Integrated gripper and manufacturing method

Abstract

A method for manufacturing an integrated gripper (100) and an integrated gripper manufactured using the manufacturing method, in which a laser is used to cut out an integrated gripper (100) having at least two clamping arms (111), the clamping arms (111) having a clamping head (1111) and a first shrinking slit (1113) distributed in the axial direction of the substrate. Due to the first shrinking slit (1113), the bendable part (1112) has a deformation structure that can be folded in the closing direction of the gripper (100) and / or bent in the opening direction of the gripper (100). In this structure, the sleeve in the conventional structure is omitted, and the opening and closing of the clamping arms (111) are realized in combination with the deformation state of the bendable part (1112). Using a gripper manufactured by one-piece molding, the overall clamping structure has fewer parts, which greatly reduces the cost.

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE This application relates to the field of medical devices, and more particularly to a method of manufacturing a gripper in an insertable tissue clip device. [Background technology]

[0002] An insertable tissue clip device is an insertable medical instrument used to clip tissue inside the human or animal body to achieve hemostasis or occlusion, and includes hemostatic clips, tissue clips, and the like.

[0003] For example, in the process of minimally invasive treatment of diseases of the digestive tract, the tissue clipping device is usually placed in the passage of an endoscope instrument to achieve the purpose of treatment. For example, hemostatic clips (or tissue clips) are widely used to stop bleeding or seal at the site of gastrointestinal bleeding or wound.

[0004] In the prior art, one type of hemostatic clip (or tissue clip) mainly realizes opening and clamping by cooperation of a clamp arm and a sleeve, specifically, the left and right clamp arms are loosely assembled together by one pin, and when the clamp arm assembly is pulled proximally, the clamp arm gradually fits into the sleeve and joins with the front edge of the sleeve. Restricted by the outer diameter of the sleeve, the sleeve applies a reverse pressing force to the clamp arm, and the clamp arm is elastically deformed inward to close. When the clamp arm assembly moves distally, the clamp arm is pushed out of the sleeve, and the clamp arm automatically opens again due to its elastic restoring force. This realizes that the clamping device can be repeatedly opened and closed.

[0005] In another type of hemostatic clip (or tissue clip), the clamp arms are mainly connected by one rotating shaft, and further have a rail that slides up and down inside the sleeve, and the shaft can slide along the rail. The upper end of the sleeve further has one fixed shaft, and the clamp arms have long holes drilled therein, and the fixed shaft simultaneously penetrates the long holes of the clamp arms. By pushing and pulling the sliding shaft, the two clamp arms are driven to move up and down, and after being hindered by the fixed shaft, the clamp arms are moved along the path of the long holes, thereby realizing opening and closing.

[0006] In each of the above-mentioned structures, the clamp structure is formed by combining a plurality of parts, which not only makes the manufacturing process complicated but also requires precise assembly into one piece, making the manufacturing process complicated. Summary of the Invention [Problem to be solved by the invention]

[0007] The present invention mainly provides a manufacturing method for an integrated gripper, which can reduce the number of parts and reduce assembly steps, and an integrated gripper manufactured using the manufacturing method. [Means for solving the problem]

[0008] Based on the above object, in one embodiment of the present application, Providing a tubular substrate; cutting out a plurality of opposing clamp heads from the substrate using a laser; Using a laser to cut out a plurality of rows of first shrink slits distributed along a first direction of the substrate, the first shrink slits all extend along a second direction of the substrate, and each row of the first shrink slits corresponds to one clamp head and the first direction; using a laser to cut the substrate along a first direction into at least two clamp arms connected at one end and spaced apart at the other end, each clamp arm including a row of the first shrink slits and a clamp head; and bending the clamp head inwardly to form a gripper structure.

[0009] Based on the above object, in one embodiment of the present application, Providing a sheet-form substrate; cutting a plurality of clamp heads in the substrate using a laser; using a laser to cut out a plurality of rows of first shrink slits distributed along a first direction of the substrate, the first shrink slits all extending along a second direction of the substrate, and each row of the first shrink slits corresponding to one clamp head and the first direction; using a laser to cut the substrate along a first direction into at least two clamp arms connected at one end and spaced apart at the other end, each clamp arm including a row of the first shrink slits and a clamp head; bending the substrate about the first direction and fixing the substrate as a tube; A method for manufacturing the one-piece gripper is provided in which the clamp heads are folded inwardly to form a gripper structure.

[0010] In one embodiment, the method further comprises: The method includes the step of using a laser to cut out a plurality of second shrink slits along a second direction of the substrate from both side end faces of the first shrink slits in each row, the second shrink slits on the same side being arranged along the first direction, both ends of the first shrink slits extending to between two adjacent second shrink slits in the first direction, and an overlapping region between the first shrink slits and the second shrink slits forming a torsional deformation segment that can bend and torsionally deform a bendable portion.

[0011] In one embodiment, the second shrinkage slit divides the substrate into multiple sets of first stoppers and second stoppers distributed along a first direction, the first stoppers and the second stoppers are installed opposite each other, and one end of the first stoppers and the second stoppers are separated and connected together at the other end, with a gap between the first stoppers and the second stoppers arranged along the first direction, and the second shrinkage slit communicates with the gap.

[0012] In one embodiment, the second shrink slit has a gap in the first direction.

[0013] In one embodiment, the first stopper and the second stopper have a hook-like structure.

[0014] In one embodiment, the method includes using a laser to cut notches extending along a first direction in the substrate at opposing ends of the clamping arms to form retraction structures.

[0015] In one embodiment, the method includes using a laser to cut a locking groove at the connected end of the clamping arm for locking the clamping arm.

[0016] In one embodiment, there are at least two locking grooves, which are distributed along the second direction of the substrate.

[0017] In one embodiment, the method comprises the steps of: The method includes using a laser to cut out a separation base at an end of the substrate remote from the clamp arm, the separation base and the clamp arm being connected together via a first tear portion.

[0018] In one embodiment, the first tear portions are at least two in number and are distributed along the second direction of the substrate.

[0019] In one embodiment, the method comprises the steps of: A laser is used to cut a separation groove recessed toward one side of the clamp arm on both sides of the first tear portion, the first tear portion including a step located at the recessed location.

[0020] In one embodiment, the method comprises the steps of: The method includes the step of using a laser to cut out a hanging portion suspended at the separation base and hanging arms located on both sides of the hanging portion, the hanging portion being aligned with the first tear portion.

[0021] In one embodiment, the method comprises the steps of: The method includes using a laser to cut out a guide groove along a first direction of the separation base on one side of the hanging portion away from the first tearing portion, and the hanging portion is positioned in the guide groove.

[0022] In one embodiment, the method comprises the steps of: cutting out a stopper piece in the separation base using a laser; and pressing the stopper piece toward the inside of the separation base to deform the stopper piece so that the stopper piece protrudes toward the inside of the separation base.

[0023] Based on the above object, in one embodiment of the present application, there is provided an integrated gripper manufactured using the manufacturing method described above. Effect of the Invention

[0024] According to the manufacturing method of the integrated gripper according to the above embodiment, the method uses a laser to cut out an integrated gripper having at least two clamping arms in a cylindrical substrate, and the clamping arms have first shrinkage slits distributed along the axial direction of the clamping head and the substrate. Due to the first shrinkage slits, the bendable part has a deformation structure that can be bent in the closing direction of the gripper and / or bent in the opening direction of the gripper. In this structure, the sleeve in the conventional structure is omitted, and the opening and closing of the clamping arms are realized in combination with the deformation state of the bendable part. With the gripper manufactured by the integral molding, the parts of the entire clamping structure are fewer, the structure is simpler, the requirements for assembly are lower, and the cost is greatly reduced. [Brief description of the drawings]

[0025] [Figure 1] FIG. 2 is a schematic diagram of a configuration of a gripper (not having a separation base) in a clamping state in one embodiment of the present application. [Diagram 2] FIG. 2 is a schematic diagram of the configuration of the gripper shown in FIG. 1 when it is in an open state. [Diagram 3] FIG. 2 is a schematic diagram of a configuration of a gripper (having a separation base) in an embodiment of the present application when in a clamping state. [Figure 4] FIG. 4 is a schematic diagram of the configuration of the gripper shown in FIG. 3 when it is in an open state. [Diagram 5] FIG. 2 is a schematic diagram of the unfolded shape of a gripper in one embodiment of the present application, and the figure can also be regarded as a schematic diagram of a cut-out when processing the integrated gripper from a sheet-like base material. [Figure 6] 6 is an enlarged schematic view of a deformed structure of a bendable portion in the embodiment shown in FIG. 5 after being unfolded. [Figure 7] FIG. 13 is an enlarged schematic diagram of a deformed structure of a bendable portion in another embodiment of the present application after development, and the figure can also be regarded as a cut-out schematic diagram when processing the bendable portion using a sheet-like base material. [Figure 8]FIG. 13 is an enlarged schematic diagram of a deformed structure of a bendable portion in another embodiment of the present application after development, and the figure can also be regarded as a cut-out schematic diagram when processing the bendable portion using a sheet-like base material. [Figure 9] FIG. 2 is a schematic diagram of an insertable tissue clip device according to one embodiment of the present application, with the transmission assembly shown in an omitted illustration. [Figure 10] 1 is a partial cross-sectional view of a connection structure between a gripper and a transmission assembly in one embodiment of the present application. [Figure 11] FIG. 2 is a cross-sectional view of an insertable tissue clip device according to one embodiment of the present application in an open state (moving rod moves within a first stroke). [Figure 12] FIG. 12 is a schematic diagram showing the configuration of the gripper in the state shown in FIG. 11 with a part of the gripper cut away. [Figure 13] 1 is a cross-sectional view of an insertable tissue clip device according to an embodiment of the present application when the device is in a clamping state (the moving rod moves within a second stroke). FIG. [Figure 14] 1 is a cross-sectional view of an embodiment of the insertable tissue clip device of the present application when the device is in a clamping state and the clamp arm is locked in the locking structure (the moving rod moves within the third stroke). FIG. [Figure 15] This is a cross-sectional view of one embodiment of the insertable tissue clip device of the present application in a clamping state when the remaining segment and the separation segment of the moving rod are broken from the second tearing portion (the moving rod moves within the third stroke). [Figure 16] 1 is a cross-sectional view of an embodiment of the insertable tissue clip device of the present application in a clamping state when the gripper and separation base are broken from the first tearing portion (the moving rod moves within the third stroke). FIG. [Figure 17] FIG. 13 is a schematic diagram of a deformation structure of a bendable portion when a gripper grips thin tissue in one embodiment of the present application. [Figure 18] FIG. 13 is a schematic diagram of a deformation structure of a bendable portion when a gripper grips thick tissue in one embodiment of the present application. [Figure 19]1 is a schematic diagram of a configuration when a clamp arm and a separation base are broken by a first tearing portion in an embodiment of the present application. FIG. [Figure 20] FIG. 2 is a schematic diagram showing a configuration of a first tearing portion in an embodiment of the present application when the first tearing portion is in an unbroken state. [Figure 21] FIG. 2 is a schematic diagram showing a configuration of a first tearing portion in an embodiment of the present application when the first tearing portion is in a broken state. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] The present invention will now be described in more detail with reference to specific embodiments and drawings.

[0027] The present embodiment provides several manufacturing methods for an integrated gripper in an insertable tissue clip device (for convenience of explanation, hereinafter referred to as a clip device), which clips human or animal internal tissue (collectively referred to as a target) to perform hemostasis or closure, and may include, but is not limited to, hemostatic clips, tissue clips, etc.

[0028] 1 and 2, in one embodiment, a cylindrical substrate is used as a processing base to manufacture an integrated gripper 100. The integrated gripper 100 is not limited to the structure shown in FIGS.

[0029] The manufacturing method includes the following steps. In S11, a cylindrical substrate is provided.

[0030] In this step, the substrate may be a metal tube with a thickness of 0.25-0.15 mm. Of course, other tubes with other thicknesses and materials may be used.

[0031] In S12, a laser is used to cut out a plurality of clamp heads 1111 arranged opposite each other on the base material.

[0032] The clamp heads 1111 may be two or more than two.

[0033] In S13, a laser is used to cut out multiple rows of first shrink slits 1113 distributed in the substrate along a first direction of the substrate, and the first shrink slits 1113 all extend along a second direction of the substrate, and each row of the first shrink slits 1113 corresponds to one clamp head 1111 and the first direction.

[0034] In this step, the first shrink slit 1113 of each row can form one bendable portion 1112, which can be used to enable the clamp head 1111 to bend to one side or multiple sides, thereby realizing the opening and closing of the gripper 100.

[0035] When a pipe material is used as the substrate, the first direction is the axial direction of the substrate, and the second direction is the circumferential direction of the substrate.

[0036] In S14, a laser is used to cut the substrate along a first direction into at least two clamp arms 111 connected at one end and separated at the other end, each clamp arm 111 including a row of first shrink slits 1113 and one clamp head 1111.

[0037] Furthermore, each clamp arm 111 is a single movable unit, and by combining different clamp arms 111, the entire gripper 100 can be brought into an open state and a clamping state.

[0038] At S15, the clamp heads 1111 are folded inward to form the gripper structure.

[0039] In this step, the clamp head 1111 extending along the first direction of the substrate can be folded to form the gripper structure shown in Figures 1 and 2.

[0040] The steps shown in this embodiment can be performed in any feasible order and are not limited to the order described above. In particular, when laser cutting, the corresponding parts can be flexibly selected and cut as necessary, and are not limited to cutting according to the above order. For example, the order of cutting operations of the clamp head 1111, the first contraction slit 1113, the clamp arm 111, and other features described later can be arbitrarily combined, provided that they are not mutually contradictory.

[0041] 5 to 8, an embodiment further provides a method for manufacturing the integrated gripper 100 using a sheet material. The method includes the following steps. In S21, a sheet-like substrate is provided.

[0042] In this step, the tubular substrate may be a metal sheet material with a thickness of 0.25-0.15 mm. Of course, other sheet materials with other thicknesses and materials may be used.

[0043] In S22, a laser is used to cut out a plurality of clamp heads 1111 in the substrate.

[0044] In this step, the clamp head 1111 extending along the first direction of the substrate can be folded to form the gripper structure shown in Figures 1 and 2.

[0045] Furthermore, when a sheet material is used as a substrate, the first direction is the length direction of the substrate, i.e., the vertical direction in the drawings shown in Figures 5 to 8. The second direction is the width direction of the substrate, i.e., the horizontal direction in the drawings shown in Figures 5 to 8.

[0046] In S23, a laser is used to cut out multiple rows of first shrink slits 1113 distributed in the substrate along a first direction of the substrate, and the first shrink slits 1113 all extend along a second direction of the substrate, and each row of the first shrink slits 1113 corresponds to one clamp head 1111 in the first direction.

[0047] In S24, a laser is used to cut the substrate along a first direction into at least two clamp arms 111 connected at one end and separated at the other end, each clamp arm 111 including a row of first shrink slits 1113 and one clamp head 1111.

[0048] In S25, the substrate is bent around a first direction and fixed into a cylindrical shape.

[0049] After the sheet-like base material is manufactured into a cylindrical structure, the gripper 100 shown in Figures 1 and 2 can be obtained. For example, by bending the structure shown in Figure 5 and fixing it from both the left and right sides, the cylindrical structure shown in Figures 1 and 2 can be obtained. Here, the fixing may be performed by welding, bonding, or connection by a mechanical structure (e.g., screwing, engagement), etc.

[0050] At S26, the clamp heads 1111 are folded inward to form the gripper structure.

[0051] Similarly, each step shown in this embodiment can be performed in any feasible order and is not limited to the order described above. In particular, when laser cutting, the corresponding parts can be flexibly selected and cut as necessary, and cutting is not limited to the above order. For example, the order of cutting operations of the clamp head 1111, the first contraction slit 1113, the clamp arm 111, and other features described later can be arbitrarily combined, provided that they are not mutually contradictory.

[0052] Furthermore, in the above-mentioned two types of manufacturing methods, referring to FIGS. 1 to 8, the following steps may be further included.

[0053] A laser is used to cut out a plurality of second shrink slits 1118 from both side end faces of the first shrink slits 1113 in each row along the second direction of the substrate, and the second shrink slits 1118 on the same side are arranged along the first direction. Both ends of the first shrink slits 1113 extend between two adjacent second shrink slits 1118 in the first direction. The overlapping regions between the first shrink slits 1113 and the second shrink slits 1118 form twist deformation segments 1119 to bend and twist the bendable portions 1112.

[0054] Furthermore, in the two manufacturing methods described above, referring to Figures 1 to 8, at least one side of the first shrinkage slit 1113 in each row is divided into multiple sets of first stoppers 1115 and second stoppers 1116 distributed along the first direction of the substrate using the second shrinkage slit 1118, the first stoppers 1115 and the second stoppers 1116 are installed opposite each other, and one end of the first stoppers 1115 and the second stoppers 1116 are separated and the other end are connected together, there is a gap 1117 provided along the first direction between the first stoppers 1115 and the second stoppers 1116, and the second shrinkage slit 1118 is connected to the gap 1117.

[0055] In one embodiment, the second shrink slit 1118 has a gap in the first direction.

[0056] 1-8, in one embodiment, the first stopper 1115 and the second stopper 1116 have a hook-like structure.

[0057] Referring to Figures 1 to 8, the two manufacturing methods described above may further include a step of using a laser to cut out a notch extending along the first direction of the substrate at the opposing end of the clamp arm 111 to form the retraction structure 1110.

[0058] 1 to 8, the two manufacturing methods described above may further include a step of using a laser to cut out locking groove 1121 for locking clamp arm 111 at one end to which clamp arm 111 is connected.

[0059] 1-8, in one embodiment, there are at least two locking grooves, which are distributed along the second direction of the substrate.

[0060] In the two manufacturing methods described above, referring to Figures 3 to 5, the method may further include a step of using a laser to cut out a separation base 120 at one end of the substrate away from the clamp arm 111, and the separation base 120 and the clamp arm 111 are connected together via a first tearing portion 130.

[0061] 3-5, in one embodiment, there are at least two first tear portions 130, which are distributed along the second direction of the substrate.

[0062] In the two manufacturing methods described above, referring to Figures 3 to 5, a laser may be used to cut out a separation groove ("1122" shown in Figure 20) that is recessed into one side of the clamp arm 111 on both sides of the first tearing portion 130, and the first tearing portion 130 may include a step located at the recessed location.

[0063] In the two manufacturing methods described above, referring to FIGS. 3 to 5, the method may further include a step of using a laser to cut out the hanging portion 121 suspended from the separation base 120 and the hanging arms 127 located on both sides of the hanging portion 124, and aligning the hanging portion 124 with the first tearing portion 130.

[0064] In the two manufacturing methods described above, referring to Figures 3 to 5, the method may further include a step of using a laser to cut out guide groove 126 along the first direction of separation base 120 at one end of hanging portion 124 away from first tearing portion 130, and placing hanging portion 124 in guide groove 126.

[0065] Referring to Figures 3 to 5, the two manufacturing methods described above may further include a step of using a laser to cut out stopper piece 121 in separation base 120, and pressing and deforming stopper piece 121 into the inside of separation base 120 to make stopper piece 121 protrude into the inside of separation base 120.

[0066] Meanwhile, this embodiment further provides a clip device, and the integrated gripper in the clip device can be manufactured by the method shown in each of the above-mentioned embodiments.

[0067] 1-16, the clipping device includes a gripper 100, a moving rod 200, a transmission assembly 300 and a control handle 400.

[0068] In this embodiment, the gripper 100 is an integrally molded structure. When cutting using a laser, it is possible to realize processing with a very small gap, which is advantageous for miniaturizing the entire structure and improving the compactness of the structure.

[0069] 1 to 4, the gripper 100 includes a clamping body 110 and a separation base 120. The clamping body 110 and the separation base 120 form an integral structure, and the two are connected together via a first tearing section 130. The first tearing section 130 allows an operator to separate the clamping body 110 and the separation base 120 by applying an external force.

[0070] The clamping body 110 includes at least two clamp arms 111. The clamp arms 111 are connected together. Each set of clamp arms 111 includes a clamp head 1111 and a bendable portion 1112. The clamp arms 111 are provided in a gripper-type structure to clamp a target object. The gripper-type structure is a structure that can firmly grip a target object. For example, in the case of two sets of clamp arms 111 in Figs. 1 to 4, the two clamp arms 111 are installed opposite each other, and when they are closed as shown in Fig. 1 (at this time, in a clamping state), they can grip a target object, as shown in Figs. 16 and 17.

[0071] 1-4, in one embodiment, the bendable portion 1112 can be a semi-cylindrical structure, a sheet-like or other structure, such as a sheet-like, and when the clamp 110 is closed, the bendable portion 1112 can be formed around the cylindrical structure.

[0072] Unlike the prior art, which uses a sleeve to restrict the position of the clamp arm and realize the opening and closing of the clamp arm, in this embodiment, the opening and closing of the clamp arm 111 mainly depends on the deformation of the bendable portion 1112. In addition, the bendable portion 1112 has a deformation structure that can be bent in the closing direction of the clamp body 110 and / or in the opening direction of the clamp body 110. Referring to Figures 1 and 3, in the embodiment shown in the figures, the initial state of the clamp body 110 is the clamping state, that is, when the bendable portion 1112 is not deformed, it is in the clamping state. At this time, the bendable portion 1112 has a deformation structure that can be bent at least in the opening direction of the clamp body 110, thereby realizing the opening of the clamp body 110 as shown in Figures 2 and 4.

[0073] In addition, the clamp head 1111 has a higher bending deformation resistance than the bendable portion 1112, thereby ensuring that the clamp arm 111 can provide a better engagement effect with the target. The bending deformation of the bendable portion 1112 is realized by its integral structure. Such bending deformation of the bendable portion 1112 is reversible, that is, the bendable portion 1112 has elasticity and can rebound and return to its original state when the external force is removed, so such bending deformation can be repeated.

[0074] The moving rod 200 is used to control the opening and clamping states of the gripper 100. In Figs. 11 to 16, the moving rod 200 is a pull rod. The moving rod 200 is connected to the clamping body 110, and the clamping body 110 can be controlled to move in the opening direction or the clamping direction by the movement of the moving rod 200. The transmission assembly 300 supports the gripper 100 and transmits movement and force to the moving rod 200. Referring to Figs. 9 and 10, the transmission assembly 300 includes a sleeve assembly 310 and a transmission member 320 drilled in the sleeve assembly 310, and the transmission member 320 is connected to the moving rod 200. In addition, the separation base 120 of the gripper 100 is rotatably connected to the sleeve assembly 310, and is attached to the sleeve assembly 310 via, for example, a rotation base 500, so that the gripper 100 can rotate relative to the sleeve assembly 310 as a whole. The sleeve assembly 310 is connected to a control handle 400, which forms an interlocking structure with the transmission member 320 to control the operation of the transmission member 320, the moving rod 200, and the gripper 100. For example, an operator can use the control handle 400 to operate and control the gripper 100 to rotate relative to the sleeve assembly 310, and further control the opening and closing of the gripper 100.

[0075] Each of the moving rods 200 has a first stroke, a second stroke and a third stroke, which are three parts of the entire moving stroke of the moving rod 200, and the three strokes may be in the same direction, and at least two strokes may be in different directions.

[0076] As one example, referring to Figures 11 and 12, when the moving rod 200 is in a first stroke and moves along its axial direction away from the control handle 400 and toward the clamp 110 (moving to the right as shown), the moving rod 200 can drive the clamp 110 to open outward, thereby moving the clamp 110 until it is in an open state.

[0077] Referring to FIG. 13, at this time, the moving rod 200 is in a second stroke, and as the moving rod 200 approaches the control handle 400 along its axial direction and moves away from the clamping bodies 110 (moving to the left as shown), the moving rod 200 can drive the clamping bodies 110 to move inwardly toward each other, thereby moving the clamping bodies 110 until they are in a clamping state.

[0078] 3 to 16, at this time, the moving rod 200 is in the third stroke, and when the moving rod 200 approaches the control handle 400 along its axial direction and moves away from the clamping body 110 (moves to the left as shown), the third stroke is in the same direction as the second stroke and is closely connected, that is, when the clamping body 110 moves to the clamping state, the moving rod 200 switches from the second stroke to the third stroke. Also, the third stroke can be divided into a number of sub-strokes, which include a lock stroke, an inner release stroke, and an outer release stroke.

[0079] 14, from when the moving rod 200 switches to the third stroke until it moves to the position shown in the figure, the clamping body 110 is locked, and the moving rod 200 cannot move in the reverse direction to reopen the clamping body 110. In this process, the moving stroke of the moving rod 200 is the locking stroke.

[0080] 15, when the moving rod 200 completes the locking stroke, it enters the inward release stroke. When the moving rod 200 moves to the position shown in the figure, the clamping body 110 is separated from the moving rod 200, and the moving rod 200 can no longer drive and move the clamping body 110, and can no longer control the clamping body 110, so that the clamping body 110 remains in the locked state. In this process, the moving stroke of the moving rod 200 is the inward release stroke.

[0081] 16, when the moving rod 200 completes the inner breakaway stroke, it enters the outer breakaway stroke. When the moving rod 200 moves to the position shown in the figure, the clamping body 110 and the separation base 120 are broken off from the first tearing portion 130, so that the clamping body 110 is left behind on the clamped target object. The separation base 120, the moving rod 200 and the transmission assembly 300 can be pulled out from within the target object. In this process, the moving stroke of the moving rod 200 is the outer breakaway stroke.

[0082] In the structures shown in the above-mentioned embodiments, the sleeve in the conventional structure is omitted, and the moving rod 200 directly drives the clamp 110, and the opening and closing of the clamp 110 is realized in combination with the deformation state of the bendable part 1112. Since the sleeve does not have a restricting effect on the clamp arm 111, the clamp 110 starts to deform from the bendable part 1112, and the deformation area is closer to the bottom of the entire clamp 110, so that with the same width requirement, the length of the integrated clamp 110 is shorter than the combination of the clamp arm 111 and the sleeve in the prior art. With the same length, the integrated clamp 110 can open a larger angle than the combination of the clamp arm 111 and the sleeve in the prior art, and can more easily engage the target tissue. After the clamp 110 is detached from the separation base 120, such a shorter clamp 110 remains temporarily in the target object, thereby reducing discomfort caused by a clip head left by a hemostatic clip (or tissue clip) that is too long, and avoiding the problem of excessive wear on the target object caused by a clip head left by a hemostatic clip (or tissue clip) that is too long. In addition, the integrated structure avoids gaps in part fitting required for axial hole fitting or sliding displacement, so that the bending repeatability of the clamp arm 111 is higher.

[0083] Furthermore, in addition to the clamping body 110 itself being manufactured by one-piece molding, in this embodiment, the separation base 120, which needs to be removed from the outside of the body of the surgical subject, is also manufactured by one-piece molding with the clamping body 110. The processing process of the entire gripper 100 is simple. Compared to the assembled structure of multiple parts in a conventional hemostatic clip (or tissue clip), the adoption of the gripper 100 manufactured by one-piece molding reduces the number of parts in the entire clip device, makes the structure simpler, lowers the requirements for assembly, greatly reduces costs, and improves the accuracy of operation control. Similarly, the entire length of the gripper 100 is shorter than that of a conventional hemostatic clip (or tissue clip). Since the inner diameter of the passage of an endoscopic instrument is very limited, such a gripper 100 with a shorter length can pass through the passage of an endoscopic instrument more easily.

[0084] Furthermore, as described above, the bending deformation of the bendable portion 1112 is realized by the integral structure. With reference to Figs. 1 to 8, in some embodiments, one end of the clamping body 110 close to the separation base 120 is a proximal end, one end away from the separation base 120 is a distal end, and the direction from the proximal end of the clamping body 110 to the distal end is a first direction of the clamping body 110. To realize the integral deformation structure, the deformation structure includes a plurality of first shrink slits 1113, and the first shrink slits 1113 are sequentially arranged along the first direction.

[0085] In one embodiment, as shown in Figures 1 and 3, the clamping body 110 is maintained in a clamping state in an initial state, and the first contraction slit 1113 is maintained in the initial state, and each portion of the bendable portion 1112 does not deform. As shown in Figures 2 and 4, when it is necessary to open the clamping body 110, the bendable portion 1112 deforms outward, and the first contraction slit 1113 contracts and deforms, so that the outer side of the bendable portion 1112 (the side facing away from each other of the clamping arm 111) contracts, and so that the entire clamping head 1111 opens.

[0086] 1 to 4, in one embodiment, the first shrink slits 1113 extend along the circumferential direction of the bendable portion 1112. The first shrink slits 1113 are arranged in parallel to each other. Of course, the first shrink slits 1113 may be arranged in other non-parallel arrangements other than being parallel to each other. By arranging the first shrink slits 1113 in parallel along the circumferential direction of the bendable portion 1112, the bending deformation directions of the first shrink slits 1113 are unified, making the bending deformation of the clamping body 110 smoother and more stable.

[0087] In order to realize a smoother bending change, in one embodiment, the first shrink slit 1113 is divided into a plurality of sets, and each set of the first shrink slit 1113a has at least one first shrink slit 1113. As shown in Figs. 1 to 6, in this embodiment, each set of the first shrink slit 1113a has two first shrink slits 1113. As shown in Figs. 7 and 8, in this embodiment, each set of the first shrink slit 1113a has one first shrink slit 1113. By contracting each first shrink slit 1113, the bendable portion 1112 can have a certain bending angle, and by combining a plurality of sets of the first shrink slits 1113, the bendable portion 1112 can have one large opening and closing angle. The length formed by the combination of all the first shrink slits 1113 in the first direction determines the bending deformation area of ​​the entire bendable portion 1112, and the number of the first shrink slit sets 1113a, the gap in the first direction between adjacent first shrink slit sets 1113a, and the number of first shrink slits 1113 in each first shrink slit set 1113a can be flexibly set according to actual needs. For example, the number of the first shrink slit sets 1113a may be 4 to 6.

[0088] 8, in one embodiment, the first shrink slit 1113 is an elongated groove, and the center of the first shrink slit 1113 has two arcuate sides 1113b protruding opposite to each other. When the gripper 100 opens to the limit position, the arcuate sides 1113b come into contact with each other, thereby determining the maximum opening angle. When the gripper 100 is in the clamping state, the arcuate sides 1113b come into contact with each other, thereby providing a support force to the gripper 100.

[0089] Considering the needs of minimally invasive surgery, the clip device is usually very fine and delicate in structure, so that, under the premise of meeting the small volume of the clip device, it is usually not preferable to use a material with a large thickness for the gripper 100. However, the requirement of a small thickness may result in a weakening of the strength of the bendable portion 1112; specifically, as shown in FIG. 4, if the external force applied by the operator is too large and the clamp arm 111 is bent outward at a large angle, the clamp arm 111 may break from the bendable portion 1112.

[0090] Based on this, in one embodiment, as shown in FIG. 4, the bendable portion 1112 has a position limiting structure 1114, which is used to limit the maximum angle at which the bendable portion 1112 can be bent in the opening direction.

[0091] 1 to 8, in one embodiment, each position limiting structure 1114 includes a plurality of position limiting units 1114a arranged along the first direction of the clamping body 110. The position limiting units 1114a include a first stopper 1115 and a second stopper 1116 disposed opposite each other. As shown in two enlarged partial views of a and b in FIG. 6, there is a gap 1117 provided along the first direction between the first stopper 1115 and the second stopper 1116. In the initial state, a gap 1117 is left between the first stopper 1115 and the second stopper 1116, as shown in FIG. 6A. When the clamping body 110 gradually opens outward, the first stopper 1115 and the second stopper 1116 move relatively in the first direction, and the gap 1117 gradually becomes smaller. When the bendable portion 1112 finally reaches its maximum angle, the first stopper 1115 and the second stopper 1116 come into close contact with each other to form a positional limit, as shown in FIG. 6B.

[0092] As shown in Figures 5-8, in one embodiment, the first stopper 1115 and the second stopper 1116 are two mutually engaging position limiting hook structures. The position limiting hook structures can also be replaced with other structures having similar functions. As shown in Figures 1-4, in one embodiment, the first shrink slit 1113 is located at the circumferential center of the bendable portion 1112, and the position limiting structures 1114 are at least two sets, and the position limiting structures 1114 are provided on both sides of the bendable portion 1112 in the circumferential direction of the bendable portion 1112, so as to further ensure that the entire bendable portion 1112 is bent and limited in position synchronously.

[0093] 1 to 8, in one embodiment, in the same position limiting unit 1114a, the first stopper 1115 and the second stopper 1116 are formed by dividing a side wall located on the side of the first contraction slit 1113 in the bendable portion 1112, and one end of the first stopper 1115 and the second stopper 1116 close to the first contraction slit 1113 are integrally connected, and the other ends are separated from each other. When the clamping body 110 opens outward, the first stopper 1115 and the second stopper 1116 can be opened together with the clamping body 110.

[0094] As shown in Figures 1 to 8, each set of first shrink slits 1113a is circumferentially aligned with one position limiting unit 1114a, thereby ensuring that the position limiting action of the position limiting unit 1114a acts accurately on the corresponding first shrink slit 1113, and preventing the first shrink slit 1113 from continuing to shrink and deform after bending to the maximum angle, causing the breakage of the bendable portion 1112.

[0095] The number of the position limiting units 1114a may be greater than the number of the first shrink slit sets 1113a, so as to completely cover all the first shrink slits 1113 in the first direction and achieve a better position limiting effect. Of course, the number of the position limiting units 1114a may be less than or equal to the number of the first shrink slit sets 1113a.

[0096] 5 to 8, in one embodiment, a second contraction slit 1118 is provided between the first stopper 1115 and the second stopper 1116, with at least a portion of the region being provided along the circumferential direction of the bendable portion 1112. The second contraction slit 1118 can separate the first stopper 1115 and the second stopper 1116, thereby allowing the two to move relatively. The second contraction slit 1118 communicates with a gap 1117 between the first stopper 1115 and the second stopper 1116.

[0097] Considering that the bending movement of the clamping body 110 in the opening direction and the bending movement in the clamping direction are always accompanied by a twisting movement around the circumferential direction, referring to Figs. 5-8, in one embodiment, both ends of each set of first shrink slits 1113a extend between the second shrink slits 1118 of the two position limiting units 1114a adjacent to each other in the first direction, and the overlapping area between the first shrink slits 1113 and the second shrink slits 1118 forms a twisting deformation segment 1119 to bend and twist the bendable part 1112. When the twisting deformation segment 1119 is provided, the bending deformation of the clamping body 110 becomes smoother, and at the same time, the bendable part 1112 is prevented from being broken by the twisting force. By adjusting the circumferential length and vertical height of the twisting deformation segment 1119, the maximum opening angle, bending flexibility or supportability of the bendable part 1112 can be further changed, which can be flexibly set according to actual needs.

[0098] 6 and 8, the second shrink slit 1118 is arranged in a straight line, whereas in the embodiment shown in Fig. 7, the second shrink slit 1118 is arranged in a U-shape.

[0099] 17 and 18, the second shrink slit 1118 has a gap in the first direction. The second shrink slit 1118 of the position limiting structure 1114 constitutes a self-adaptive floating structure that is deformable in the clamping direction.

[0100] 17, when the clamping body 110 clamps a thin target 1, the clamping body 110 can be closed normally, and the second contraction slit 1118 maintains a normal gap (partially enlarged view shown in FIG. 17a). 18, when the clamping body 110 clamps a thick target 1, the gap between the clamping body 110 cannot be closed to the extent shown in FIG. 17, and at this time, if the moving rod 200 is continuously pulled, the second contraction slit 1118 can be deformed in the closing direction of the clamping body 110 (partially enlarged view shown in FIG. 18a). For example, in one embodiment, each second shrink slit 1118 can provide a gap of 0.02-0.05MM in the first direction, i.e., has a compression amount of 0.02-0.05MM, so that the bendable portion 1112 is bent inwardly as shown in FIG. 18 (in FIG. 18, the bendable portion 1112 is deformed by protruding slightly outwardly toward both sides), compensating for the lost stroke in the clamp 110, so that the clamp 110 can finally be locked into the locking structure.

[0101] Further, in order to reduce mutual interference between the clamps 110 during closing, in one embodiment, referring to Fig. 7, in this embodiment, the opposing ends of the clamps 110 are recessed inward to form a retraction structure 1110, and the recessed areas form a retraction groove between the two opposing clamps 110. The width of the retraction groove gradually increases along the first direction of the clamps 110, and one end of the retraction groove close to the clamp head 1111 is wider than the other end.

[0102] 12 and 13, in one embodiment, the clamping body connecting structure 600 includes two connecting rods 610, one end of which is connected to the distal end of the moving rod 200 and can rotate around an axis 620, and the other end of which is connected to the transverse axis of the clamping head 1111 and can also rotate around the transverse axis. The assembly of the connecting rods 610 resembles a Y-shape, and its purpose is to effectively transmit the thrust and pulling force of the moving rod 200 moving up and down to the clamping head 1111, so as to realize the opening and closing control of the clamping head 1111.

[0103] 1-4, in one embodiment, the clamping body 110 includes a connecting portion 112. The connecting portion 112, the bendable portion 1112, and the clamping head 1111 are connected together in sequence. The first tearing portion 130 is connected between the connecting portion 112 and the separation base 120.

[0104] 11 to 16, the connection portion 112 has the above-mentioned locking groove 1121, which is used to lock the clamping body 110 in the clamping state. The locking groove 1121 can at least prevent the clamping body 110 from moving in the opening direction, and ensures that the clamping body 110 is always in the clamping state.

[0105] The clamping body 110 forms a cylindrical structure. One end of the moving rod 200 extends into the cylindrical structure and is connected to the clamping body 110. The moving rod 200 is provided with an elastic piece 210, which is inclined toward the distal end of the clamping body 110 along its protruding direction. When the moving rod 200 moves along the third stroke, the inclined elastic piece 210 can move toward the control handle 400 along the inner wall of the clamping body 110, thereby preventing the elastic piece 210 from being engaged with other parts of the clamping body 110. When the elastic piece 210 moves to the position of the locking groove, the elastic piece 210 is locked in the locking groove by elastic force, preventing the moving rod 200 and the clamping body 110 from retracting and releasing the clamping state.

[0106] Moreover, in one embodiment, the moving rod 200 is a unitary structure and includes a remaining segment 220 and a separated segment 230. The remaining segment 220 and the separated segment 230 are connected together via a second tear away portion 240.

[0107] 12 and 13, in one embodiment, the separation base 120 has a stop piece 121, which is located in the moving path of the remaining segment 220. When the moving rod 200 is in the inner separation stroke, the stop piece 121 prevents the remaining segment 220 from continuing to move together with the moving rod 200 and the separation segment 230, and contributes to the separation of the remaining segment 220 and the separation segment 230.

[0108] In the embodiment shown in FIG. 14, the moving rod 200 has a groove 260 provided in its axial direction, and the stopper piece 121 is provided protruding toward the moving rod 200 and extends into the groove 260 so as to abut against the groove wall of the groove 260 when the moving rod 200 moves along the inner release stroke.

[0109] 19-21, in the outer release structure, there is at least one first tearing portion 130, and the end of the clamping body 110 facing the separation base 120 has an inner recessed area 1122, and the first tearing portion 130 is provided in the inner recessed area 1122, and the separation base 120 and the clamping body 110 are connected only through the tearing portion. In order to receive the force uniformly, in one embodiment, the first tearing portion 130 is uniformly distributed along the circumferential direction of the clamping body 110 and the separation base 120.

[0110] 16, 19-21, in one embodiment, the separation base 120 includes a cylindrical body 122 and a hanging portion 124, with a hanging cavity 123 on a side wall of the body 122, and the hanging portion 124 is disposed within the hanging cavity 123. The hanging portion 124 is aligned with the first tear portion 130.

[0111] 12-16, the hanging part 124 is provided with a driven member 125, for example, the driven member 125 is a driven shaft fixedly attached to the hanging part 124, and the driven shaft crosses the hanging part 124. The moving rod 200 may further have a slide groove 250, and the driven member 125 is disposed at the bottom of the slide groove 250. As the moving rod 200 moves toward the control handle 400 side, when the moving rod 200 enters the outer separation stroke, the top of the slide groove 250 moves to the driven member 125, thereby driving the driven member 125 and the hanging part 124 to move toward the control handle 400 side, and further separating the separation base 120 and the clamping body 110.

[0112] 20 and 21, both sides of the hanging part 124 are connected to the body 122 through the hanging arm 127. When the moving rod 200 moves along the outer release stroke, the whole separation base 120 cannot move toward the control handle 400 by itself due to the support of the rotating base 500 and the sleeve assembly 310. When the moving rod 200 pulls the hanging part 124, the body 122 of the separation base 120 is prevented from moving, but the hanging arm 127 of the hanging part 124 is deformed by the pulling force of the moving rod 200. In the process of the hanging part 124 being deformed, the body 122 of the separation base 120 forms a reverse support for the clamp 110, and the material of the hanging arm and the first tearing part 130 is gradually pulled longer. 21, when the yield limit is reached, breakage occurs, and the hanging portion 124 and the clamping body 110 are released to the outside. Then, the separation base 120 and the moving rod 200 can be removed from the surgical target body together with the transmission assembly 300.

[0113] 20 and 21, in one embodiment, the hanging cavity 123 has a guide groove 126 arranged along the axial direction of the separation base 120, and the hanging portion 124 is disposed in the guide groove 126 to guide the hanging portion 124 to move into the guide groove 126. The guide direction defined by the guide groove 126 is aligned with the first tear portion 130, so as to make the hanging portion 124 easier to break from the first tear portion 130.

[0114] 1 and 2, for the transmission assembly 300, the sleeve assembly 310 may generally include a spring support sleeve 311, and a transmission member 320 (e.g., a traction control line) is drilled into the spring support sleeve 311. The moving rod 200 may be fixedly connected to the transmission member 320 by a variable diameter adapter 321 or other structure. An adapter tube 312 is fitted and fixed outside the spring support sleeve 311, and the adapter tube 312 is rotatably connected to a rotating base 500 to which the gripper 100 is attached, so that the entire gripper 100 together with the rotating base 500 can rotate relative to the transmission assembly 300.

[0115] Although the principles of the present specification have been illustrated in various embodiments, many modifications of the structure, arrangement, proportions, elements, materials and components that are particularly suited to a particular environment and operating requirements may be used without departing from the principles and scope of the present disclosure. The modifications described above and other changes or modifications are included within the scope of the present specification. Those skilled in the art will recognize that many changes can be made to the details of the above-described embodiments without departing from the underlying principles of the invention. The scope of the present invention should therefore be determined according to the following claims.

Claims

1. Providing a tubular substrate; cutting out a plurality of opposing clamp heads from the substrate using a laser; using a laser to cut out a plurality of rows of first shrink slits distributed along a first direction of the substrate, the first shrink slits all extending along a second direction of the substrate, and each row of the first shrink slits corresponding to one clamp head and the first direction; using a laser to cut the substrate along a first direction into at least two clamp arms connected at one end and spaced apart at the other end, each clamp arm including a row of the first shrink slits and a clamp head; and folding the clamp head inwardly to form a gripper structure.

2. Providing a sheet-form substrate; cutting a plurality of clamp heads in the substrate using a laser; using a laser to cut out a plurality of rows of first shrink slits distributed along a first direction of the substrate, the first shrink slits all extending along a second direction of the substrate, and each row of the first shrink slits corresponding to one clamp head and the first direction; using a laser to cut the substrate along a first direction into at least two clamp arms connected at one end and spaced apart at the other end, each clamp arm including a row of the first shrink slits and a clamp head; bending the substrate about the first direction and fixing the substrate as a tube; and folding the clamp head inwardly to form a gripper structure.

3. The method for manufacturing the integrated gripper further comprises:

3. The manufacturing method according to claim 1, further comprising the step of: using a laser to cut out a plurality of second shrink slits from both side end faces of the first shrink slits in each row along the second direction of the substrate; the second shrink slits on the same side are arranged along the first direction; both ends of the first shrink slits extend between two adjacent second shrink slits in the first direction; and an overlapping region between the first shrink slit and the second shrink slit forms a torsional deformation segment to bend and torsionally deform the bendable portion.

4. 4. The manufacturing method according to claim 3, characterized in that the second shrinkage slit divides the substrate into a plurality of sets of first stoppers and second stoppers distributed along a first direction of the substrate, the first stoppers and the second stoppers are installed opposite each other, and one end of the first stoppers and the second stoppers are separated and connected together, with a gap provided along the first direction between the first stoppers and the second stoppers, and the second shrinkage slit communicates with the gap.

5. The manufacturing method according to claim 4 , wherein the second shrink slit has a gap in the first direction.

6. 6. The manufacturing method according to claim 4, wherein the first stopper and the second stopper have a hook-shaped structure.

7. The manufacturing method of the integrated gripper includes the steps of: The method of any one of claims 1 to 6, further comprising the step of using a laser to cut out a notch extending along a first direction of the substrate at an opposing end of the clamp arm to form a retraction structure.

8. The manufacturing method of the integrated gripper includes the steps of: The method of any one of claims 1 to 7, further comprising the step of using a laser to cut out a locking groove for locking the clamp arm at the connected end of the clamp arm.

9. The manufacturing method according to claim 8 , wherein the locking grooves are at least two in number and are distributed along the second direction of the substrate.

10. The manufacturing method of the integrated gripper includes the steps of: The manufacturing method according to any one of claims 1 to 9, further comprising the step of using a laser to cut out a separation base at one end of the substrate away from the clamp arm, and the separation base and the clamp arm are connected together via a first tear portion.

11. The manufacturing method according to claim 10, wherein the first tearing portions are at least two in number and are distributed along the second direction of the substrate.

12. The manufacturing method of the integrated gripper includes the steps of:

12. The method of claim 10 or 11, further comprising the step of using a laser to cut out a separation groove recessed into one side of the clamp arm on both sides of the first tearing portion, the first tearing portion being located at the recessed location.

13. The manufacturing method of the integrated gripper includes the steps of: The manufacturing method according to any one of claims 10 to 12, further comprising the step of using a laser to cut out a hanging portion suspended at the separation base and hanging arms located on both sides of the hanging portion, so that the hanging portion is aligned with the first tearing portion.

14. The manufacturing method of the integrated gripper includes the steps of: The manufacturing method according to claim 13, further comprising the step of using a laser to cut out a guide groove along the first direction of the separation base on a side of the hanging portion away from the first tearing portion, and positioning the hanging portion in the guide groove.

15. The manufacturing method of the integrated gripper includes the steps of: cutting out a stopper piece in the separation base using a laser; The manufacturing method according to any one of claims 10 to 14, further comprising a step of pressing the stopper piece toward the inside of the separation base to deform the stopper piece so as to make the stopper piece protrude toward the inside of the separation base.

16. An integrated gripper, characterized in that it is manufactured using the manufacturing method according to any one of claims 1 to 15.

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