Clamping device and instrument

Abstract

The utility model relates to a clamping device and an instrument. The clamping device comprises a first shaft, a second shaft and at least two clamping parts, the clamping parts are connected to the first shaft, sliding grooves matched with the second shaft are formed in the clamping parts so that the clamping parts can rotate according to the distance change of the second shaft and the rotating axis in the first direction, and the sliding grooves are provided with starting points and terminal points; the sliding groove of at least one clamping part at least comprises two groove sections, every two adjacent groove sections are deflected, and at least one groove section is a linear groove. When the starting point is located on the second axis, a first groove section, corresponding to the second axis, in the sliding groove forms a first included angle theta 1 with the second direction, when the end point is located on the second axis, a second groove section, corresponding to the second axis, in the sliding groove forms a second included angle theta 2 with the second direction, and the second direction is perpendicular to the first direction and the second axis. According to the clamping device, actions can be well achieved during state change and at different stages in the movement process.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to clamping devices and instruments. Background Technology

[0002] In endoscopic surgeries, surgical devices are frequently used, such as biopsy forceps for sampling suspected lesions, grasping forceps for grabbing foreign objects, and hemostatic clips for holding tissue wounds. These surgical devices all require the performance of clamping actions.

[0003] Common biopsy forceps are designed with a four-bar linkage. Force is transmitted to the connecting plates of the four bars via a push-pull mechanism, and then from the connecting plates to the forceps cups to open and close. The presence of the connecting plates results in a longer overall length of the forceps head and increases the number of parts.

[0004] To reduce the number of parts and manufacturing costs, a surgical device is designed to achieve the clamping action. The push-pull component may be equipped with a pin, and the distal component (such as a forceps cup) may be equipped with a linear groove. The pin is located within the groove and abuts against its sidewall. The push-pull action of the push-pull component relative to the outer shell controls the rotation of the distal component relative to the outer shell, allowing the distal component to change from an open state to a clamping state, or vice versa. Within the plane of rotation, a sliding direction of the push-pull component and a horizontal axis perpendicular to this sliding direction are defined. When the distal component rotates, the change in the angle between the sidewall and the sliding direction of the push-pull component, or the change in the angle with the horizontal axis, causes a change in the rotational force converted from the driving force.

[0005] In addition, this type of linear slide surgical device is difficult to balance the working performance under different conditions. In at least some conditions, the angle of the linear slide of the surgical device is too large relative to the horizontal axis, resulting in too small a component force used to drive the rotation of the distal component, which in turn makes it difficult for the distal component to rotate. Utility Model Content

[0006] Therefore, it is necessary to provide clamping devices or instruments to address at least one of the above-mentioned problems.

[0007] On one hand, this application provides a clamping device, comprising: a first shaft defining a rotation axis; a second shaft, both located in a first direction and perpendicular to the rotation axis; and at least two clamping members, each clamping member connected to the first shaft and capable of rotating about the rotation axis. Each clamping member has a groove that engages with the second shaft, allowing it to rotate according to the distance between the second shaft and the rotation axis along the first direction. When the starting point of the groove is at the second shaft, the clamping member is in an open state; when the ending point of the groove is at the second shaft, the clamping member is in a clamping state. Of the at least two clamping members, at least one clamping member has a groove comprising at least two segments, with adjacent segments offset from each other, and at least one segment being a straight groove. Specifically, when the starting point is at the second shaft, the first segment of the groove corresponding to the second shaft has a first angle θ1 with the second direction; when the ending point is at the second shaft, the second segment of the groove corresponding to the second shaft has a second angle θ2 with the second direction, the second direction being perpendicular to both the first direction and the second shaft.

[0008] By setting the second slot segment to be deflected relative to the first slot segment, the second axis can achieve different control effects at the starting point and the ending point, thereby enabling the clamping component to perform its actions well during state changes and at different stages of the movement process.

[0009] The clamping device of this application can achieve at least one of the following beneficial effects: it has a relatively slow opening and closing effect when opening from the clamping state; the force is greater at the initial stage of the process of changing from the opening state to the clamping state; it can meet the clamping requirements of different biases; and the force is greater when clamping, avoiding dead points in movement.

[0010] In some implementations, the first included angle θ1 satisfies: 10° ≤ θ1 ≤ 70°. For example, the second included angle θ2 satisfies: 10° ≤ θ2 ≤ 70°.

[0011] With this setting, the first or second included angle will not be too small, which helps to provide sufficient force and effectively realize the state transition of the clamping component; in addition, the first or second included angle will not be too large, avoiding excessively long control stroke and effectively realizing the state transition of the clamping component.

[0012] For example, the circumferential rotation angle γ between the starting point and the ending point relative to the rotation axis satisfies: 45° ≤ γ. For example, the deflection angle β between any two adjacent segments in the groove satisfies: 140° < β < 180°.

[0013] With this configuration, the circumferential rotation angle of the clamping component is relatively large, and the clamping device can clamp the object to be clamped; when the second axis switches between two adjacent slot sections, the direction change of the component force used to control the rotation of the clamping component is relatively small, the rotation of the clamping component is relatively smooth, and the feeling of jamming during the entire opening or clamping process is weak.

[0014] In some implementations, the first included angle θ1 is 45°. Exemplarily, the second included angle θ2 is 45°.

[0015] With this configuration, the clamping component experiences a large rotational force, resulting in effective operation and strong clamping force; the layout of the slides can be more compact. The clamping device is easy to operate and performs well.

[0016] For example, the distance between the starting point and the axis of rotation is less than the distance between the ending point and the axis of rotation.

[0017] With this configuration, the slide smoothly passes through the second axis from the starting point to the ending point, which is also the process in which the distance between the second axis and the first axis gradually increases along the first direction. The clamping component changes from the open state to the clamping state. This control process helps to make the clamping device suitable for use in endoscopic systems.

[0018] In some implementations, the length of the first slot segment is greater than the length of the second slot segment.

[0019] With this setup, the longer the first slot segment is, the greater the clamping force will be. In addition, the control path of the first slot segment is relatively long, which can achieve a continuous control during the control process. Then, the second slot segment can be used for the final control, ensuring the control effect of this stage.

[0020] For example, the first axis is connected to the cup holder, and the second axis is connected to the push-pull component.

[0021] With this configuration, the clamping component is rotatably connected to the cup holder, and the clamping device applies clamping force.

[0022] For example, the second axis is connected to the cup holder, and the first axis is connected to the push-pull component.

[0023] With this configuration, the clamping component is rotatably connected to the push-pull component, resulting in a large opening and closing action.

[0024] In some embodiments, the push-pull member includes a vacant platform and a pivot portion disposed on the vacant platform; the clamping member includes a clamping arm and a clamping tail, the clamping arm being used for clamping, the clamping tail being used for connecting to the pivot portion, and the clamping tail being disposed between the clamping arm and the vacant platform.

[0025] With this configuration, the structural dimensions of the push-pull component can be configured as needed, the clamp arm moves at the far end, and the clamp tail can move in the space between the clamp arm and the empty platform, avoiding collision and interference between the clamp tail and the push-pull component during movement.

[0026] In some embodiments, at least two clamping components include a first clamping component and a second clamping component. The second clamping component can cooperate with the first clamping component to achieve clamping. The first clamping component and the second clamping component each include a clamping arm and a clamping tail. The clamping tails of the first clamping component and the second clamping component are in contact along a rotation axis and can slide. The clamping arm of the first clamping component, the clamping arm of the second clamping component, the clamping tail of the first clamping component, and the clamping tail of the second clamping component are used to define a receiving space.

[0027] This configuration, with the two jaws in contact, helps to seal the containment space. In addition, the two jaws restrict each other but can slide, making the movement of the two clamping components stable and precise, avoiding shaking when the clamping components rotate and avoiding improper operation.

[0028] In some embodiments, at least two clamping members include a pair of mating grooves on the clamping members, the grooves being either mirror-image or non-mirror-image arranged with respect to a first direction and a rotation axis. Exemplarily, the groove of the second clamping member is mirror-image of the groove of the first clamping member. Exemplarily, the groove of the second clamping member is non-mirror-image of the groove of the first clamping member. Exemplarily, the groove of the second clamping member is a linear groove mating with a second axis.

[0029] This configuration allows for the design and implementation of different clamping methods. The clamping device can adapt to different clamping requirements.

[0030] In some embodiments, the first and second segments of the slide are directly connected, and the included angle of deflection of the first and second segments is directed toward the axis of rotation. For example, the first slope of the first segment relative to the second direction is greater than the second slope of the second segment relative to the second direction.

[0031] With this configuration, the clamping device requires a larger starting force to switch from the open state to the clamping state, resulting in a slower and more stable clamping process.

[0032] In some embodiments, the first and second segments of the groove are directly connected, and the included angle of deflection of the first and second segments is opposite to the axis of rotation. For example, the first slope of the first segment relative to the second direction is less than the second slope of the second segment relative to the second direction.

[0033] With this configuration, the clamping device has a longer start-up process when it changes from the open state to the clamping state, resulting in stronger clamping force and easier holding.

[0034] On the other hand, this application provides an apparatus comprising: the aforementioned clamping device; a delivery sheath, wherein the clamping device is disposed at the distal end of the delivery sheath; and a handle disposed at the proximal end of the delivery sheath for controlling the opening and clamping of the clamping device.

[0035] The device described in this application has good operability. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the clamping device in the open state according to one or more embodiments;

[0037] Figure 2 A schematic top view of a clamping device in the open state according to one or more embodiments;

[0038] Figure 3 This is a schematic diagram of the pincer tail according to one or more embodiments;

[0039] Figure 4 This is a schematic diagram of a clamping device in a clamping state according to one or more embodiments;

[0040] Figure 5 This is a schematic diagram of a clamping device in a clamping state according to one or more embodiments;

[0041] Figure 6 This is a schematic structural diagram of a clamping device in an open state according to one or more embodiments;

[0042] Figure 7 This is a schematic structural diagram of a clamping device in a transitional state according to one or more embodiments;

[0043] Figure 8 This is a schematic structural diagram of a clamping device in a clamping state according to one or more embodiments;

[0044] Figure 9 This is a schematic diagram illustrating the theoretical angular relationships of a clamping device according to one or more embodiments;

[0045] Figure 10 This is a schematic diagram of the clamping device according to one or more embodiments;

[0046] Figure 11 This is a schematic diagram illustrating the theoretical angular relationships of a clamping device according to one or more embodiments;

[0047] Figure 12 This is a schematic diagram of the clamping device according to one or more embodiments;

[0048] Figure 13 This is a schematic diagram illustrating the theoretical angular relationships of a clamping device according to one or more embodiments;

[0049] Figure 14 This is a schematic diagram of the clamping device according to one or more embodiments;

[0050] Figure 15This is a schematic diagram illustrating the theoretical angular relationships of a clamping device according to one or more embodiments;

[0051] Figure 16 This is a schematic diagram of the clamping device according to one or more embodiments;

[0052] Figure 17 This is a schematic structural diagram of a clamping device according to one or more embodiments;

[0053] Figure 18 This is a schematic structural diagram of an apparatus according to one or more embodiments.

[0054] Explanation of reference numerals in the attached drawings: 1. First axis; 2. Second axis; 3. Clamping component; 310. First clamping component; 320. Second clamping component; 31. Slide groove; 301. Groove segment; 311. First groove segment; 312. Second groove segment; 313. End segment; 3101. Starting point; 3102. End point; 3103. First side wall; 3104. Second side wall; 3105. Third side wall; 3106. Fourth side wall; 32. Pin hole; 33. Pliers arm; 34. Pliers tail; 341. Pliers tail end face; 4. Cup seat; 5. Push-pull component; 51. Empty platform; 52. Pivot joint;

[0055] 100. Clamping device; 101. Receiving space; 200. Handle; 210. Fixing handle; 220. Sliding handle; 300. Delivery sheath; 400. Traction wire; 1000. Instrument. Detailed Implementation

[0056] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0057] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0058] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0059] Furthermore, the terms "first," "second," "third," etc., 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. For example, a first axis may also be referred to as a second axis, and a second axis may also be referred to as a first axis. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0060] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; a flexible connection or a rigid connection along at least one direction; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium, or a direct connection with an intermediate medium present; and they can also refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. The terms "installed," "set," "fixed," etc., can be broadly understood as connection. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0061] It should be noted that, in this application, the terms "proximal" and "distal" are used with the operator as the reference point. The end closer to the operator is the proximal end or proximal portion, and the end farther from the operator is the distal end or distal portion. The side facing the operator is the proximal side or proximal side, and the side away from the operator is the distal side or distal side. Furthermore, "distal direction" and "proximal direction" represent two directions; the proximal-distal direction is parallel to both the distal and proximal directions, and does not specifically refer to forward or reverse directions. For ease of description, a spatial rectangular coordinate system XYZ is established, where the X-axis direction can represent the proximal-distal direction.

[0062] refer to Figure 1 , Figure 1The clamping device of this application is illustrated. In an exemplary embodiment, the clamping device 100 includes a first shaft 1, a second shaft 2, and a clamping component 3, such as a first clamping component 310. The clamping device 100 may be disposed on an endoscope, and in some embodiments, the clamping component 3 may cooperate with other components disposed on the endoscope to achieve clamping. Exemplarily, the clamping device 100 may include at least two clamping components 3, which cooperate to achieve clamping action.

[0063] Combination Figure 2 As shown, the first axis 1 defines a rotation axis T, which may be substantially parallel to the Z-axis direction. In some embodiments, the first axis 1 may be parallel to the second axis 2; in other embodiments, the first axis 1 and the second axis 2 are coplanar. The second axis 2 and the first axis 1 may both be located in a first direction, which is perpendicular to the rotation axis T. Specifically, the first direction may be parallel to the X-axis direction, and the second direction may be parallel to the Y-axis direction.

[0064] The distance between the second axis 2 and the first axis 1 along the first direction can be controlled to vary. (Reference) Figure 1 In an exemplary embodiment, the first axis 1 is connected to the cup holder 4, and the second axis 2 is connected to the push-pull member 5. During use, the position of the first axis 1 can be kept stationary, and then the second axis 2 can be moved to achieve a change in distance. The push-pull member 5 may have an axis L1, which may be parallel to the X-axis direction.

[0065] The first clamping component 310 is connected to the first shaft 1. Optionally, the first clamping component 310 is fixed to the first shaft 1, and the first shaft 1 is rotatably connected to the cup holder 4; or, the first clamping component 310 is rotatably connected to the first shaft 1, and the first shaft 1 is fixed to the cup holder 4; or, the first clamping component 310 is rotatably connected to the first shaft 1, and the first shaft 1 is rotatably connected to the cup holder 4. In summary, the first clamping component 310 is rotatable about the rotation axis T. Exemplarily, the first clamping component 310 has a pin hole 32, which is rotatably connected to the first shaft 1. The second shaft 2 can be fixed to the push-pull member 5, or it can be rotatably connected to the push-pull member 5.

[0066] refer to Figure 1 and Figure 3 The first clamping member 310 has a groove 31 that mates with the second shaft 2, allowing the first clamping member 310 to rotate according to the change in distance between the second shaft 2 and the rotation axis T along a first direction. The distance between the groove 31 and the pin hole 32 varies continuously at different points. The groove 31 of the first clamping member 310 includes at least two groove segments 301, with adjacent groove segments 301 deflected and at least one groove segment 301 being a straight groove. Exemplarily, both the first groove segment 311 and the second groove segment 312 are straight grooves.

[0067] exist Figure 1In the XY plane shown, the first clamping component 310 opens clockwise around the rotation axis T, therefore... Figure 1 The clockwise direction can be referred to as the positive circumferential direction of the first clamping component 310. (Reference) Figure 1 When the starting point 3101 of the slide 31 is at the second axis 2, the clamping component 3 is in the open state, as shown in the reference. Figure 4 When the end point 3102 of the slide groove 31 is at the second axis 2, the clamping component 3 is in a clamping state.

[0068] The first groove segment 311 can correspond to the starting point 3101, and the second groove segment 312 can correspond to the ending point 3102. The first groove segment 311 may include a first sidewall 3103 and a second sidewall 3104 that are arranged opposite to each other and parallel to each other. The distance between the two sidewalls is also the groove width of the first groove segment 311, which can be approximately equal to the shaft diameter of the second shaft 2. The second groove segment 312 may include a third sidewall 3105 and a fourth sidewall 3106 that are arranged opposite to each other and parallel to each other. The distance between the two sidewalls is also the groove width of the second groove segment 312, which can also be approximately equal to the shaft diameter of the second shaft 2.

[0069] For example, the distance between the starting point 3101 and the rotation axis T is less than the distance between the ending point 3102 and the rotation axis T. With this configuration, when the second axis 2 leaves the first axis 1, the first clamping member 310 performs a clamping action; when the second axis 2 approaches the first axis 1, the first clamping member 310 performs an opening action. When the second axis 2 leaves the first axis 1, it can abut against the first side wall 3103 or the third side wall 3105; when the second axis 2 approaches the first axis 1, it can abut against the fourth side wall 3106 or the second side wall 3104. The smooth passage of the slide 31 from the starting point 3101 to the ending point 3102 through the second axis 2 is also a process in which the distance between the second axis 2 and the first axis 1 gradually increases along the first direction. The clamping member 3 changes from an open state to a clamping state. This control process helps to make the clamping device 100 suitable for use in an endoscope system.

[0070] refer to Figure 1 In the illustrated embodiment, the clamping device 100 may include another clamping component 3, namely a second clamping component 320. The second clamping component 320 may also rotate about the rotation axis T and includes a groove 31. It can be considered that the two clamping components 3 can be connected at different positions on the same first axis 1; or they can be considered to be connected to two coaxially arranged first axes 1 respectively. The groove 31 of the second clamping component 320 is mirrored with the groove 31 of the first clamping component 310. The mirror surface can be defined by a first direction and the rotation axis T, thereby allowing for the design of two symmetrical clamping arms 33, with centered clamping during clamping.

[0071] The first clamping component 310 may include a jaw 34 and a clamping arm 33 connected to the distal end of the jaw 34. In the first clamping component 310, the jaw 34 is used to connect to the first shaft 1 and engage with the second shaft 2, and the clamping arm 33 is used to perform clamping. (Reference) Figure 1, Figure 2 , Figure 4 and Figure 5 The second clamping member 320 can cooperate with the first clamping member 310 to achieve clamping. The first clamping member 310 and the second clamping member 320 each include a clamping arm 33 and a clamping tail 34. (Reference) Figure 2 The jaws 34 of the first clamping member 310 and the jaws 34 of the second clamping member 320 contact each other along the rotation axis T and are capable of sliding. The jaws 34 may include a jaw end face 341 configured as a plane. The contact of the two jaws 34 facilitates the closure of the receiving space 101. (Reference) Figure 4 The clamp arms 33 of the first clamping member 310, the clamp arms 33 of the second clamping member 320, the clamp tails 34 of the first clamping member 310, and the clamp tails 34 of the second clamping member 320 are used to define the receiving space 101. In addition, the two clamp tails 34 restrict each other but can slide, so that the movement of the two clamping members 3 is stable and precise, avoiding shaking when the clamping members 3 rotate and avoiding misoperation.

[0072] refer to Figure 5 The push-pull member 5 includes a space platform 51 and a pivot portion 52 located at the distal end of the space platform 51. A stepped space can be formed at the space platform 51 along the Z-axis direction. The structural dimensions of the push-pull member 5 can be configured as needed. The jaw 34 of the first clamping member 310 can be connected to the pivot portion 52 via a second shaft 2. The clamp arm 33 protrudes from the pivot portion 52 and is used to clamp an object. The jaw 34 is located between the clamp arm 33 and the space platform 51. The clamp arm 33 moves at its distal end, and the jaw 34 can move synchronously in the space between the clamp arm 33 and the space platform 51. The jaw 34 and the space platform 51 can be spaced apart, and the jaw 34 will not collide or interfere with the push-pull member 5 during movement. In some embodiments, the extreme position of the jaw 34 can just contact the push-pull member 5.

[0073] For the first clamping component 310, refer to Figure 1 and Figure 6 When the starting point 3101 is located at the second axis 2, the first groove segment 311 in the slide 31 corresponding to the second axis 2 has a first angle θ1 with the second direction. The auxiliary line L2 shown in the figure is set along this second direction, perpendicular to the first direction and perpendicular to the second axis 2, and can be approximately parallel to the Y-axis direction. Reference Figure 7 The first groove segment 311 is transformed into the second groove segment 312 to cooperate with the second shaft 2. (Reference) Figure 4 and Figure 8 When the endpoint 3102 is located at the second axis 2, the second groove segment 312 in the slide 31 corresponding to the second axis 2 has a second included angle θ2 with the second direction. Figures 6 to 7 Again Figure 8 The state shown is the clamping process; by Figures 8 to 7 Again Figure 6The state shown represents the opening process. Both the first included angle θ1 and the second included angle θ2 can be greater than 0°, which helps to avoid dead points in the movement. The second groove segment 312 is deflected relative to the first groove segment 311, which enables the second shaft 2 to achieve different control effects at the starting point 3101 and the ending point 3102, thereby allowing the clamping component 3 to perform its actions well during state changes and at different stages of the movement process.

[0074] refer to Figure 7 The first groove segment 311 and the second groove segment 312 in the slide 31 are directly connected, and the included angle of deflection of the first groove segment 311 and the second groove segment 312 is toward the rotation axis T. Approximately along the proximal-distal direction, the first shaft 1 is located between the second shaft 2 and the clamp arm 33. The first slope of the first groove segment 311 relative to the second direction is greater than the second slope of the second groove segment 312 relative to the second direction. By configuring the first groove segment 311 with a straight groove and a larger slope, after the second shaft 2 moves downward at a constant speed through the entire first groove segment 311, the circumferential rotation angle of the first clamping member 310 relative to the first shaft 1 can be smaller, that is, the swing amplitude of the clamp arm 33 is smaller. Based on the functional type of the clamp arm 33, the situation of sudden closure during use is avoided.

[0075] The clamping state of the clamping device 100 when actually clamping an object may differ from the clamping state during the idle stroke. For example, after clamping the object, the second shaft 2 may not reach the theoretical end point 3102 of the slide 31. In other cases, the end point 3102 may reach the second shaft 2, at which point the two clamping arms 33 will engage and then cease to rotate. Exemplarily, the slide 31 may include an end section 313, which tends to continue rotating under the drive of the second shaft 2 to ensure a tight engagement of the clamping arms 33 and prevent incomplete engagement due to dimensional deviations or wear.

[0076] The first included angle θ1 can satisfy: 10°≤θ1≤70°, for example, 20°, 30°, 40°, 50°, or 60°. The second included angle θ2 can satisfy: 10°≤θ2≤70°. The first or second included angle is not too small, which helps to provide sufficient force to effectively achieve the state transition of the clamping component 3; in addition, the first or second included angle is not too large, avoiding an excessively long required control stroke, thus effectively achieving the state transition of the clamping component 3. Optionally, the first included angle θ1 can satisfy: 35°≤θ1≤55°. The second included angle θ2 can satisfy: 35°≤θ2≤55°.

[0077] For example, the first included angle θ1 is 45°; the second included angle θ2 can also be 45°. At the starting point 3101 or the ending point 3102, the clamping component 3 experiences a large rotational force, and pulling the second shaft 2 along the Z-axis direction can effectively operate the clamping component 3, and the clamping force of the clamping component 3 is strong when the second shaft 2 is pulled. (Reference) Figure 8Along the second direction, the first clamping member 310 is narrower. By configuring the included angles that each slot segment 301 needs to achieve, the layout of the slide 31 can be more compact. When the first included angle θ1 is 45° and the second included angle θ2 is 45°, the clamping device 100 is easy to operate and has good working effect.

[0078] refer to Figure 6 , Figure 8 and Figure 9 In the first clamping component 310 of the embodiment shown, the circumferential rotation angle γ of the starting point 3101 and the ending point 3102 relative to the rotation axis T, the deflection angle β between the first groove segment 311 and the second groove segment 312, the first included angle θ1 and the second included angle θ2 satisfy: θ1+90°+90°-θ2+γ+β=360°, that is, θ1-θ2+γ+β=180°.

[0079] For example, the circumferential rotation angle γ between the starting point 3101 and the ending point 3102 relative to the rotation axis T satisfies: 45° ≤ γ. The circumferential rotation angle of the clamping component 3 is relatively large; for example, the opening angle achieved by the first clamping component 310 and the second clamping component 320 is greater than 90°, enabling the clamping device 100 to clamp the object to be clamped. For example, if γ, θ1, and θ2 are all 45°, the clamping device 100 requires a larger starting force to transition from the open state to the clamping state, resulting in a slower and more stable clamping process.

[0080] For example, the deflection angle β between any two adjacent groove segments 301 in the slide 31 satisfies: 140° < β < 180°. When the second shaft 2 switches between adjacent groove segments 301, the direction change of the component force used to control the rotation of the clamping component 3 is small, and the rotation of the clamping component 3 is smoother. The clamping device 100 has a weaker sense of jamming during the entire opening or clamping process. For example, when the deflection angle is greater than 140°, only one of the first and second angles can be set to 45°, for example, the second angle can be set to 45° to have the maximum force during clamping.

[0081] refer to Figure 10 and Figure 11 In an exemplary embodiment, the clamping device 100 includes two clamping components 3, and two sliding grooves 31 can be mirror-arranged. In the clamping device 100, the second shaft 2 is connected to the push-pull member 5, and the first shaft 1 is connected to the cup holder 4. In use, the cup holder 4 and the first shaft 1 can remain substantially stationary along the X-axis direction, and the push-pull member 5 can move the second shaft 2 away from or towards the first shaft 1. The clamping components 3 are rotatably connected to the cup holder 4, and the first shaft 1 can be configured in the jaws 34 at a position close to the jaw arms 33.

[0082] For the first clamping component 310, the distance between the starting point 3101 and the rotation axis T defined by the first shaft 1 is less than the distance between the ending point 3102 and the rotation axis T. The first groove segment 311 and the second groove segment 312 in the slide 31 can be directly connected, and the deflection angle between the first groove segment 311 and the second groove segment 312 is opposite to the rotation axis T.

[0083] refer to Figure 11 The circumferential rotation angle γ between the starting point 3101 and the ending point 3102 relative to the rotation axis T, the deflection angle β between the first groove segment 311 and the second groove segment 312, the first included angle θ1 and the second included angle θ2 satisfy: θ1+90°+90°-θ2+γ+360°-β=360°, that is, θ1-θ2+γ+180°=β. Figure 10 In the illustrated embodiment, the value of the first included angle can be small, and the value of the second included angle can be large. Since the deflection angle is less than 180°, then θ1 + γ < θ2. For example, if the circumferential rotation angle is configured to be greater than 45° and the first included angle is greater than 10°, then the second included angle θ2 will be greater than 55°.

[0084] For example, the first slope of the first groove segment 311 relative to the second direction is less than the second slope of the second groove segment 312 relative to the second direction. During the process of the clamping device 100 changing from the open state to the clamping state, the starting process of the first groove segment 311 section is longer, and the clamping force of the second groove segment 312 section is stronger. In addition, the second shaft 2 is easy to hold at the end point 3102.

[0085] refer to Figure 12 and Figure 13 In an exemplary embodiment, the clamping device 100 includes two clamping components 3, and two sliding grooves 31 can be mirror-arranged. In the clamping device 100, the second shaft 2 is connected to the cup holder 4, and the first shaft 1 is connected to the push-pull member 5. In use, the cup holder 4 and the second shaft 2 can remain substantially stationary along the X-axis direction, and the push-pull member 5 can move the first shaft 1 away from or towards the second shaft 2. The clamping components 3 are rotatably connected to the push-pull member 5, and the first shaft 1 can be configured to be located away from the clamp arm 33 in the jaw 34.

[0086] For the first clamping component 310, the distance between the starting point 3101 and the rotation axis T defined by the first shaft 1 is less than the distance between the ending point 3102 and the rotation axis T. The first groove segment 311 and the second groove segment 312 in the slide 31 can be directly connected, and the deflection angle between the first groove segment 311 and the second groove segment 312 is opposite to the rotation axis T.

[0087] refer to Figure 13 The circumferential rotation angle γ, the deflection angle β, the first included angle θ1, and the second included angle θ2 satisfy: θ1 - θ2 + γ + 180° = β. Since the deflection angle is less than 180°, then θ1 + γ < θ2. For example, the circumferential rotation angle is configured to be greater than 45° and the first included angle is configured to be greater than 10°.

[0088] For example, the first slope of the first groove segment 311 relative to the second direction is less than the second slope of the second groove segment 312 relative to the second direction. During the process of the clamping device 100 changing from the open state to the clamping state, the starting process of the first groove segment 311 section is longer, and the clamping force of the second groove segment 312 section is stronger. In addition, the second shaft 2 is easy to hold at the end point 3102.

[0089] refer to Figure 14 and Figure 15 In an exemplary embodiment, the clamping device 100 includes two clamping components 3, and two sliding grooves 31 can be mirror-arranged. In the clamping device 100, the second shaft 2 is connected to the cup holder 4, and the first shaft 1 is connected to the push-pull member 5. In use, the cup holder 4 and the second shaft 2 can remain substantially stationary along the X-axis direction, and the push-pull member 5 can move the first shaft 1 away from or towards the second shaft 2. The clamping components 3 are rotatably connected to the push-pull member 5, and the first shaft 1 can be configured in the jaws 34 at a position relatively far from the jaw arms 33.

[0090] For the first clamping component 310, the distance between the starting point 3101 and the rotation axis T defined by the first shaft 1 is less than the distance between the ending point 3102 and the rotation axis T. The first groove segment 311 and the second groove segment 312 in the slide 31 can be directly connected, and the deflection angles of the first groove segment 311 and the second groove segment 312 are oriented towards the rotation axis T. The circumferential rotation angle γ, the deflection angle β, the first angle θ1, and the second angle θ2 satisfy: θ1-θ2+γ+β=180°. For example, the circumferential rotation angle γ satisfies: 45°≤γ. At least one of the first and second angles can be 45°. When the first groove segment 311 corresponds to the second shaft 2, the action is effective and powerful. When the second angle is 45°, the first clamping component 310 is easily opened from the clamping state, and the clamping device operates flexibly.

[0091] In some embodiments, the clamping device 100 may be configured as a device with different functions such as biopsy forceps, grasping forceps, hemostatic clamps, etc.

[0092] refer to Figure 16The clamping device 100 may include two cooperating clamping components 3, and the two sliding grooves 31 may be mirror-arranged. For the first clamping component 310, the jaw 34 may be connected to the first shaft 1 and can rotate about the rotation axis T; the sliding groove 31 is cooperating with the second shaft 2, with the starting point 3101 being closer to the first shaft 1; the deflection angle between the first groove segment 311 and the second groove segment 312 is towards the first shaft 1; the length of the first groove segment 311 is greater than the length of the second groove segment 312. The control path of the first groove segment 311 is longer, allowing the second shaft 2 to provide a larger clamping force to the first clamping component 310; furthermore, the starting phase of the first clamping component 310 transitioning from the open state to the clamping state is longer, enabling continuous control during the control process; thus, the second groove segment 312 can be used for finishing control, ensuring the control effect of this phase.

[0093] For example, the groove 31 of the second clamping member 320 is not a mirror image of the groove 31 of the first clamping member 310. They may be different in shape or in their circumferential position relative to the clamping arm 33. In other embodiments, the two rotation axes T of the two clamping members 3 may be coaxial.

[0094] refer to Figure 17 The first clamping component 310 is rotatably connected to the cup holder 4 via a first shaft 1, while the second shaft 2 is disposed on the push-pull component 5. The slide groove 31 of the first clamping component 310 includes a first groove segment 311 and a second groove segment 312 that are offset from each other, with the starting point 3101 being closer to the first shaft 1, and the circumferential rotation angle γ being 90°. The slide groove 31 of the second clamping component 320 is a straight slide groove that mates with the second shaft 2. Figure 17 The clamping device 100 in the open state shown is capable of clamping an object that is offset to the left relative to the first direction. When the second axis 2 moves away from the first axis 1, the first clamping member 310 closes to the second clamping member 320 to achieve clamping.

[0095] For example, the first groove segment 311 and the second groove segment 312 in the slide 31 are directly connected, and the deflection angle between the first groove segment 311 and the second groove segment 312 is directed towards the rotation axis. The slide 31 of the second clamping member 320 can also be configured with a shape different from that of the slide 31 of the first clamping member 310, which can be designed to implement different clamping methods. The clamping device 100 can adapt to different clamping requirements.

[0096] refer to Figure 18 This application provides an instrument 1000, which includes a clamping device 100, a delivery sheath 300, and a handle 200. The clamping device 100 is disposed at the distal end of the delivery sheath 300, and the handle 200 is disposed at the proximal end of the delivery sheath 300. The handle 200 is used to control the opening and clamping of the clamping device 100.

[0097] For example, a traction wire 400 is disposed within the delivery sheath 300. The handle 200 may include a fixed handle 210 and a sliding handle 220, the fixed handle 210 being connected to the delivery sheath 300 and the sliding handle 220 being connected to the traction wire 400. By controlling the sliding handle 220, the traction wire 400 can be pushed in a distal direction or pulled in a proximal direction.

[0098] In the device 1000, the cup holder 4 can be connected to the delivery sheath 300, and the push-pull member 5 can be connected to the traction wire 400. The clamping device 100 can be the aforementioned clamping device 100. According to the clamping action of the clamping member 3, the clamping member 3 can be rotatably connected to the cup holder 4 or the push-pull member 5, and its slide groove 31 is matched with the shaft provided by the push-pull member 5 or the cup holder 4.

[0099] The instrument 1000 of this application has good operability and is suitable for endoscopic operation requirements. The clamping action of the clamping component 3 can be responsive to the pulling of the sliding handle 220 and the traction wire 400. The instrument 1000 can also achieve at least one of the following beneficial effects: it has a relatively slow opening and closing effect when opening from the clamping state; the initial stage of the process from the opening state to the clamping state has a large force, which can meet the clamping requirements of different orientations; and the force is large when clamping, avoiding dead points in movement.

[0100] The technical features of the above-disclosed embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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.

[0101] The embodiments disclosed above merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of patent protection claimed by this application. Therefore, the scope of patent protection of this application should be determined by the appended claims.

Claims

1. Gripping device, characterized in that The first shaft defines a rotation axis; The second shaft is located in the first direction together with the first shaft, and the first direction is perpendicular to the rotation axis; At least two clamping components are connected to the first shaft and can rotate around the rotation axis, and the clamping components are provided with a sliding groove matched with the second shaft, so that the clamping components can rotate according to the distance between the second shaft and the rotation axis in the first direction; when the starting point of the sliding groove is located at the second shaft, the clamping component is in an open state, and when the end point of the sliding groove is located at the second shaft, the clamping component is in a clamping state; Among the at least two clamping components, the sliding groove of at least one clamping component includes at least two groove segments, and adjacent two groove segments are deflected, and at least one groove segment is a straight line groove, When the starting point is located at the second shaft, the first groove segment corresponding to the second shaft in the sliding groove has a first included angle θ1 with the second direction, When the end point is located at the second shaft, the second groove segment corresponding to the second shaft in the sliding groove has a second included angle θ2 with the second direction, and the second direction is perpendicular to the first direction and perpendicular to the second shaft. The first included angle θ1 satisfies: 10°≤θ1≤70°; or / and, The second included angle θ2 satisfies: 10°≤θ2≤70°; or / and, 2. The clamping device of claim 1, wherein The circumferential rotation angle γ of the starting point and the end point relative to the rotation axis satisfies: 45°≤γ; or / and, The deflection included angle β between any adjacent two groove segments in the sliding groove satisfies: 140°<β<180°. The distance between the starting point and the rotation axis is less than the distance between the end point and the rotation axis. The length of the first groove segment is greater than the length of the second groove segment.

3. The clamping device of claim 1, wherein One of the first shaft and the second shaft is connected to a cup seat, and the other is connected to a push-pull piece.

4. The clamping device of claim 1, wherein The push-pull piece includes a vacancy platform and a pivoting part provided on the vacancy platform; 5. The clamping device of claim 1, wherein The first clamping component in the at least two clamping components includes a clamping arm for clamping and a clamping tail for being connected to the pivoting part, and the clamping tail is arranged between the clamping arm and the vacancy platform.

6. The clamping device of claim 5, wherein 7. The clamping device according to claim 1, wherein The sliding grooves on a pair of matched clamping components included in the at least two clamping components are mirror-imaged or non-mirror-imaged with respect to a plane defined by the first direction and the rotation axis. The first groove segment and the second groove segment in the sliding groove are directly connected, and the deflection included angle of the first groove segment and the second groove segment is towards the rotation axis; The first slope of the first groove segment relative to the second direction is greater than the second slope of the second groove segment relative to the second direction.

8. The holding device according to claim 1, characterized in that The first groove segment and the second groove segment in the sliding groove are directly connected, and the deflection included angle of the first groove segment and the second groove segment is away from the rotation axis; The first slope of the first groove segment relative to the second direction is less than the second slope of the second groove segment relative to the second direction.

9. The holding device according to claim 1, characterized in that The clamping device according to any one of claims 1 to 9; A delivery sheath, and the clamping device is arranged at the distal end of the delivery sheath; and 10. An apparatus, characterized by A delivery sheath, and the clamping device is arranged at the distal end of the delivery sheath; and ​ ​ ​ a handle disposed at a proximal end of the delivery sheath for controlling opening and clamping of the clamping device.

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