Insertion type clamping device and its gripper

Abstract

The insertable clamping device and its gripper (100), the gripper includes at least two clamp arms (110), each pair of clamp arms (110) includes a clamp head (1111) and a bendable section (1112). The clamp arms (110) are used to clamp a target. The bendable section (1112) has a deformation structure that can be bent in the closing direction of the gripper (100) and / or in the opening direction of the gripper (100). In this structure, the sleeve in the conventional structure is omitted, and in combination with the deformation state of the bendable section (1112), the gripper (100) opens and closes according to the change in the position of the movable member (200). With the same width requirement, the length of the gripper (100) is shorter than the combination of the clamp arm (110) and the sleeve in the prior art. With the gripper, the entire tissue clip device has fewer parts and the cost is significantly reduced.

Description

[Technical field]

[0001] The present application relates to the field of medical devices, and more specifically to the structure of an insertable clamping instrument used in surgery. [Background technology]

[0002] An insertable clamping instrument is an insertable medical device, and includes clipping devices such as hemostatic clips and tissue clips for clipping internal tissue of a human or animal (collectively referred to as the surgical subject) and temporarily leaving the clamp head inside the surgical subject after surgery, as well as clamping devices for clamping internal tissue of a surgical subject during surgery (wherein the clamp head does not need to be left inside the surgical subject after surgery), such as clamps used during minimally invasive surgery.

[0003] Conventional clamping instruments have a complex structure and large dimensions. For example, taking a clip device such as a hemostatic clip (or tissue clip) as an example, one type of hemostatic clip mainly realizes opening and clamping by the cooperation of a clamp arm and a sleeve, specifically, the left and right clamp arms are loosely assembled together through a pin, and the clamp arms can be housed in the sleeve to realize closure. The clamp arms can also extend from the sleeve to realize opening. This structure utilizes the axial space of the sleeve to realize the closure of the clamp arms, so a part of the clamp arm must be contracted into the sleeve, and after the hemostatic clip is separated, the overall length remaining in the patient's body is long, which is more likely to cause injury and discomfort to the patient.

[0004] In another type of hemostatic clip (or tissue clip), the clamp arms are mainly connected via a rotating shaft, and 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 a shaft fixed thereto, and the clamp arms have a long hole, and the fixed shaft passes through the long hole of the clamp arms at the same time. By pushing and pulling the sliding shaft, the two clamp arms are driven to move up and down, and when hindered by the fixed shaft, the clamp arms move along the path of the long hole, thereby realizing opening and closing. This structure improves the precision of the operation control and makes the size of the clip smaller, but it has many parts, a complicated structure, and a high cost. Summary of the Invention [Problem to be solved by the invention]

[0005] The present application provides an insertable clamping device and its gripper to disclose a new opening and clamping structure. [Means for solving the problem]

[0006] Based on the above object, in one embodiment of the present application, there is provided an insertable clamping device, the insertable clamping device including a gripper and a movable member, the gripper includes at least two clamp arms connected between them, each pair of the clamp arms includes a clamp head and a bendable portion, the clamp head is connected to the bendable portion, the clamp arms are used to grip an object, and the bendable portion has a deformation structure that can be bent in a closing direction of the gripper and / or in an opening direction of the gripper; The movable member is movably mounted and connected to the gripper, the gripper opening and closing in response to changes in position of the movable member.

[0007] In one embodiment, the deformation structure includes a plurality of first shrink slits, the first shrink slits being arranged in sequence along a longitudinal direction of the gripper.

[0008] In one embodiment, the first shrink slits are divided into a plurality of sets, each set of the first shrink slits having at least one first shrink slit, the bendable portion has a plurality of second shrink slits extending along its circumferential direction, the second shrink slits are arranged along the vertical direction, both ends of the first shrink slits of each set extend between two correspondingly adjacent second shrink slits in the vertical direction, and the overlapping region between the first shrink slits and the second shrink slits forms a torsional deformation segment to bend and twist the bendable portion.

[0009] In one embodiment, each of the position limiting structures includes a plurality of position limiting units arranged along the vertical direction of the gripper, the position limiting units include a first stopper and a second stopper installed opposite each other, a gap is provided between the first stopper and the second stopper along the vertical direction, the second contraction slit communicates with the gap, and during the process of the bendable portion bending in the opening direction, the first stopper and the second stopper approach each other to form an engagement structure.

[0010] In one embodiment, in the same position limiting unit, the first stopper and the second stopper are formed by dividing a side wall located on the side of the first shrinkage slit in the bendable portion by the second shrinkage slit, and the first stopper and the second stopper are connected together at one end close to the first shrinkage slit and the other ends are separated from each other.

[0011] In one embodiment, the initial state of the gripper is a clamping state, the second shrinkage slit has a gap in the vertical direction, and the second shrinkage slit forms a self-adaptive floating structure that can deform in the clamping direction, so that when the gripper clamps the target object, the bendable portion can self-adaptively bend and deform in the closing direction according to the volume of the target object.

[0012] Based on the above object, one embodiment of the present application provides a gripper of an insertable gripping device, the gripper includes at least two clamp arms connected between the clamp arms, each pair of the clamp arms includes a clamp head and a bendable portion, the clamp head is connected to the bendable portion, the clamp arms are used to grip a target object, and the bendable portion has a deformation structure that can be bent in a closing direction of the gripper and / or bent in an opening direction of the gripper.

[0013] In one embodiment, the deformation structure includes a plurality of first shrink slits, the first shrink slits being arranged in sequence along a longitudinal direction of the gripper.

[0014] In one embodiment, the bendable portion has a plurality of second shrinkage slits extending circumferentially therearound, the second shrinkage slits being arranged along the longitudinal direction, and both ends of each set of the first shrinkage slits extending between two correspondingly adjacent second shrinkage slits in the longitudinal direction, and the overlapping regions between the first shrinkage slits and the second shrinkage slits forming torsional deformation segments that can bend and twist the bendable portion.

[0015] In one embodiment, each of the position limiting structures includes a plurality of position limiting units arranged along the vertical direction of the gripper, the position limiting units include a first stopper and a second stopper installed opposite each other, a gap is provided between the first stopper and the second stopper along the vertical direction, the second contraction slit communicates with the gap, and during the process of the bendable portion bending in the opening direction, the first stopper and the second stopper approach each other to form an engagement structure.

[0016] In one embodiment, in the same position limiting unit, the first stopper and the second stopper are formed by dividing a side wall located on the side of the first shrinkage slit in the bendable portion by the second shrinkage slit, and the first stopper and the second stopper are connected together at one end close to the first shrinkage slit and the other ends are separated from each other.

[0017] In one embodiment, the initial state of the gripper is a clamping state, the second shrinkage slit has a gap in the vertical direction, and the second shrinkage slit of the position limiting structure forms a self-adaptive floating structure that is deformable in the clamping direction, so that when the gripper clamps the target object, the bendable portion can self-adaptively bend and deform in the closing direction according to the volume of the target object. Effect of the Invention

[0018] According to the above embodiment of the insertable clamping device, the gripper includes at least two clamp arms, and each pair of clamp arms includes a clamp head and a bendable part. The clamp arms are used to clamp the target object. The bendable part has a deformation structure that can be bent in the direction of closing the gripper and / or in the direction of opening the gripper. In this structure, the sleeve in the conventional structure is omitted, and in combination with the deformation state of the bendable part, the gripper can be opened and closed based on the position change of the movable member. With the same width requirement, the length of the gripper is shorter than the combination of the clamp arm and the sleeve in the conventional technology. Using the gripper, the tissue clip device has fewer parts, a simpler structure, a lower requirement for assembly, and a large reduction in cost. [Brief description of the drawings]

[0019] [Figure 1] FIG. 2 is a schematic diagram illustrating a configuration of a gripper in an embodiment of the present application when the gripper is in a clamping state. [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 an assembly schematic diagram of a gripper having a separate structure in one embodiment of the present application, in which the gripper is 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 an assembly schematic diagram of a gripper having a separate structure in one embodiment of the present application, in which the gripper is in a clamping state. [Figure 6] FIG. 13 is a schematic diagram illustrating a configuration when a gripper in an embodiment of the present application moves to an open state. [Figure 7] FIG. 7 is a schematic diagram showing a part of the structure shown in FIG. 6, partially cut away. [Figure 8] FIG. 13 is a schematic diagram showing a state where the gripper moves to a clamping state in the embodiment of the present application. [Figure 9]FIG. 9 is a schematic diagram showing a part of the structure shown in FIG. 8, partially cut away. [Figure 10] FIG. 2 is a schematic diagram of a configuration in which a separation base and a gripper are integrally molded in one embodiment of the present application, with the gripper in a clamping state. [Figure 11] FIG. 11 is a schematic diagram of the configuration of the gripper shown in FIG. 10 when it is in an open state. [Figure 12] FIG. 13 is a schematic diagram showing a state where the gripper has moved to an open state in an embodiment of the present application. [Figure 13] FIG. 13 is a schematic diagram showing a part of the structure shown in FIG. 12, partially cut away. [Figure 14] FIG. 13 is a schematic diagram showing a state where the gripper moves to a clamping state in the embodiment of the present application. [Figure 15] FIG. 15 is a schematic diagram showing a part of the structure in the state shown in FIG. 14, partially cut away. [Figure 16] FIG. 2 is a schematic diagram of a gripper in an expanded shape according to an embodiment of the present application. [Figure 17] 17 is an enlarged schematic view of a deformation structure of a bendable portion in the embodiment shown in FIG. 16. [Figure 18] 13 is an enlarged schematic view of a deformation structure of a bendable portion in another embodiment of the present application. FIG. [Figure 19] 13 is an enlarged schematic view of a deformation structure of a bendable portion in another embodiment of the present application. FIG. [Figure 20] FIG. 13 is a schematic diagram of a bendable portion when clamping thin tissue in one embodiment of the present application. [Figure 21] FIG. 13 is a schematic diagram of a bendable portion when clamping thick tissue in one embodiment of the present application. [Figure 22] 13 is a schematic diagram of a deformation structure of a bendable portion in another embodiment of the present application. FIG. [Diagram 23] 13 is a schematic diagram of a deformation structure of a bendable portion in another embodiment of the present application. FIG. [Figure 24] FIG. 2 is a schematic diagram of a clamp head in an open self-locking state in one embodiment of the present application. [Diagram 25]FIG. 13 is a schematic diagram illustrating a movable member separated from a gripper in an embodiment of the present application. [Figure 26] 1 is a schematic diagram of a gripper separated from a separation base in an embodiment of the present application. FIG. [Figure 27] FIG. 2 is a schematic diagram showing a state where a remaining segment is separated from a separated segment in one embodiment of the present application. [Figure 28] 1 is a schematic diagram of a gripper separated from a separation base in an embodiment of the present application. FIG. [Figure 29] FIG. 2 is a schematic diagram of an insertable clamping device according to an embodiment of the present application, in which the transmission assembly is shown in an abbreviated drawing. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] The present invention will now be described in more detail with reference to specific embodiments and drawings.

[0021] This embodiment provides an insertable clamping instrument (for ease of explanation, hereinafter referred to as the clamping instrument), which may be a clipping device such as a hemostatic clip or a tissue clip, in which the clamp head needs to be temporarily left inside the human or animal body (collectively referred to as the surgical subject) after surgery, or it may be a clamping device such as a clamp (in which the clamp head does not need to be left inside the surgical subject after surgery).

[0022] 1-15, the clamping device includes a gripper 100, a movable member 200 and other related structures. The gripper 100 and the movable member 200 cooperate with each other to realize the clamping and releasing operations.

[0023] Unlike the prior art which uses a combination of a clamp arm and a sleeve to realize a clamping structure, in this embodiment, the gripper 100 includes at least two clamp arms 110, which are connected to each other, and such connection may be a one-piece structure or the clamp arms 110 may be fixedly connected to each other. Each pair of clamp arms 110 includes a clamp head 1111 and a bendable portion 1112. The clamp head 1111 is connected to the bendable portion 1112, and similarly, such connection may be a one-piece structure or the clamp arms 110 may be fixedly connected to each other.

[0024] Specifically, referring to Figures 1 and 2, in one embodiment, the gripper 100 is a one-piece structure. This includes the clamp arm 110 and the clamp arm 110 being one-piece structures, and the clamp head 1111 and the bendable portion 1112 in the same clamp arm 110 being one-piece structures. The one-piece structure means that the entire gripper 100 is integrally processed from the same material, and is not assembled by combining two or more parts. The one-piece structure (including the other one-piece structures described below) can be manufactured using, but is not limited to, injection molding, laser cutting, and other machining processes. In particular, when using laser cutting, it is possible to realize processing of extremely small gaps, which is advantageous for miniaturizing the entire structure and improving the compactness of the structure.

[0025] 3 and 4, in one embodiment, the gripper 100 is a one-piece structure assembled from multiple parts. The clamp arms 110 are separate structures, i.e., separate members, and are connected to each other and assembled into one one-piece structure. The connection between the clamp arms 110 is usually a fixed connection, but in some embodiments, there can be a certain movable space between the clamp arms 110, thereby meeting the needs of different functions. The clamp head 1111 and the bendable portion 1112 of the same clamp arm 110 are one-piece structures. Of course, in some embodiments, the assembly relationship between the clamp arms 110 can also be referred to, where the clamp head 1111 and the bendable portion 1112 of the same clamp arm 110 are separate structures and are connected to each other to form one whole clamp arm 110.

[0026] 5, in another embodiment, the clamp head 1111 and the bendable portion 1112 in each clamp arm 110 are separate structures, i.e., two separate members separated from each other, and then both are connected to each other to form one overall clamp arm 110. Also, as shown in FIG 5, the bendable portions 1112 of different clamp arms 110 are connected together and are a one-piece molded structure, which is convenient for one-piece molding processing and may eliminate an assembly step. Of course, in another embodiment, the bendable portions 1112 between different clamp arms 110 may be separated from each other and assembled together, as shown in FIG 3.

[0027] In the above-mentioned various embodiments, the gripper 100 is disassembled into separate structures, and each part is manufactured separately, thereby reducing the manufacturing difficulty of a single part and reducing costs. The above-mentioned separate members are connected to each other by welding, adhesive, mechanical structural connection (fastening, screwing, riveting, etc.), etc.

[0028] 1-5, in one embodiment, the bendable portion 1112 is a semi-cylindrical structure, and when the gripper 100 is closed, the bendable portion 1112 can be formed around a cylindrical structure. The semi-cylindrical structure does not necessarily have to be a complete cylinder, and may be one-third of the entire cylindrical structure or other size. In other embodiments, the bendable portion 1112 may be another structure, such as a sheet, and is not limited to the semi-cylindrical structure.

[0029] Further, the clamp arms 110 are provided between them in a gripper-type structure, thereby clamping a target object. The bendable portion 1112 has a deformable structure that can be bent in a closing direction of the gripper 100 and / or in an opening direction of the gripper 100. The movable member 200 is provided movably and connected to the gripper 100. The gripper 100 opens and closes based on a change in position of the movable member 200. In Figs. 6-9 and 12-15, the movable member 200 is a pull rod. In other embodiments, the movable member 200 may have other structures. The movable member 200 is connected to the gripper 100, and the movement of the movable member 200 can control the gripper 100 to move in an opening direction or a clamping direction.

[0030] The gripper type structure is a structure capable of firmly gripping a target object, for example, in Figures 1 to 13, when there are two sets of clamp arms 110, the two clamp arms 110 are installed opposite each other, and when they are closed (in a clamping state at this time) as shown in Figure 1, they can grip a target object, as shown in Figures 20 and 21. In other embodiments, when there are different numbers of clamp arms 110, they can have different gripper type structures, for example, when there are three clamp arms 110, the three clamp arms 110 can be arranged in a triangle, thereby gripping a target object.

[0031] Unlike the prior art, which uses a sleeve to restrict the position of the clamp arm 110 and realize the opening and closing of the clamp arm 110, in this embodiment, the opening and closing of the clamp arm 110 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 gripper 100 and / or in the opening direction of the gripper 100. Referring to FIG. 1, in the embodiment shown in the figure, the initial state of the gripper 100 is a clamping state, that is, when the bendable portion 1112 is not deformed, the gripper 100 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 gripper 100, thereby realizing the opening of the gripper 100 as shown in FIG. 2. Of course, in other embodiments, the initial state of the gripper 100 can be an open state, for example, when the bendable portion 1112 is not deformed, the gripper 100 is in the open state shown in FIG. 2. At this time, the bendable portion 1112 has a deformation structure that allows it to bend at least in the closing direction of the gripper 100, and thereby it can move to the state shown in FIG. 1, thereby realizing the closing of the gripper 100.

[0032] In addition, the clamp head 1111 has a higher bending resistance than the bendable portion 1112, so that the clamp arm 110 can provide a better engagement effect with the target. The bending deformation of the bendable portion 1112 can be realized by modifying its structure, for example, by providing a shrink slit in the bendable portion 1112 that can shrink, or by changing the thickness of the material of the bendable portion 1112, or by selecting a material that is more easily deformed. Of course, other structures can be used. This will be described in more detail below. Such bending deformation of the bendable portion 1112 is reversible, i.e., the bendable portion 1112 has elasticity and can rebound and return to its original state when the external force is no longer applied, so that such bending deformation can be repeated.

[0033] The movement of the movable member 200 may be along its axis, or may be rotational, etc. For example, referring to Figs. 6, 7 and 12, 13, in one embodiment, when the movable member 200 moves along its axis away from the control handle 400 (shown in Fig. 29) and toward the gripper 100 (moving to the right as shown), the movable member 200 can drive the gripper 100 to open outward, thereby moving the gripper 100 to an open state. Referring to Figs. 8, 9 and 14, 15, in one embodiment, when the movable member 200 moves along its axis toward the control handle 400 and away from the gripper 100 (moving to the left as shown), the movable member 200 can drive the gripper 100 to move inward toward each other, thereby moving the gripper 100 to a clamping state. Of course, in other embodiments, the movement relationship of the movable member 200 and the movement relationship of the gripper 100 may be different than that shown in Figures 6-9 and 12-15, for example, when the movable member 200 moves towards the control handle 400 it drives the gripper 100 to open, and when it moves towards the gripper 100 it drives the gripper 100 to close.

[0034] In the structures shown in the above-mentioned embodiments, the sleeve in the conventional structure is omitted, and the gripper 100 is directly driven by the movable member 200, combined with the deformation state of the bendable portion 1112, thereby realizing the opening and closing of the gripper 100. Since the sleeve does not have a limiting effect on the clamp arm 110, the clamp arm 110 starts to deform from the bendable portion 1112, and the deformation area is closer to the bottom of the entire gripper 100, so that with the same width requirement, the length of the gripper 100 is shorter than the combination of the clamp arm 110 and the sleeve in the prior art. With the same length, the gripper 100 can be opened at a larger angle than the combination of the clamp arm 110 and the sleeve in the prior art, and can more easily engage the target tissue. In addition, the structure of the gripper 100 avoids the fitting gap of the parts required for shaft hole fitting or sliding displacement, so that the repeat bending precision of the clamp arm 110 is higher.

[0035] Furthermore, compared with the multiple-part assembled structure of a conventional hemostatic clip (or tissue clip), the gripper 100 has a simpler structure, lower assembly requirements, significantly reduced costs, and higher operating control precision. Similarly, the overall 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, the gripper 100 with such a shorter length can pass through the passage of the endoscopic instrument more easily.

[0036] Furthermore, as described above, the bending deformation of the bendable portion 1112 is realized by its integral structure. With reference to Figures 1 to 5, in some embodiments, one end of the gripper 100 where the clamp head 1111 is located is a distal end, one end away from the clamp head 1111 is a proximal end, and the direction from the proximal end to the distal end of the gripper 100 is the longitudinal direction of the gripper 100. To realize the deformation structure, the deformation structure includes a plurality of first shrink slits 1113, which are sequentially arranged along the longitudinal direction.

[0037] In one embodiment, as shown in Figure 1, the gripper 100 is maintained in the clamping state in the initial state, and the first contraction slit 1113 is maintained in the initial state, and each portion of the bendable section 1112 does not deform. As shown in Figure 2, when the gripper 100 needs to be opened, the bendable section 1112 deforms outward, and the first contraction slit 1113 contracts and deforms, so that the outer side of the bendable section 1112 (the side facing away from each other of the clamp arm 110) contracts, so that the entire clamp head 1111 opens.

[0038] 1 to 5 and 16 to 19, 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 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 so that they are all arranged parallel to each other 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 gripper 100 smoother and more stable.

[0039] 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. Referring to Figs. 1-5 and 16-17, in this embodiment, each set of the first shrink slit 1113a has two first shrink slits 1113. As shown in Figs. 18 and 19, 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 combined length of all the first shrink slits 1113 in the vertical direction determines the bending deformation area of ​​the entire bendable section 1112, and the number of the first shrink slit sets 1113a, the vertical gap 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.

[0040] 19, 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.

[0041] Considering the needs of minimally invasive surgery, the clamping tool usually has a very fine and delicate structure, so that the gripper 100 is usually not preferred to use a material with a large thickness in order to meet the small volume of the clamping tool. However, the requirement of a small thickness may result in a weakening of the strength of the bendable part 1112. Specifically, as shown in FIGS. 2 and 4, if the external force applied by the operator is too large and the clamp arm 110 is bent outward at a large angle, the clamp arm 110 may break from the bendable part 1112. Based on this, in one embodiment, as shown in FIGS. 2 and 4, the bendable part 1112 has a position limiting structure 1114, which is used to limit the maximum angle at which the bendable part 1112 is bent in the opening direction. That is, within the maximum angle, the bendable part 1112 can be bent freely. When the bending angle reaches the maximum angle, the position limiting structure 1114 acts to limit the bendable portion 1112 from further bending outward, thereby protecting the bendable portion 1112 and the gripper 100. The position limiting structure 1114 realizes the limit on the maximum angle mainly by limiting the position of the gripper 100 in the vertical direction.

[0042] 2, 4 and 16 to 19, in one embodiment, each position limiting structure 1114 includes a plurality of position limiting units 1114a arranged along the vertical direction of the gripper 100. The position limiting units 1114a include a first stopper 1115 and a second stopper 1116 that are disposed opposite each other. As shown in two enlarged partial views of a and b in FIG. 17, a gap 1117 is provided between the first stopper 1115 and the second stopper 1116 along the vertical direction, and in the process of bending the bendable portion 1112 in the opening direction, the first stopper 1115 and the second stopper 1116 approach each other to form an engagement structure (see the enlarged partial view shown in b in FIG. 17). That is, in the initial state, a gap 1117 is left between the first stopper 1115 and the second stopper 1116, as shown in FIG. 17A, and as the gripper 100 gradually opens outward, the first stopper 1115 and the second stopper 1116 move relatively in the vertical direction, and the gap 1117 gradually becomes smaller. Finally, when the bendable portion 1112 reaches its maximum angle, the first stopper 1115 and the second stopper 1116 come into close contact with each other to form a position limit, as shown in FIG. 17B.

[0043] As shown in Figures 16-19, in one embodiment, the first stopper 1115 and the second stopper 1116 are two position limiting hook structures that engage with each other. The position limiting hook structures can also be replaced with other structures having similar functions. As shown in Figures 2 and 4, in one embodiment, the first shrink slit 1113 is located at the center of the circumferential direction 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.

[0044] 2, 4 and 16 to 19, 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 connected together, and the other ends are separated from each other. When the gripper 100 opens outward, the first stopper 1115 and the second stopper 1116 can open together with the gripper 100.

[0045] As shown in Figures 2, 4 and 16-19, 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.

[0046] 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 vertical 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.

[0047] 16 to 18, 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.

[0048] Considering that the bending movement of the gripper 100 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. 16-19, in one embodiment, both ends of each pair of first shrink slits 1113a extend between the second shrink slits 1118 of the two position limiting units 1114a adjacent in the vertical 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 gripper 100 becomes smoother, and at the same time, the bendable part 1112 is prevented from being broken by a 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. For example, the torsional deformation segment 1119 can further act to limit the maximum opening angle by its own structure, and this position limiting effect, in combination with the position limiting structure 1114, together forms the maximum opening and closing angle of the bendable portion 1112.

[0049] 17 and 19, the second shrink slit 1118 is linear, whereas in the embodiment shown in Fig. 18, the second shrink slit 1118 is U-shaped.

[0050] Furthermore, as described above, when the gripper 100 grips the target 1, the movable member 200 needs to move together with the gripper 100 to a predetermined lock structure and lock. However, in actual use, when the human tissue gripped by the gripper 100 has different hardness or thickness (as shown in FIGS. 20 and 21 ), the closing angle of the gripper 100 is limited. Since the closing angle is related to the stroke of the movable member 200, the gripper 100 and the movable member 200 cannot move to the position of the lock structure, and the gripper 100 cannot maintain the gripping state.

[0051] 20 and 21, the second shrink slit 1118 has a gap in the vertical direction. The second shrink slit 1118 of the position limiting structure 1114 constitutes a self-adaptive floating structure that can be deformed in the clamping direction, so that when the gripper 100 clamps the target 1, the bendable part 1112 can be self-adaptively bent and deformed in the closing direction according to the volume of the target 1, providing the movable member 200 and the gripper 100 with a self-adaptive stroke range, increasing the rigid deformation margin of the movable member 200, and allowing the movable member 200 and the gripper 100 to always move to the locking position of the locking structure, thereby realizing accurate and reliable locking.

[0052] Specifically, referring to Fig. 20, when the gripper 100 grips a thin target 1, the gripper 100 can be closed normally, and the second contraction slit 1118 maintains a normal gap (partially enlarged view shown in Fig. 20a), and the movable member 200 and the gripper 100 can move accurately to the position of the lock structure as shown in the lock stroke, locking the gripper 100 in the gripping state. Referring to Fig. 21, when the gripper 100 grips a thick target 1, the gap between the gripper 100 cannot be closed to the extent shown in Fig. 20, and at this time, if the movable member 200 is continuously pulled, the second contraction slit 1118 can be deformed in the closing direction of the gripper 100 (partially enlarged view shown in Fig. 21a). For example, in one embodiment, each second shrink slit 1118 can provide 0.02-0.05MM compression in the vertical direction, and with the number of second shrink slits 1118 shown in the figure, the multiple second shrink slits 1118 can provide a total deformation of approximately 0.1-0.2mm, causing the bendable portion 1112 to bend inwardly as shown in FIG. 21 (both sides of the bendable portion 1112 are slightly protruding outwardly in FIG. 21), thereby compensating for the lost stroke in the gripper 100 and ultimately allowing the gripper 100 to lock into the locking structure.

[0053] Although the above embodiment discloses a structure in which the bendable portion 1112 realizes bending deformation by opening a shrink slit, the deformation structure of the bendable portion 1112 in the embodiment is not limited thereto and can be realized in other ways. For example, referring to Fig. 22, in one embodiment, in the gripper 100, the thickness of the bendable portion 1112 is set to be thinner than other portions, for example, thinner than the clamp head 1111 and the connection portion 120, so that when the movable rod 200 drives the gripper 100 to move, the bendable portion 1112 can be preferentially bent.

[0054] 23, in one embodiment, in the gripper 100, the bendable portion 1112 may have a material and structure that is easier to bend, such as a material that is easier to bend than the clamp head 1111 and the connection portion 120 (described in detail below), such as a metal material, a plastic material, or a metal wire knitted mesh with good bending performance, so that the bendable portion 1112 can be preferentially bent when the movable rod 200 drives and moves the gripper 100. Of course, the bendable portion 1112 may have other structures with good bending performance, such as a metal knitted structure.

[0055] Furthermore, in order to reduce mutual interference between the grippers 100 when they are closed, in one embodiment, the opposing ends of the grippers 100 are provided with retraction structures 1110, so that the grippers 100 retract from each other when they are closed. Referring to FIG. 18, in this embodiment, the opposing ends of the grippers 100 retract inward to form the retraction structures 1110, and the retraction regions form a retraction groove between the two opposing grippers 100. The width of the retraction groove gradually increases along the longitudinal direction of the grippers 100, and one end of the retraction groove near the clamp head 1111 is wider than the other end. Of course, the retraction structure 1110 may be any other structure capable of performing the retraction function, and is not limited to the structure shown in the figure.

[0056] Furthermore, the movable member 200 can be connected to the gripper 100 by various types of structures and can be driven to move the gripper 100 in the opening direction and the clamping direction. The movable member 200 may be directly connected to the gripper 100 or may be connected to the gripper 100 via a gripper connection structure 600.

[0057] 7, 13 and 24, in one embodiment, the gripper connection structure 600 includes two connecting rods 610, one end of which is connected to the distal end of the movable member 200 and can rotate around an axis 620, and the other end of which is connected to the transverse axis of the clamp 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 movable member 200 moving up and down to the clamp head 1111, so as to realize the opening and closing control of the clamp head 1111.

[0058] 21, when the movable member 200 moves to one end away from the control handle 400, the gripper 100 can be opened in the opening direction. In addition, the rotation center A of the connecting rod 610 and the movable member 200 can cross the connecting line B of the two rotation centers between the connecting rod 610 and the clamping head 1111, thereby forming a self-locking, keeping the gripper 100 in an open state and not easily closing under external force, and the retraction of the clamping head 1111 can be controlled only by the control handle 400.

[0059] Of course, the gripper connection structure 600 may be connected using other structures, such as various clamp arm 110 and pull rod connection methods disclosed in the prior art.

[0060] Further, referring to FIG. 29, in this embodiment, the insertable clamping instrument is a clip device as an example, and a process in which the gripper 100 is detached and temporarily remains inside the body of the surgical subject will be briefly described.

[0061] 6-9, 12-15 and 29, the insertable clamping device, in addition to the gripper 100 and the movable member 200, further includes a transmission assembly 300, a control handle 400 and a separation base 500.

[0062] The transmission assembly 300 supports the gripper 100 and transmits motion and force to the movable member 200. Referring to Fig. 7, the transmission assembly 300 includes a sleeve assembly 310 and a transmission member 320 disposed within the sleeve assembly 310, the transmission member 320 being connected to the movable member 200. The gripper 100 and the separated base 500 are detachably connected or integrally formed, so that the gripper 100 can be detached from the separated base 500 when necessary.

[0063] The separated base 500 is rotatably connected to the sleeve assembly 310, for example, as shown in FIG. 7, the separated base 500 is fitted in the sleeve assembly 310. The connection between the separated base 500 and the gripper 100 allows them to rotate in the circumferential direction of the sleeve assembly 310, 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 movable member 200, and the gripper 100. For example, an operator can operate and control the gripper 100 to rotate relative to the sleeve assembly 310 through the control handle 400, and further control the opening and closing of the gripper 100 through the control handle 400.

[0064] Moreover, no matter how the movable member 200 moves, the movable member 200 always has a first stroke, a second stroke, and a third stroke, which are three parts of the entire movement stroke of the movable member 200, and the three strokes may be in the same direction, or at least two strokes may be in different directions.

[0065] 6-9 and 25 and 26, in one embodiment, the movable member 200 realizes the inner release by a separate combination structure. Specifically, the movable member 200 and the gripper 100 are snap-connected. Referring to Figs. 25 and 26, the movable member 200 has an engagement groove 281, and the engagement groove 281 has an opening 282 smaller than the groove cavity, and the movable member 200 is engaged with the gripper connection structure 600 by the engagement groove 281, and specifically, may be connected to the mounting shaft 620 of the connection rod 610.

[0066] As the movable member 200 moves along the first and second strokes, the gripper connection structure 600 and the gripper 100 are limited by the blocking action of the opening 282 and can move together with the movable member 200, thereby achieving opening and clamping of the gripper 100.

[0067] 6 and 7, at this time, the movable member 200 is in a first stroke, and as the movable member 200 moves along its axial direction away from the control handle 400 and toward the gripper 100 (moving to the right as shown), the movable member 200 can drive the gripper 100 to open outward, thereby moving the gripper 100 until it is in an open state.

[0068] 8 and 9, at this time, the movable member 200 is in the second stroke, and as the movable member 200 moves along its axial direction toward the control handle 400 and away from the gripper 100 (moving to the left as shown), the movable member 200 can drive the grippers 100 to move inwardly toward each other, thereby moving the grippers 100 until they are in a clamping state.

[0069] 25 and 26, when the movable member 200 is in the third stroke, the gripper 100 and the gripper connection structure 600 are blocked and cannot continue to move toward the control handle 400, and at this time, the gripper connection structure 600 is disengaged from the opening 282 of the locking groove 281 under the action of an external force, so that the movable member 200 disengages from the gripper connection structure 600 and realizes inward disengagement. The movable member 200 can no longer drive the movement of the gripper 100, and has no control over the gripper 100, so that the gripper 100 remains in the locked state.

[0070] 26, when the movable member 200 moves to the position shown in the figure, the gripper 100 separates from the detachment base 500, thereby leaving the gripper 100 behind on the target object it grips. The detachment base 500, the movable member 200 and the transmission assembly 300 can be withdrawn from the body of the surgical subject. In this process, the movement stroke of the movable member 200 is the outward disengagement stroke.

[0071] In another inner breakaway structure, referring to Figs. 12-15 and 27-28, the movable rod 200 is a one-piece structure, which has 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.

[0072] The remaining segment 220 is connected to the clamp 110 by the clamp connection structure 600. The lock engagement portion 210 is located on the remaining segment 220 or on the clamp connection structure 600. As shown in FIG. 27, when the movable rod 200 is located on the third stroke, the second tearing portion 240 breaks, and the remaining segment 220 and the separated segment 230 are separated. Also, the remaining segment 220 is left inside the body of the surgical subject together with the clamp 110, but the separated segment 230 is taken out from the body of the surgical subject together with the separated base 500.

[0073] In this embodiment, the remaining segment 220 and the separation segment 230 are integrally molded, that is, the entire movable rod 200 is integrally processed with the same material, and is not formed by assembling two or more parts. Furthermore, the locking engagement part 210 may be integrally molded with the remaining segment 220 and the separation segment 230. The movable rod 200 is convenient to manufacture, does not require secondary assembly, has lower cost, and is more stable. The width of the second tearing part 240 may be reserved as required, and multiple second tearing parts 240 may be installed according to functional needs, making the structure more reliable and stable.

[0074] 27 and 28, in one embodiment, the separation base 500 has a stop structure 540 located in the movement path of the remaining segment 220. When the moving rod 200 moves along the third stroke, the stop structure 540 prevents the remaining segment 220 from continuing to move together with the separation segment 230, thereby contributing to the separation of the remaining segment 220 and the separation segment 230.

[0075] In the embodiment shown in FIG. 24, the movable rod 200 has a groove along its axial direction, and the stopper structure 540 protrudes from the movable rod 200 and extends into the groove, so that the movable rod 200 abuts against the groove wall as it moves along the inner release stroke.

[0076] 1-5 and 10-11, in one embodiment, the gripper 100 includes a connection portion 120. The connection portion 120, the bendable portion 1112, and the clamp head 1111 are in turn integrally connected. As shown in FIGS. 6-9, a separation base 500 is detachably connected to the connection portion 120, or as shown in FIGS. 10-11, the separation base 500 and the connection portion 120 are integrally molded.

[0077] 25-28, the connection portion 120 has the above-mentioned locking structure 121, which is used to lock the gripper 100 in the clamping state. Of course, in other embodiments, the gripper 100 may not include the connection portion 120, and the locking structure 121 may be directly provided on the bendable portion 1112 or other structure. The locking structure 121 is used to lock the gripper 100 in the clamping state. The locking structure 121 can at least prevent the gripper 100 from moving in the opening direction, thereby ensuring that the gripper 100 is always in the clamping state.

[0078] In one embodiment, the movable member 200 or the gripper connecting structure 600 has a locking engagement portion 631, 210, and when the movable member 200 moves along the third stroke, the locking structure 121 is located in the moving path of the locking engagement portion 631, 210. When the locking engagement portion 631, 210 moves to the locking structure 121, they form a locking engagement to keep the gripper 100 in the clamping state.

[0079] 25 to 28, in one embodiment, the gripper 100 forms a cylindrical structure. One end of the movable member 200 extends into the cylindrical structure and is connected to the gripper 100. The lock engagement portion 631, 210 includes an elastic piece that protrudes toward the gripper 100, and the lock structure 121 includes an engagement groove that can engage with the elastic piece. The elastic piece is inclined toward the distal end of the gripper 100 along the protruding direction. The inclined elastic piece can move toward the control handle 400 along the inner wall of the gripper 100, thereby preventing the elastic piece from engaging with other parts of the gripper 100. When the elastic piece moves to the position of the engagement groove, the elastic piece is engaged with the engagement groove by an elastic force, preventing the movable member 200 and the gripper 100 from retracting and releasing the clamping state.

[0080] 25, in one embodiment, the locking engagement portion 631 is provided on a tubular body 630, which is a part of the gripper connecting structure 600 and can form an interlocking structure with the connecting rod 610 via the shaft 620. The movable member 200 passes through the tubular body 630 and is connected to the shaft 620. The tubular body 630 can move toward the control handle 400 together with the movable member 200 until it is locked by the locking structure.

[0081] Of course, the elastic piece shown in the figure is one example of the lock engagement portion 631, 210, and in other embodiments, other possible locking function structures may be used, for example, the clamp arm 110 or pull rod and sleeve locking method disclosed in the prior art may be used.

[0082] 25-28, in one embodiment, the number of the locking structures 121 and the locking engagement portions 631, 210 is two or more (two in the figures) in order to lock the gripper 100 more stably. In one embodiment, the locking structures 121 are uniformly distributed along the circumferential direction of the gripper 100 (i.e., adjacent locking structures 121 are spaced apart by the same angle), and the locking engagement portions 631, 210 may be opposed to the position of the gripper 100 and uniformly distributed along the circumferential direction of the movable member 200, for example, in order to uniformly receive the force.

[0083] Further, referring to Figures 25 and 26, in one embodiment, the connection part 120 is provided with an attachment part 122 for mounting the separation base 500, and the separation base 500 has a support leg 510. The support leg 510 is engaged and connected to the attachment part 122. The movable member 200 has a pressing part 283, and when the movable member 200 moves along the third stroke, the separation base 500 is provided in the movement path of the pressing part 283, and the pressing part 283 can push the separation base 500 to move toward the control handle 400, thereby separating the connection part 120 and the separation base 500. Referring to Figures 25 and 26, for example, the separation base 500 has a protrusion 530 located in the movement path of the pressing part 283, and the protrusion 530 may be the bottom of the cylindrical separation base 500, and a through hole through which the movable member 200 passes is opened in the bottom. The separation base 500 may be provided with a foldable buckle on its support leg 510 in order to engage with the connection part 120, and the engagement part 122 may be a locking groove that can be engaged with the buckle, and the buckle extends into the locking groove to engage and connect. In this type of connection, the buckle can be deformed by pressing with the pressing part 283, and thereby it is released from the engagement part 122.

[0084] 7, in 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 through the spring support sleeve 311. The movable member 200 may be fixedly connected to the transmission member 320 by a variable diameter adapter 321 or other structure. A connecting tube 312 is fitted and fixed outside the spring support sleeve 311, and a fixed base 313 is provided on the connecting tube 312. The connecting tube 312 is rotatably connected to the separation base 500 and the gripper 100, so that the entire gripper 100 can rotate relative to the transmission assembly 300 together with the separation base 500.

[0085] The present invention has been described above using specific examples, but these are merely for the purpose of aiding in the understanding of the present invention and are not intended to limit the present invention. Those skilled in the art to which the present invention pertains may make further simple inferences, modifications, or substitutions based on the concept of the present invention.

Claims

1. a gripper and a movable member; the gripper includes at least two clamp arms connected between the clamp arms, each pair of the clamp arms includes a clamp head and a bendable portion, the clamp head is connected to the bendable portion, the clamp arms are used to grip an object, and the bendable portion has a deformation structure that can be bent in a closing direction of the gripper and / or in an opening direction of the gripper; An insertable clamping device, characterized in that the movable member is movably mounted and connected to the gripper, and the gripper opens and closes in response to a change in position of the movable member.

2. The insertable clamping device according to claim 1 , wherein the deformation structure includes a plurality of first shrink slits, the first shrink slits being arranged in sequence along the longitudinal direction of the gripper.

3. The insertable clamping device according to claim 2, characterized in that the first shrink slits are divided into a plurality of sets, each set of the first shrink slits having at least one first shrink slit, the bendable portion has a plurality of second shrink slits extending along its circumferential direction, the second shrink slits are arranged along the vertical direction, both ends of the first shrink slits of each set extend between two correspondingly adjacent second shrink slits in the vertical direction, and an overlapping region between the first shrink slits and the second shrink slits forms a torsional deformation segment to bend and twist the bendable portion.

4. The insertion type clamping device according to claim 3, characterized in that the first shrink slit extends along a circumferential direction of the bendable portion, the bendable portion has a position limiting structure, and the position limiting structure is used to limit a maximum angle that the bendable portion can be bent in the opening direction.

5. The insertable clamping device described in claim 4, characterized in that each of the position limiting structures includes a plurality of position limiting units arranged along the vertical direction of the gripper, the position limiting units include a first stopper and a second stopper installed opposite each other, a gap is provided between the first stopper and the second stopper along the vertical direction, the second contraction slit communicates with the gap, and during the process of the bendable portion bending in the opening direction, the first stopper and the second stopper approach each other to form an engagement structure.

6. The insertable clamping device described in claim 5, characterized in that in the same position limiting unit, the first stopper and the second stopper are formed by dividing a side wall located on the side of the first shrinkage slit in the bendable portion by the second shrinkage slit, and the first stopper and the second stopper have one end close to the first shrinkage slit connected together and the other ends separated from each other.

7. The insertable clamping device described in claim 6, characterized in that the initial state of the gripper is a clamping state, the second shrinkage slit has a gap in the vertical direction, and the second shrinkage slit forms a self-adaptive floating structure that can deform in the clamping direction, so that when the gripper clamps the target object, the bendable portion can self-adaptively bend and deform in the closing direction according to the volume of the target object.

8. The insertable clamping device according to any one of claims 1 to 7, characterized in that retraction structures are provided at opposing ends between the grippers, such that the grippers retract from each other when closed.

9. 2. The insertion type clamping device according to claim 1, wherein the thickness of the bendable portion is thinner than other portions of the gripper, so that the bendable portion is more easily bent and deformed than the other portions.

10. The insertable clamping device according to any one of claims 1 to 9, characterized in that in the entire gripper, at least the clamp head and the bendable portion are of an integrally molded structure.

11. 2. The insertable clamping device according to claim 1, wherein the bendable portion has a material and / or structure that is more easily bent and deformed than other portions of the gripper.

12. A gripper for an insertion type clamping device, comprising: A gripper comprising at least two clamp arms connected between each other, each pair of clamp arms comprising a clamp head and a bendable portion, the clamp head being connected to the bendable portion, the clamp arms being used to clamp an object, and the bendable portion having a deformation structure that can be bent in a closing direction of the gripper and / or in an opening direction of the gripper.

13. The gripper of claim 12 , wherein the deformation structure includes a plurality of first shrink slits, the first shrink slits being arranged in sequence along a longitudinal direction of the gripper.

14. 14. The gripper of claim 13, wherein the bendable portion has a plurality of second shrink slits extending circumferentially therearound, the second shrink slits being arranged along the longitudinal direction, both ends of each set of the first shrink slits extending between two corresponding longitudinally adjacent second shrink slits, and overlapping regions between the first shrink slits and the second shrink slits forming a torsional deformation segment to bend and twist the bendable portion.

15. 15. The gripper of claim 14, wherein the first shrink slit extends along a circumferential direction of the bendable portion, the bendable portion has a position limiting structure, and the position limiting structure is provided on at least one side of the bendable portion in the circumferential direction of the bendable portion.

16. 16. The gripper of claim 15, wherein each of the position limiting structures includes a plurality of position limiting units arranged along a vertical direction of the gripper, the position limiting units include a first stopper and a second stopper installed opposite each other, a gap is provided between the first stopper and the second stopper along the vertical direction, the second contraction slit communicates with the gap, and during the process of the bendable portion bending in the opening direction, the first stopper and the second stopper approach each other to form an engagement structure.

17. The gripper described in claim 16, characterized in that in the same position limiting unit, the first stopper and the second stopper are formed by dividing a side wall located on either side of the first shrinkage slit in the bendable portion by the second shrinkage slit, and the first stopper and the second stopper are connected together at one end close to the first shrinkage slit and the other end is separated from each other.

18. The gripper of claim 17, characterized in that an initial state of the gripper is a clamping state, the second shrinkage slit has a gap in the vertical direction, and the second shrinkage slit of the position limiting structure forms a self-adaptive floating structure that is deformable in the clamping direction, so that when the gripper clamps the target object, the bendable portion can self-adaptively bend and deform in the closing direction according to the volume of the target object.

19. 13. The gripper according to claim 12, wherein the bendable portion has a thickness smaller than other portions of the gripper, such that the bendable portion is more easily bent than the other portions.

20. 13. The gripper of claim 12, wherein the bendable section has a material and / or structure that is more easily bent than other parts of the gripper.

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