clamping arm device 100 includes a first clamping arm assembly 110 and a first connecting rod assembly 120 rotatably connected thereto. The second clamping arm device 200 includes a second clamping arm assembly 210 and a second connecting rod assembly 220 rotatably connected thereto. The ends of the second connecting rod assembly 220 and the first connecting rod assembly 120 are rotatably connected by a common pin 310.

[0078] The connecting device 400 is connected to the first link assembly 120 and the second link assembly 220. The connecting device 400 has a sliding groove 424 for accommodating the common pin 310, and the common pin 310 has the freedom to move along the sliding groove 424. The elastic device 500 is installed in the sliding groove 424. In the assembled state, the elastic device 500 has a pre-tightening closing force to control the automatic rebound of the first clamping arm device 100 and the second clamping arm device 200.

[0079] The first clamping arm assembly 110 and the second clamping arm assembly 210 are used to clamp the object to be inserted. As the first clamping arm assembly 100 and the second clamping arm assembly 200 completely detach from the object to be inserted, the first clamping arm assembly 110 and the second clamping arm assembly 210 move relative to each other under the action of the pre-tightening closing force to form a preset rebound whole. That is, the first clamping arm assembly 110 and the second clamping arm assembly 210 form a preset small-sized stable whole, which meets the surgical withdrawal conditions.

[0080] When the first clamping arm assembly 110 and the second clamping arm assembly 210 clamp the object to be inserted (not shown in the figure), the first clamping arm assembly 110 and the second clamping arm assembly 210 maintain a first state under the force of the object itself. In this state, the operator controls the conveying rod 410 to send the object to be inserted through the incision in the preset area of ​​the human body to the preset tissue area inside the human body. After the object to be inserted is delivered, under the action of external force, the jaws of the first clamping arm assembly 110 and the second clamping arm assembly 210 are controlled to open, so as to control the complete separation of the object to be inserted from the first clamping arm assembly 110 and the second clamping arm assembly 210. At this time, the jaws formed by the first clamping arm assembly 110 and the second clamping arm assembly 210 are in a second state.

[0081] In the first state, the distance between the outer side of the first clamping arm assembly 110 and the outer side of the second clamping arm assembly 210 is L1, which is smaller than the size L4 of the target cut, so as to facilitate rapid delivery from the target cut and not damage the target cut.

[0082] In the second state, when the clamping device is completely detached from the object to be inserted, the distance between the outer side of the first clamping arm assembly 110 and the outer side of the second clamping arm assembly 210 is L2. In order to satisfy the complete detachment of the object to be inserted from the clamping device, after being manipulated by external force, the jaw opening size at this time is greater than the jaw opening size in the first state and greater than the size of the target cut. Specifically, L2≥2L1>L4.

[0083] It should be noted that if the jaws of the clamping device are not opened wide enough during the process of detaching the clamping device from the object to be inserted, the relative movement of the atrial appendage clamp and the tissue will occur when the clamping device is withdrawn, causing the atrial appendage clamp to shift and the diverticulum inside the atrial appendage to enlarge, thereby increasing the risk of thrombosis. Therefore, in general, the distance between the outer side of the first clamping arm assembly 110 and the outer side of the second clamping arm assembly 210 is L2 during this process.

[0084] The existing solutions cannot control the opening and closing state of the clamping device in its second state. Therefore, when withdrawing the device, it relies on the doctor's experience to slowly and carefully rotate and adjust the device during withdrawal. Under the action of external forces such as collision and contact, the clamping jaws are slowly closed to a small size before being removed from the target incision. During this process, the unstable size of the clamping jaws will likely cause damage to surrounding tissues, resulting in a long operation time and high surgical risk. This not only requires high clinical experience from the doctor but also increases the risk of additional infection for the patient. In addition, because the opening and closing state of the device's clamping jaws is unstable, sometimes when direct withdrawal is not possible after assessment, auxiliary instruments are inserted into the corresponding position in the body to assist in the withdrawal of the device. However, the use of auxiliary instruments can also puncture tissues, greatly increasing the risk of tissue damage.

[0085] In this embodiment, as the first clamping arm assembly 110 and the second clamping arm assembly 210 completely detach from the object to be inserted, and the first clamping arm assembly 110 and the second clamping arm assembly 210 move relative to each other under the action of the pre-tightening closing force to form a preset rebound whole, the distance between the outer side of the first clamping arm assembly 110 and the outer side of the second clamping arm assembly 210 is L3; L3 < L1 < L4.

[0086] In the example surgery, L1 is generally 10mm-10.5mm, L2 is generally 20mm-27mm, and the target incision size L4 is generally 13mm. Since L3 is smaller than L1, there is more margin during withdrawal, which facilitates quick and efficient withdrawal and greatly reduces the risk of damaging surrounding tissues.

[0087] The automatic rebound minimally invasive delivery device disclosed in this embodiment, through the matching first clamping arm assembly 110, second clamping arm assembly 210, and elastic device 500, as the first clamping arm assembly 110 and second clamping arm assembly 210 completely detach from the object to be implanted, that is, as the clamping arm assembly is freed from the constraint of the closing force of the object to be implanted, the first clamping arm assembly 110 and second clamping arm assembly 210 automatically move relative to each other under the action of pre-tightening closing force to form a preset rebound whole. The size of the preset rebound whole is smaller than the size when the object to be implanted is clamped, ensuring that the preset rebound whole is stable at a controllable small size, effectively reducing damage to human tissue, reducing the difficulty of surgical operation, effectively reducing surgical risks, and shortening surgical time.

[0088] Reference Figure 2 Simultaneously refer to Figure 12 The connecting device 400 includes a conveying rod 410 and a C-shaped connecting seat 420 installed at the end of the conveying rod 410. The C-shaped connecting seat 420 includes a transition portion 421 and a first cantilever portion 422 and a second cantilever portion 423 respectively connected to both ends of the transition portion 421. The sliding groove 424 is a C-shaped groove and passes through the transition portion 421. Alternatively, the sliding groove 424 may not pass through the transition portion 421, that is, a sliding groove 424 may be provided on both the first cantilever portion 422 and the second cantilever portion 423, as long as the movement of the common pin is satisfied.

[0089] The C-shaped groove includes a first end located at the first cantilever portion 422 and a second end located at the second cantilever portion 423. The first end and the second end are the two ends of the C-shaped groove.

[0090] The first cantilever part 422 has a first through hole, and the second cantilever part 423 has a second through hole. The second link assembly 220 and the first link assembly 120 form a cross-shaped whole, and the intersection of the cross-shaped whole is equipped with an assembly pin 320. The two ends of the assembly pin 320 are respectively installed in the first through hole and the second through hole.

[0091] Furthermore, the two ends of the assembly pin 320 are flush with the first cantilever portion 422 and the second cantilever portion 423, respectively.

[0092] Simultaneously refer to Figure 3 and Figure 4 The elastic device 500 includes a first elastic component 510 and a second elastic component 520 arranged in parallel. The first elastic component 510 is installed between the first end and the common pin 310, and the second elastic component 520 is installed between the second end and the common pin 310. When assembled, the first elastic component 510 and the second elastic component 520 have a tendency force to push the common pin 310 toward the direction of the conveying rod 410.

[0093] Furthermore, the C-shaped groove also includes a first horizontal section formed in the first cantilever portion 422, an arc-shaped section formed in the transition portion 421, and a second horizontal section formed in the second cantilever portion 423. In the first horizontal section, the width of the outer side (i.e., the upper side) of the groove is greater than the width of the inner side of the groove; in the second horizontal section, the width of the outer side (i.e., the lower side) of the groove is greater than the width of the inner side of the groove; the width of the inner side of the groove in the first horizontal section and the width of the inner side of the groove in the second horizontal section are both greater than the outer diameter of the common pin 310, which facilitates the upper and lower ends of the common pin 310 to pass through.

[0094] Specifically, the first elastic component 510 includes a first elastic member 511 and a first cover plate 512 disposed on the outside of the first elastic member 511. The two ends of the first elastic member 511 are respectively abutted against the first end and the side of the common pin 310 located in the first horizontal section. The first cover plate 512 is engaged with the first horizontal section, and a first guide hole 5121 for accommodating one end of the common pin 310 is provided on the first cover plate 512. The first cover plate 512 is used to place the first elastic member 511 in the first horizontal section of the C-shaped groove and engage with the first horizontal section to ensure that the first elastic member 511 moves in a preset direction and will not pop out.

[0095] The second elastic component 520 includes a second elastic member 521 and a second cover plate 522 disposed outside the second elastic member 521. The two ends of the second elastic member 521 are respectively abutted against the second end and the side of the common pin 310 located in the second horizontal section. The second cover plate 522 is engaged with the second horizontal section, and a second guide hole 5221 is provided on the second cover plate 522 to accommodate the other end of the common pin 310. The common pin 310 has the freedom to move along the first guide hole 5121 and the second guide hole 5221.

[0096] The second cover plate 522 is used to engage with the second horizontal section in which the second elastic member 521 is placed, thereby ensuring that the second elastic member 521 moves along a preset direction and does not pop out.

[0097] In this embodiment, the first elastic member 511 and the second elastic member 521 are simply placed in the first horizontal section and the second horizontal section of the C-shaped groove, respectively, without additional fixing. Then, they are covered from the corresponding outside by the first cover plate 512 and the second cover plate 522, respectively, to ensure the installation stability of the first elastic member 511 and the second elastic member 521.

[0098] In this embodiment, the first guide hole 5121 and the second guide hole 5221 form a limit on the common pin 310 on the side near the conveying rod 410. When the common pin 310 is pushed to this position, the automatic rebound of the first clamping arm assembly 110 and the second clamping arm assembly 210 is completed. At this time, the maximum dimension from the outer side of the first clamping arm assembly 110 to the outer side of the second clamping arm assembly 210 is smaller than the target cut size, the withdrawal margin is sufficient, and the overall device is in a stable state.

[0099] After the automatic rebound of the first clamping arm assembly 110 and the second clamping arm assembly 210 is completed, the first elastic element 511 and the second elastic element 521 still have an outward pushing force to ensure the stability of the rebound state.

[0100] The first cover plate 512 is preferably flush with one end of the common pin 310, and the second cover plate 522 is preferably flush with the other end of the common pin 310.

[0101] In this embodiment, the second elastic member 521 moves synchronously with the first elastic member 511.

[0102] Furthermore, the outer side of the first cover plate 512 is flush with the first cantilever portion 422, the outer side of the second cover plate 522 is flush with the second cantilever portion 423, the second cover plate 522 and the first cover plate 512 are structurally identical, and the second elastic element 521 and the first elastic element 511 are structurally identical, which facilitates processing and installation, and the overall structure is compact and aesthetically pleasing.

[0103] Furthermore, an elastic protective sleeve (not shown in the figure) may be provided on the outside of the connecting device 400. The elastic protective sleeve has resilience, which can improve the overall sealing and durability; at the same time, it can prevent internal parts from being exposed, reduce the friction of the instrument edges on body tissues, and make the instrument move more smoothly in and out of the surgical channel.

[0104] Example 2

[0105] Reference Figure 5 and Figure 6 Based on Embodiment 1, the two ends of the common pin 310 are respectively provided with a first engaging part and a second engaging part; a first receiving groove is provided at the first end and a second receiving groove is provided at the second end.

[0106] The first elastic member 511 includes a first body 5111, and a first cantilever portion 5112 and a second cantilever portion 5113 disposed at both ends of the first body 5111. The first cantilever portion 5112 is matched with the first receiving groove, and the second cantilever portion 5113 is fixedly connected to the first engaging portion.

[0107] The second elastic member 521 includes a second body 5211, and a third cantilever portion 5212 and a fourth cantilever portion 5213 disposed at both ends of the second body 5211. The third cantilever portion 5212 is matched with the second receiving groove, and the fourth cantilever portion 5213 is fixedly connected to the second engaging portion.

[0108] In this embodiment, the stability of the corresponding elastic element in the working state is further improved by the fixed connection.

[0109] In this embodiment, the first elastic element 511 and the second elastic element 521 are preferably springs.

[0110] Example 3

[0111] Reference Figure 7 and Figure 8 Unlike Embodiment 1, the elastic device 500 is installed between the common pin 310 and the conveying rod 410.

[0112] Specifically, the conveying rod 410 includes a joint 411 connected to the C-shaped connecting seat 420 and a cylindrical rod 412 fixedly connected to the joint 411. The elastic device 500 includes a first elastic component 510 and a second elastic component 520 arranged in parallel. The first elastic component 510 is installed between the common pin 310 and the joint 411, and the second elastic component 520 is installed between the common pin 310 and the joint 411. In the assembled state, the first elastic component 510 and the second elastic component 520 have a tendency force to pull the common pin 310 towards the conveying rod 410.

[0113] The first elastic component 510 includes a first body 5111, and a first cantilever portion 5112 and a second cantilever portion 5113 disposed at both ends of the first body 5111. The first cantilever portion 5112 is fixedly connected to the common pin 310, and the second cantilever portion 5113 is fixedly connected to the joint 411.

[0114] The second elastic component 520 includes a second body 5211 and a third extension portion 5212 and a fourth extension portion 5213 disposed at both ends of the second body 5211. The third extension portion 5212 is fixedly connected to the common pin 310, and the fourth extension portion 5213 is fixedly connected to the joint 411.

[0115] The joint 411 has a first mounting groove 4111 that matches one end of the common pin 310, a second mounting groove 4112 that matches the other end of the common pin 310, a first mounting hole that matches the first mounting groove 4111, and a second mounting hole that matches the second mounting groove 4112.

[0116] The opening of the first mounting groove 4111 is provided facing the C-shaped connector 420, and the first overhang 5112 extends into the first mounting groove 4111 and is fixed by the first mounting pin installed in the first mounting hole.

[0117] The opening of the second mounting groove 4112 is provided facing the C-shaped connector 420, and the third overhang 5212 extends into the second mounting groove 4112 and is fixed by the second mounting pin installed in the second mounting hole.

[0118] The first elastic component 510 and the second elastic component 520 are preferably springs or elastic ropes.

[0119] Example 4

[0120] Reference Figure 9 Based on Embodiment 3, the common pin 310 has a central through hole; the elastic device 500 also includes a transition elastic element located inside the central through hole, and the two ends of the transition elastic element are connected to the second overhang 5113 and the fourth overhang 5213 respectively.

[0121] Furthermore, the first elastic component 510, the second elastic component 520, and the transition elastic element are preferably integrally molded.

[0122] Example 5

[0123] Reference Figure 10 and Figure 11 Based on Embodiment 1, but differing from Embodiment 1, the conveying rod 410 includes a joint 411 connected to the C-shaped connecting seat 420 and a hollow cylindrical rod 412 fixedly connected to the joint 411; the joint 411 has a first guide through hole and a second guide through hole; the elastic device 500 includes a first elastic component 510 and a second elastic component 520, one end of the first elastic component 510 is fixedly connected to the common pin 310, and the other end passes through the first guide through hole and the hollow cylindrical rod 412 in sequence to form a first control end; one end of the second elastic component 520 is fixedly connected to the common pin 310, and the other end passes through the second guide through hole and the hollow cylindrical rod 412 in sequence to form a second control end; the first control end and the second control end have a tendency force to pull the common pin 310 towards the conveying rod 410 in the assembled state.

[0124] In this practical example, the automatic rebound minimally invasive delivery device also includes a controller 600, with a first control end and a second control end both fixedly connected to the controller 600; the controller 600 has a gripping part for controlling the first control end and the second control end.

[0125] In this embodiment, the first control terminal and the second control terminal are operated simultaneously to control the common pin 310 to move outward, thereby controlling the first clamping arm assembly 110 and the second clamping arm assembly 210 to automatically move relative to each other under the action of the pre-tightening closing force to form a spring-loaded whole of a preset size.

[0126] Furthermore, the automatic rebound minimally invasive delivery device disclosed in this application also includes: the first cover plate and the second cover plate have openings on the side near the delivery rod, that is, they do not limit the common pin. As the first clamping arm assembly and the second clamping arm assembly completely detach from the object to be inserted, that is, the clamping arm assembly is freed from the constraint of the closing force of the object to be inserted, the common pin moves outward under the push or pull of the pre-tightening closing force until it abuts against the delivery rod. At this time, the first clamping arm assembly and the second clamping arm assembly are in a closed and tight overall state, and the first elastic element and the second elastic element still have an outward pushing force to ensure the stability of the rebound state. In this embodiment, the delivery rod is used to limit the common pin.

[0127] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0128] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0129] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. An automatic rebound minimally invasive delivery device, comprising: The utility model relates to a kind of first clamping arm device and second clamping arm device, and the first clamping arm device includes first clamping arm component and the first connecting rod component rotatably connected with it;The second clamping arm device includes second clamping arm component and the second connecting rod component rotatably connected with it, and the end of the second connecting rod component, the first connecting rod component is rotatably connected by common pin;Connecting device is connected with the first connecting rod component, the second connecting rod component, sliding slot for accommodating the common pin is opened in the connecting device, and the common pin has the freedom of movement along the sliding slot;Elastic device is installed in the sliding slot, and the elastic device has the pre-tightening closing force of controlling the first clamping arm device, the second clamping arm device automatically rebounds in assembly state. The connecting device includes conveying rod and C-shaped connecting seat installed at the end of the conveying rod: The C-shaped connecting seat includes transition part, and first cantilever part and second cantilever part connected with the both ends of the transition part respectively, and the sliding slot is C-shaped slot and penetrates the transition part; The C-shaped slot includes first end part in the first cantilever part and second end part in the second cantilever part; First through hole is opened in the first cantilever part, and second through hole is opened in the second cantilever part; 2. The automatic rebound minimally invasive delivery device of claim 1, wherein, The second connecting rod component and the first connecting rod component constitute cross integral, and the intersection point of the cross integral is provided with assembly pin, and both ends of the assembly pin are mounted in the first through hole and the second through hole respectively. The elastic device includes first elastic component and second elastic component arranged in parallel, the first elastic component is installed between the first end part and the common pin, and the second elastic component is installed between the second end part and the common pin; The first elastic component and the second elastic component have the tendency force of pushing the common pin to move in the direction close to the conveying rod in assembly state. The C-shaped slot further includes first horizontal section opened in the first cantilever part, arc section opened in the transition part and second horizontal section opened in the second cantilever part; The first elastic component includes first elastic member and first cover plate arranged outside the first elastic member, both ends of the first elastic member are abutted against the side surface of the first end part and the common pin in the first horizontal section respectively, the first cover plate is clamped with the first horizontal section, and first guide hole for accommodating one end of the common pin is opened in the first cover plate; 3. The automatic rebound minimally invasive delivery device of claim 2, wherein, The second elastic component includes second elastic member and second cover plate arranged outside the second elastic member, both ends of the second elastic member are abutted against the side surface of the second end part and the common pin in the second horizontal section respectively, the second cover plate is clamped with the second horizontal section, and second guide hole for accommodating the other end of the common pin is opened in the second cover plate, and the common pin has the freedom of movement along the first guide hole and the second guide hole. Both ends of the common pin are respectively provided with first clamping part and second clamping part; 4. The automatic rebound minimally invasive delivery device of claim 3, wherein, First accommodating groove is opened in the first end part; Second accommodating groove is opened in the second end part. ​ 5. The automatic rebound minimally invasive delivery device of claim 4, wherein, ​ ​ ​ The first elastic member comprises a first body, and first and second overhanging portions arranged at two ends of the first body, the first overhanging portion is arranged in matching with the first accommodating groove, and the second overhanging portion is fixedly connected with the first clamping portion. The second elastic member comprises a second body, and third and fourth overhanging portions arranged at two ends of the second body, the third overhanging portion is arranged in matching with the second accommodating groove, and the fourth overhanging portion is fixedly connected with the second clamping portion.

6. The automatic rebound minimally invasive delivery device of claim 3, wherein, The conveying rod comprises a joint connected with the C-shaped connecting base and a hollow cylindrical rod fixedly connected with the joint. The elastic device comprises first and second elastic components arranged in parallel, the first elastic component is arranged between the common pin and the joint, and the second elastic component is arranged between the common pin and the joint. The first elastic component comprises a first body, and first and second overhanging portions arranged at two ends of the first body, the first overhanging portion is fixedly connected with the common pin, and the second overhanging portion is fixedly connected with the joint. The second elastic component comprises a second body, and third and fourth overhanging portions arranged at two ends of the second body, the third overhanging portion is fixedly connected with the common pin, and the fourth overhanging portion is fixedly connected with the joint. The first and second elastic components have a tendency to pull the common pin to move towards the conveying rod in the assembled state.

7. The automatic rebound minimally invasive delivery device of claim 6, wherein, The joint is internally provided with a first mounting groove arranged in matching with one end of the common pin, a second mounting groove arranged in matching with the other end of the common pin, a first mounting hole arranged in matching with the first mounting groove, and a second mounting hole arranged in matching with the second mounting groove. The opening of the first mounting groove is arranged towards the C-shaped connecting base, the first overhanging portion overhangs into the first mounting groove, and is fixed by a first mounting pin mounted in the first mounting hole. The opening of the second mounting groove is arranged towards the C-shaped connecting base, the third overhanging portion overhangs into the second mounting groove, and is fixed by a second mounting pin mounted in the second mounting hole.

8. The automatic rebound minimally invasive delivery device of claim 7, wherein, The common pin is provided with a central through hole. The elastic device further comprises a transition elastic member located inside the central through hole, two ends of the transition elastic member are connected with the second overhanging portion and the fourth overhanging portion respectively.

9. The automatic rebound minimally invasive delivery device of claim 3, wherein, The conveying rod comprises a joint connected with the C-shaped connecting base and a hollow cylindrical rod fixedly connected with the joint. The joint is provided with first and second guide through holes. The elastic device comprises first and second elastic components, one end of the first elastic component is fixedly connected with the common pin, and the other end sequentially passes through the first guide through hole and the hollow cylindrical rod to form a first control end; One end of the second elastic component is fixedly connected with the common pin, and the other end sequentially passes through the second guide through hole and the hollow cylindrical rod to form a second control end; The first and second control ends have a tendency to pull the common pin to move towards the conveying rod in the assembled state.

10. The automatic rebound minimally invasive delivery device of claim 9, wherein, The automatic rebound minimally invasive delivery device further comprises a controller, and the first control end and the second control end are fixedly connected with the controller. The controller has a holding part for controlling the first control end and the second control end.

Images