Insertable tissue clip device and rocker arm thereof

Abstract

The insertable tissue clip device and its rocker arms are connected between a motion member and a clamping arm, and when the motion member moves to the leading end of the clamping structure, the rocker arms open the clamping arms, and when the motion member moves to the trailing end of the clamping structure, the rocker arms pull the clamping arms to close them. The rocker arms convert the axial reciprocating motion of the motion member into opening and closing motion of the clamping arms, thereby achieving the purpose of clamping the target tissue. The rocker arms have a simple structure and stable force transmission between the motion member and the clamping arms.

Description

[Technical Field]

[0001] FIELD OF THE INVENTION This application relates to the field of medical devices, and more particularly to the construction of insertable tissue clip devices used in surgery. [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 closure, and includes hemostatic clips, tissue clips, etc.

[0003] For example, in the minimally invasive treatment process of gastrointestinal diseases, the tissue clip device is usually placed in the passage of an endoscopic instrument to achieve the purpose of treatment. For example, hemostatic clips (or tissue clips) are widely used to stop bleeding or close wounds in the gastrointestinal tract.

[0004] Conventional clamping instruments have complex structures and large dimensions. For example, taking a clamping device such as a hemostatic clip (or tissue clip) as an example, one type of hemostatic clip achieves opening and clamping primarily through the cooperation of a clamping arm and a sleeve. Specifically, the left and right clamping arms are loosely assembled together by a pin. When the clamping arm assembly is pulled proximally, the clamping arms gradually fit into the sleeve and engage with the leading edge of the sleeve. Restricted by the outer diameter of the sleeve, the sleeve applies a pressing force in opposite directions to the clamping arms, causing them to elastically deform inward and close. When the clamping arm assembly moves distally, the clamping arms are pushed out of the sleeve, and their elastic restoring force automatically reopens them, allowing the clamping device to repeatedly open and close.

[0005] In these structures, the drive structure of the clamping arms is complex and can be further improved. Summary of the Invention [Problem to be solved by the invention]

[0006] The present application provides an insertable tissue clip device to propose a new connection structure between a motion member and a clamping arm.

[0007] The present application provides a rocker arm for an insertable tissue clip device that is used to connect a motion member and a clamping arm. [Means for solving the problem]

[0008] In accordance with the above objective, one embodiment of the present application provides an insertable tissue clip device, the insertable tissue clip device including a clamping structure, a motion member, and at least two rocker arms; the clamping structure has at least two clamping arms configured to clamp target tissue; the clamping structure defines a movement space along its axial direction, the movement member is disposed within the movement space, and the movement member is configured to reciprocate within the movement space in conjunction with a control handle; The rocker arms each have one end hingedly connected to the motion member and the other end connected to a corresponding one of the clamping arms; When the moving member moves to the front end of the clamping structure, the rocker arm opens the clamping arm, putting the clamping arm in an open state, and when the moving member moves to the rear end of the clamping structure, the rocker arm pulls the clamping arm to close it, putting the clamping arm in a clamping state.

[0009] In one embodiment, the two rocker arms are distributed crosswise.

[0010] In one embodiment, the clamping structure is provided with a position limiting member, and the position limiting member is located within an intersection area formed by the two rocker arms and close to the moving member, so that when the moving member moves to the rear end, the position limiting member can contact at least one of the rocker arms and form a fulcrum of a lever structure with respect to the at least one rocker arm.

[0011] In one embodiment, the two rocker arms have lock engagement surfaces, and when the clamping arms are in the clamping state, the lock engagement surfaces of the two rocker arms surround each other to form a lock groove, and the position limiting member is located in the lock groove, thereby preventing the two clamping arms from moving crosswise and maintaining the clamping arms in the clamping state.

[0012] In one embodiment, the two rocker arms have guide surfaces, and when the clamping arms move from the open state to the clamping state, the guide surfaces surround and form a guide space, and the position limiting member is disposed in the guide space, and the guide space communicates with the locking groove, thereby guiding the locking groove to engage with the position limiting member when the rocker arms drive the clamping arms to move to the clamping state.

[0013] In one embodiment, the clamping structure includes a pair of support arms, which are arranged opposite each other in a notch between the two clamping arms, and both ends of the position limiting member are fixedly connected to one of the support arms.

[0014] In one embodiment, one of the motion member and the rocker arm has a rotation axis and the other has a self-adjusting groove, the rotation axis is located within the self-adjusting groove, and the rotation axis and the self-adjusting groove can self-adaptively adjust the relative position of the motion member and the rocker arm in the lateral direction during the motion of the rocker arm.

[0015] In accordance with the above objective, one embodiment of the present application provides a rocker arm for an insertable tissue clip device, the rocker arm including a first longitudinal segment, a transverse segment, and a second longitudinal segment, one end of the transverse segment connected to one end of the first longitudinal segment, the other end of the transverse segment connected to one end of the second longitudinal segment, a pivotal connection portion provided at one end of the first longitudinal segment remote from the transverse segment, the pivotal connection portion configured to be pivotally connected to a motion member, and a fixed connection portion provided at one end of the second longitudinal segment remote from the transverse segment, the fixed connection portion configured to be connected to a clamping arm. [Effects of the Invention]

[0016] According to the insertable tissue clip device of the above embodiment, the two rocker arms are connected between the motion member and the clamping arms. When the motion member moves to the leading end of the clamping structure, the rocker arms open the clamping arms, and when the motion member moves to the trailing end of the clamping structure, the rocker arms pull the clamping arms to close them. The rocker arms can convert the axial reciprocating motion of the motion member into the opening and closing motion of the clamping arms, thereby achieving the purpose of clamping the target tissue. The rocker arms have a simple structure and more stable force transmission between the motion member and the clamping arms.

[0017] In one embodiment, the clamping device further includes a position limiting member, the position limiting member being located within an intersection region formed by two rocker arms and adjacent to the motion member, and when the motion member moves to the rear end, the position limiting member can contact at least one rocker arm and form a fulcrum of a lever structure relative to the rocker arm, allowing the clamping arms to more firmly clamp the target tissue in the clamping state.

[0018] The rocker arm of the above embodiment includes a first longitudinal segment, a transverse segment, and a second longitudinal segment, one end of the transverse segment is connected to one end of the first longitudinal segment, the other end of the transverse segment is connected to one end of the second longitudinal segment, and one end of the first longitudinal segment remote from the transverse segment is provided with a pivotal connection, and one end of the second longitudinal segment remote from the transverse segment is provided with a fixed connection. According to the structure of this rocker arm, the two rocker arms can form a cross rocker arm structure with a moving member, thereby achieving the purpose of opening and closing the clamping arm. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a schematic diagram of an insertable tissue clip device according to one embodiment of the present application, with the transmission assembly shown in simplified form. [Figure 2] FIG. 2 is a schematic diagram illustrating a configuration in which a clamping arm is in an open state in an embodiment of the present application. [Figure 3] 1 is a cross-sectional view of a clamping structure according to an embodiment of the present application in an open state, in which the transmission member is in a first stroke and the direction of movement of the transmission member is as shown by the arrow. [Figure 4] 1 is a cross-sectional view of a clamping structure according to an embodiment of the present application in an open state, in which the transmission member is in a first stroke and the direction of movement of the transmission member is as shown by the arrow. [Figure 5] FIG. 2 is a schematic diagram illustrating a configuration in which the clamping arms are in a clamping state according to an embodiment of the present application. [Figure 6] 1 is a cross-sectional view of a clamping structure according to an embodiment of the present invention in a clamping state, in which the transmission member is in a second stroke and the direction of movement of the transmission member is as shown by the arrow. [Figure 7] 1 is a cross-sectional view of a clamping structure according to an embodiment of the present invention in a clamping state, in which the transmission member is in a second stroke and the direction of movement of the transmission member is as shown by the arrow. [Figure 8]1 is an exploded schematic view of each part of a tip in one embodiment of the present application. FIG. [Figure 9] 1 is a schematic diagram of a combined structure of a rocker arm and a position limiting member according to an embodiment of the present application. FIG. [Figure 10] 1 is a schematic diagram of a combined structure of a position limiting member and a support arm in one embodiment of the present application. [Figure 11] 1 is an exploded schematic view of a combined structure of a rocker arm and a moving member according to an embodiment of the present application. FIG. [Figure 12] 1 is a schematic diagram illustrating the configuration of a rocker arm according to an embodiment of the present invention. FIG. [Figure 13] 1 is a schematic diagram of the clamping arm in one embodiment of the present application in a clamping and self-locking state, where the transmission member is in the third stroke and the direction of movement of the transmission member is as shown by the arrow. [Figure 14] FIG. 10 is a cross-sectional view of the clamping arms in a clamping and self-locking state according to an embodiment of the present application. [Figure 15] FIG. 10 is a cross-sectional view of the clamping arms in a clamping and self-locking state according to an embodiment of the present application. [Figure 16] FIG. 10 is a schematic diagram illustrating a configuration in which the clamping arms are in a clamping and locked state in an embodiment of the present application. [Figure 17] 1 is a cross-sectional view of the clamping arm in the clamping and locked state according to an embodiment of the present application, in which the transmission member is in the third stroke and the direction of movement of the transmission member is as shown by the arrow. [Figure 18] 1 is a cross-sectional view of the clamping arm in the clamping and locked state according to an embodiment of the present application, in which the transmission member is in the third stroke and the direction of movement of the transmission member is as shown by the arrow. [Figure 19] 1 is a schematic diagram of a cylindrical clamping structure according to an embodiment of the present application after being deployed along the vertical direction. FIG. [Figure 20] 1 is a schematic diagram illustrating the configuration of an annular deformation portion in a natural state according to an embodiment of the present application. [Figure 21]10 is a schematic diagram of the configuration after the annular deformation portion in the embodiment of the present application is pressed inward and deformed. FIG. [Figure 22] 10 is a schematic diagram of the deformation direction of the deformation portion when the clamping structure in one embodiment of the present application clamps thick tissue, the deformation direction being as shown by the arrows. [Figure 23] 10 is a schematic diagram showing the length from the position limiting member to the locking groove when a clamping structure in another embodiment of the present application clamps thick tissue. FIG. [Figure 24] FIG. 1 is a schematic diagram of a configuration in a natural state when there are two deformation portions in one embodiment of the present application. [Figure 25] FIG. 10 is a schematic diagram of the configuration after being pressed inward and deformed in a case where two deformation portions are provided in one embodiment of the present application. [Figure 26] FIG. 10 is a schematic diagram illustrating a configuration in which a plurality of deformation portions are provided in an embodiment of the present application. [Figure 27] 10 is a schematic diagram of the clamping arm in the clamping state in one embodiment of the present application, after the moving member and the transmission member have been separated inward. FIG. [Figure 28] This is a cross-sectional view of one embodiment of the present application in which the clamping arm is in a clamping state and the moving member and the transmission member have separated inward, at this time the transmission member is in the third stroke and the direction of movement of the transmission member is as shown by the arrow. [Figure 29] 10A and 10B are cross-sectional views illustrating the process of the movement member and the transmission member being separated from each other inwardly in one embodiment of the present application. [Figure 30] 10 is a schematic diagram of the configuration after the clamping arm is in a clamping state and the separation base, the clamping arm, and the support arm are separated outward in one embodiment of the present application. FIG. [Figure 31] 10 is a schematic diagram of the configuration after the clamping arm is in a clamping state and the separation base, the clamping arm, and the support arm are separated outward in one embodiment of the present application. FIG. [Figure 32] This is a cross-sectional view of one embodiment of the present application in which the clamping arm is in a clamping state and the separation base, clamping arm, and support arm have been separated outward, at this time the transmission member is in its third stroke and the direction of movement of the transmission member is as shown by the arrow. DETAILED DESCRIPTION OF THE INVENTION

[0020] The present invention will be described in more detail below with reference to the drawings through specific embodiments. Herein, similar elements in different embodiments are designated by the same reference numerals. In the following embodiments, many detailed descriptions are provided to facilitate a better understanding of the present application. However, as those skilled in the art will readily recognize, some features may be omitted or substituted with other elements, materials, or methods in different situations. In some cases, some operations related to the present application are not shown or described in the specification. This is to avoid overwhelm the core of the present application with excessive descriptions. Those skilled in the art will be able to fully understand the relevant operations without the need for detailed descriptions of these related operations based on the descriptions in the specification and general technical knowledge in the field.

[0021] Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method descriptions may be reordered or rearranged in a manner apparent to one skilled in the art. Thus, various orders in the specification and figures are merely for the purpose of clarifying certain embodiments and are not intended to imply a required order, unless a specific order is specifically stated to be required.

[0022] In this specification, the numerals of elements, such as "first", "second", etc., are used only to distinguish between the described objects and do not have any ordering or technical significance. Unless otherwise specified, "connection" and "coupled" as used in this specification include both direct and indirect connection (coupling).

[0023] This embodiment provides an insertable tissue clip device (hereinafter referred to as a clamp device for convenience of explanation), which is used to clip tissue (collectively referred to as target tissue) in the human or animal body to achieve hemostasis or closure, and may include, but is not limited to, hemostatic clips, tissue clips, etc. The clamp device may be a disposable device or a reusable device.

[0024] 1 to 7 , in one embodiment, the clamping device includes related components such as a clamping structure 1, a control handle 3, a motion control assembly 4, and a transmission assembly 5. The control handle 3 is an operating member for controlling the clamping device, and an operator can manually use the control handle 3 to open and close the clamping structure 1, thereby clamping the target tissue 2. For ease of explanation, the end of the clamping device where the clamping structure 1 is located is defined as the leading end, and the end where the control handle 3 is located is defined as the trailing end, and the front-rear directions of the other components are all based on these directions.

[0025] The clamping structure 1 is a structure for grasping a target tissue and has at least two clamping arms 100, which clamp the target tissue by being driven by a moving member 410 and a rocker arm 420. The two rocker arms 420 are distributed crosswise, and when the moving member 410 moves to the front end of the clamping structure 1, the rocker arms 420 open the clamping arms 100, putting the clamping arms 100 in an open state. When the moving member 410 moves to the rear end of the clamping structure 1, the rocker arms 420 pull the clamping arms 100 to close them, putting the clamping arms 100 in a clamping state.

[0026] JPEG2025528485000002.jpg22168

[0027] 1 to 7, in one embodiment, the clamping structure 1 defines a motion space along its axial direction, and the motion member 410 is disposed within the motion space. The motion member 410 is used to interact with the control handle 4, and by controlling the control handle 1, the motion member 410 reciprocates within the motion space.

[0028] In one embodiment, the clamping arms 100 may be fixed together. One end of each of the two rocker arms 420 is hingedly connected to the motion member 410, and the other end is connected to a corresponding one of the clamping arms 100.

[0029] 1 to 7, the clamping arm 100 includes a clamping head 110 and a bendable portion 120. The clamping head 110 is used to clamp the target tissue 2, and the bendable portion 120 bends to open and close the target tissue 2 by driving a motion member 410 and a rocker arm 420. The clamping head 110 and the bendable portion 120 are fixed relative to each other. This relative fixation may be achieved by a one-piece molding structure (e.g., the embodiment shown in FIGS. 2 to 7), or may be connected together by a fixing method such as fastening, welding, adhesive, screw locking, or crimping.

[0030] The clamping structure 1 may also have a conventional structure, for example, further including a sleeve, the cavity of which is a motion space, and the clamping arm having one end disposed within the sleeve and the other end extending therefrom. The motion member 410 is at least partially located within the sleeve and can reciprocate along the axial direction of the sleeve. The axial movement of the motion member 410 within the sleeve drives the rocker arm 420 to open and close the clamping arm 100. In this case, the clamping arm 100 does not need to have a bendable portion 120, and is merely a clamping head with a clamping function.

[0031] In each of the above embodiments, the rocker arm 420 can convert the axial reciprocating motion of the motion member 410 into the opening and closing motion of the clamping arm 100, thereby achieving the purpose of clamping the target tissue. The rocker arm has a simple structure and stable force transmission between the motion member 410 and the clamping arm 100.

[0032] In particular, when the rocker arms 420 are arranged in a cross-shaped configuration, the axial reciprocating motion of the motion member 410 can be converted into lateral motion of the rocker arms 420, thereby realizing the opening and closing of the clamping arms 100. The structure of such a cross-shaped rocker arm is simple, and the force transmission between the motion member 410 and the clamping arms 100 is more stable.

[0033] Furthermore, in one embodiment, referring to FIGS. 1 to 7, the clamping structure 1 includes at least two clamping arms 100 and a separate base 200 connected to the clamping arms 100. Such connection may be a one-piece structure (as in the embodiment shown in FIGS. 2 to 7), where the one-piece structure is integrally machined from the same material and is not a combination of two or more parts. The one-piece structure (including the other one-piece structures described below) may be manufactured using, but is not limited to, injection molding, laser cutting, and other machining processes. In particular, laser cutting can achieve extremely small gaps, which is advantageous for miniaturizing the overall structure and improving its compactness. The clamping head and the bendable portion may be integrally connected between the clamping arms 100 and the separate base 200 by a fastening method such as fastening, welding, adhesive, screw locking, or caulking.

[0034] To better grip the target tissue 2, in some embodiments, the clamping arms 100 are provided with a clamping claw structure between them to clamp the target. The clamping claw structure is a structure that can firmly grasp the target. For example, in the embodiment shown in Figures 2 to 7, when there are two sets of clamping arms 100, the two clamping arms 100 are provided opposite each other and can grasp the target when closed (in a clamping state) as shown in Figures 5 to 7. In other embodiments, when there are different numbers of clamping arms 100, different clamping claw structures can be used. For example, when there are three clamping arms 100, the three clamping arms 100 can be arranged in a triangle to grip the target.

[0035] The function of the motion control assembly 4 is to drive the clamping arms 100 to move in opening and closing directions. Referring to FIGS. 2 to 7 and 11 to 12, the motion control assembly 4 includes a motion member 410 and two rocker arms 420. The motion member 410 is disposed within the clamping structure 1 so as to be movable along the axial direction of the clamping structure 1. The two rocker arms 420 are arranged crosswise, with one end of each rocker arm 420 hingedly connected to the motion member 410 and the other end connected to a respective clamping arm 100, for example, by laser or other fastening methods, welding, adhesive, screw locking, caulking, or the like. For example, referring to FIGS. 2 to 8, in one embodiment, the tip of each rocker arm 420 has a protruding connection 421 that is inserted into the corresponding clamping arm 100 and fixedly connected to the corresponding clamping arm 100, for example, by ultrasonic welding.

[0036] When the motion member 410 moves to the front end of the clamping device, the rocker arm 420 can open the two clamping arms 100, thereby putting the clamping arms 100 into an open state. When the motion member 410 moves to the rear end of the clamping device, the rocker arm 420 can pull the two clamping arms 100 toward each other, thereby moving the clamping arms 100 until they are closed and in a clamping state.

[0037] The transmission assembly 5 includes a transmission member 510 and a sleeve assembly 520. The transmission member 510 is connected to the motion member 410, and the separation base 200 is connected to the sleeve assembly 520, so that the entire clamping structure 1 is supported by the sleeve assembly 520. The sleeve assembly 520 is connected to the control handle 3, and the control handle 3 and the transmission member 510 form an interlocking structure to control the motion of the transmission member 510 and the motion member 410.

[0038] Referring to FIG. 1 , in one embodiment, the control handle 3 may include a control unit 31 for controlling the transmission member 510 and a gripping portion 32 for the operator to grasp, and the control unit 31 may move relative to the gripping portion 32. In FIG. 1 , the gripping portion 32 is a structure for the operator's thumb to insert, and the control unit 31 may move back and forth relative to the gripping portion 32. The control unit 31 may be connected to the transmission member 510 via a traction member to form a linkage structure. The traction member may be, but is not limited to, a wire rope or a traction rope made of other materials, or other members that can serve as a traction structure for the clamping device. Through the traction member, the operator can drive and move the transmission member 510 and the movement member 410 using the control unit 32, thereby controlling the opening and closing of the clamping arm 100.

[0039] Here, different movement strokes of the transmission member 510 correspond to different states of the clamping device. Specifically, the transmission member 510 has a first stroke, a second stroke, and a third stroke. In the first stroke, as shown in FIGS. 2 to 4, the transmission member 510 drives the clamping heads 110 to move away from each other and moves until the clamping arms 100 are in an open state. In the second stroke, as shown in FIGS. 5 to 7, the transmission member 510 drives the clamping heads 110 to move closer to each other and moves until the clamping arms 100 are in a clamping state to clamp the target tissue 2. In the third stroke, as shown in FIGS. 13 to 18 and 27 to 32, the clamping arms 100 are locked in the clamping state and move away from the transmission member 510 and the separation base 200. After the clamping arm 100 is completely separated from the transmission member 510 and the separation base 200, the clamping arm 100 can be left inside the patient's body, and the clamping arm 100 and the detached part are removed from the patient's body. The above process is a general description of the entire process of using the clamping device.

[0040] After the clamping arms 100 clamp the target tissue 2, the target tissue 2 applies a biasing force in a reverse direction to the clamping arms 100. Therefore, it is necessary to ensure that the clamping device provides sufficient engagement force to the clamping arms 100 to firmly clamp the target tissue 2. To address this issue, referring to FIGS. 2 to 10 , in some embodiments, the clamping structure 1 further includes a pair of support arms 300 located between the two clamping arms 100, and the support arms 300 are connected to the clamping arms 100 and the separation base 200. Such connection may be realized by a single-piece molding structure (as in the embodiment shown in FIGS. 2 to 7 ), or may be connected together by a fixing method such as fastening, welding, adhesive bonding, screw locking, or crimping. The pair of support arms 300 are provided with a position limiting member 310. As shown in FIG. 4 , the position limiting member 310 is located within an intersection region 421 formed by two rocker arms 420 and adjacent to the motion member 410. 2 to 7, when the motion member 410 moves to the rear end, the position limiting member 310 can contact at least one rocker arm 420, at least when the clamping arm 100 is in the clamping state, and forms a fulcrum of the lever structure with respect to the at least one rocker arm 420.

[0041] In the embodiment shown in FIGS. 2 to 8 , the rocker arm 420 is not only an important component connecting the clamping arm 100 and the motion member 410, but also a component that cooperates with the position limiting member 310 to realize a lever structure. To achieve these two functions, the outer edge of the rocker arm 420 facing the position limiting member 310 must generate a biasing force with the position limiting member 310. The tip of the rocker arm 420 is fixedly connected (e.g., welded) to the middle of the clamping arm 100. In this case, the clamping arm 100 and the rocker arm 420 can be considered to be in the same force system, and the position limiting member 310 can be used as the pivot point for the lever of the clamping arm 100. During the movement of the motion member 410 toward its rear end, the displacement of the motion member 410 toward its rear end is converted into the closing of the clamping arm 100. At this time, there is not only a relative sliding displacement but also a relative rotational displacement between the outer edge of the rocker arm 420 on the side closest to the position limiting member 310 and the position limiting member 310. The pulling force from the control handle 3 is converted into a downward pressing force on the position limiting member 310 of the rocker arm 420, and by the position limiting member 310 acting as a fulcrum, the biasing force can be effectively transmitted to the other end of the rocker arm 420, and further to the tip of the clamping arm 100, thereby obtaining a greater clamping force (engaging force).

[0042] 7, to ensure that the lever structure formed by the position limiting member 310 and rocker arm 420 is an energy-saving lever, at least when the clamping arm 100 is in the clamping state, the moment arm b from the rotation center of the rocker arm 420 relative to the moving member 410 to the center of the position limiting member 310 is greater than the moment arm c from the connection center between the rocker arm 420 and the clamping head 110 to the center of the position limiting member 310. In this way, when the clamping arm 100 is in the clamping state, the operator can obtain a greater meshing force from the clamping arm 100 in a more energy-saving manner.

[0043] Naturally, in other embodiments, when at least the clamping arm 100 is in the clamping state, the moment arm b from the rotation center of the rocker arm 420 relative to the motion member 410 to the center of the position limiting member 310 may be equal to or less than the moment arm c from the connection center between the rocker arm 420 and the clamping head 110 to the center of the position limiting member 310. In this case, the direction of the force is mainly changed using a lever, so that the operator can more easily pull the transmission member 510 to better engage the clamping arm 100 with the target tissue 2.

[0044] Furthermore, in order to prevent the clamping arms 100 from opening due to the opposing biasing force of the target tissue 2 after the clamping arms 100 have engaged with the target tissue 2, in one embodiment, a self-locking structure can be formed by a combination of the position limiting member 310 and the rocker arms 420. Referring to Figures 12 and 15, in one embodiment, the two rocker arms 420 have lock engagement surfaces 422, and when the clamping arms 100 are in the clamping state, the lock engagement surfaces 422 of the two rocker arms 420 surround each other to form a lock groove 423, and the position limiting member 310 is located within the lock groove 423, thereby preventing the two clamping arms 100 from moving crosswise and maintaining the clamping arms 100 in the clamping state.

[0045] The principle behind this self-locking is as follows: when the clamping arm 100 is in the clamping state, the reverse biasing force of the target tissue 2 to open the clamping arm 100 is converted by the rocker arm 420 into a lateral displacement of the rocker arm 420 relative to the position limiting member 310, and the biasing force of the motion member 410 toward the tip becomes very small, at which time the position limiting member 310 is positioned within the locking groove 423, thereby preventing the rocker arm 420 from moving laterally across and further preventing the clamping arm 100 from opening.

[0046] In one embodiment, the lateral dimension of the locking groove 423 is slightly larger than or equal to the lateral dimension of the position limiting member 310. In this way, it is not only ensured that the position limiting member 310 can enter the locking groove 423, but also possible to prevent the clamping arm 100 from causing large lateral movement due to an excessively large gap between the locking groove 423 and the position limiting member 310, thereby preventing the clamping arm 100 from releasing the target tissue 2.

[0047] Since the position limiting member 310 remains essentially stationary during the movement of the rocker arms 420 toward the rear end, in some embodiments, a guide structure may be provided to guide the locking groove 423 to engage with the position limiting member 310. Referring to FIGS. 7, 12, and 15, in one embodiment, the two rocker arms 420 have guide surfaces 424. When the clamping arms 100 move from the open state to the clamping state, the guide surfaces 424 surround and form a guide space 425 as the rocker arms 420 change movement. The position limiting member 310 is disposed within the guide space 425, and the guide space 425 communicates with the locking groove 423. When the rocker arms 420 move toward the rear end and the clamping arms 100 are driven to move toward the clamping state, the guide space 425 guides the locking groove 423 to engage with the position limiting member 310.

[0048] As shown in FIGS. 7 and 15, in one embodiment, the locking groove 423 abuts against the front side of the guide space 425, and the lateral dimension of the guide space 425 gradually decreases from the rear to the front.

[0049] 7, 12 and 15, in one embodiment, to form the guide structure shown in Figures 7 and 15, the rocker arm 420 has two inclined guide surfaces 424, and the two inclined guide surfaces 424 can combine to form a guide space 425 resembling an eight-shape when the clamping arm 100 moves from the open state to the clamping state. After the contact point between the rocker arm 420 and the position limiting member 310 passes the turning point of the guide surfaces 424 of the rocker arm 420, it enters the locking groove 423, and at this time, the clamping arm 100 and the position limiting member 310 are interlocked.

[0050] Of course, in other embodiments, the guide surface 424 may have other shapes, thereby forming guide spaces 425 of other shapes.

[0051] 7 and 15, in one embodiment, referring to FIGS. 7, 12 and 15, the rocker arms 420 have arc-shaped lock engagement surfaces 422. The lock engagement surfaces 422 are located in front of the guide surfaces 424. When the clamping arms 100 are in the clamping state, the lock engagement surfaces 422 of the two rocker arms 420 surround each other to form an arc-shaped lock groove 423. When the position limiting member 310 is a cylindrical structure (e.g., a position limiting shaft), the arc-shaped lock groove 423 can be tightly fitted to the position limiting member 310.

[0052] 12 and 15 , in one embodiment, the lock engagement surfaces 422 further include a straight segment 426. When the clamping arm 100 is in the clamping state, the straight segments 426 of the two lock engagement surfaces 422 can combine to form a vertical opening for the lock groove 423, and the extension direction of the vertical opening is aligned with the axial direction of the motion member 410. The vertical opening can increase the difficulty of the position limiting member 310 sliding out of the lock groove 423.

[0053] Of course, in some other embodiments, the vertical doorway may be replaced with an eight-shaped doorway or other type of doorway that is larger on the inside and smaller on the outside, making it more difficult for the position limiting member 310 that enters the locking groove 423 to slide out of the eight-shaped doorway.

[0054] Furthermore, when the motion member 410 moves to the tip of the clamp device, the rocker arm 420 can be driven to open the support arm 300, thereby switching the support arm 300 to an open state. To limit the opening angle of the support arm 300, an angle limiting structure may be provided on the support arm 300, or an angle limiting structure may be provided on the motion member 410 and / or the rocker arm 420.

[0055] For example, referring to Figures 8 and 11, in one embodiment, the tip of the motion member 410 has an angle limiting structure 414, and when the clamping arm 100 is in an open state, the angle limiting structure 414 forms a position limit on the rear side of the position limiting member 310, thereby preventing the motion member 410 from continuing to move toward the tip and limiting the opening angle of the clamping arm 100.

[0056] In one embodiment, the angle limiting structure 414 is a position limiting groove provided on the surface of the tip of the motion member 410 away from the corresponding clamping arm 100, for example, both the first base 411 and the second base 412 have the position limiting groove. The position limiting groove serves as the angle limiting structure 414, and when the clamping arm 100 is in the open state, the bottom of the position limiting groove can come into contact with the position limiting member 310, thereby forming a position limiting structure that prevents the motion member 410 from continuing to move toward the tip and limits the open angle of the clamping arm 100.

[0057] In another embodiment, the angle limiting structure can be formed by the rocker arm 420. Referring to FIGS. 2 to 4 and 12 , in one embodiment, two rocker arms 420 have position limiting portions 427 protruding from one end connected to the motion member 410. When the clamping arm 100 is in the open state, the two position limiting portions 427 form an angle limiting structure, for example, crossing or aligned exactly to the left and right. The angle limiting structure forms a position limiting structure on the rear side of the position limiting member 310 and prevents the motion member 410 from further moving forward, thereby limiting the opening angle of the clamping arm 100. Once the position limiting portion 427 is provided, a separate angle limiting structure is not required. The position limiting portion 427 is directly provided on the rocker arm 420 and can be manufactured by integral molding, which simplifies the structure and the overall structure of the clamping device.

[0058] In one embodiment, rocker arm 420 may be formed as a single unit, for example, by laser cutting or pressing using sheet metal. In one embodiment, when using sheet metal, the thickness of rocker arm 420 may be selected to be 0.3 to 0.6 mm, which not only ensures the strength of rocker arm 420 but also prevents rocker arm 420 from being too heavy. Alternatively, rocker arm 420 may be formed by manufacturing multiple components separately and then fastening them together.

[0059] Furthermore, in certain situations, the relative position between rocker arm 420 and moving member 410 may need to be automatically adjusted. For example, during the opening and closing process of clamping arm 100, due to the limited internal space of clamping structure 1, rocker arm 420 needs to achieve a complex movement trajectory within a small internal diameter space, and therefore rocker arm 420 cannot avoid movement interference with clamping structure 1 during movement. To address this issue, in one embodiment, one of moving member 410 and rocker arm 420 has a rotation shaft and the other has a self-adjusting groove, and the rotation shaft is located within the self-adjusting groove, which can self-adaptively adjust the relative lateral position between moving member 410 and rocker arm 420 during the movement of rocker arm 420. Because the cavity of the self-adjusting groove is larger than the rotation shaft, the rotation shaft can self-adaptively adjust its position within the self-adjusting groove.

[0060] 4 and 7, in one embodiment, the self-adjusting groove 428 is provided on the rocker arm 420, and the rotation shaft 4111 is fixedly provided on the motion member 410. In the illustrated embodiment, the self-adjusting groove 428 is elongated, and the rotation shaft 4111 can move relative to the elongated structure. When the clamping arm 100 is in the clamping state, as shown in FIG. 7, the two self-adjusting grooves 428 are provided opposite each other, and the rear ends of the self-adjusting grooves 428 are both inclined between the two rocker arms 420, so that the rocker arms 420 can adjust their positions laterally during the motion process.

[0061] Of course, in other embodiments, the self-adjusting groove 428 may be located on the motion member 410, and the rotation axis 4111 may be located on the rocker arm 420. In some other embodiments, the self-adjusting groove 428 may have other shapes, such as a circular or elliptical shape with an inner diameter that is larger than the outer diameter of the rotation axis 4111.

[0062] 4 and 7, in one embodiment, the two rocker arms 420 are connected to the motion member 410 via respective rotational axes 4111, and the two rocker arms 420 are spaced apart from and parallel to the rotational axis of the motion member 410. In other embodiments, the two rocker arms 420 may be connected to the motion member 410 via a common rotational axis 4111.

[0063] Further, referring to Figures 7 and 8, in order to avoid the influence of the rocker arm 420 when clamping the target tissue 2, in one embodiment, the tip of the rocker arm 420 has a recessed portion 4210 on the surface away from the corresponding clamping arm 100, and the recessed portion 4210 is where the tissue clamped by the clamping head 110 retreats.

[0064] Further, referring to FIG. 12, in one embodiment, in order to realize the above-mentioned various functions of the rocker arm 420, FIG. 12 provides an exemplary structure of the rocker arm 420, which includes a first longitudinal segment 4201, a transverse segment 4202, and a second longitudinal segment 4203, one end of the transverse segment 4202 is connected to one end of the first longitudinal segment 4201, the other end of the transverse segment 4202 is connected to one end of the second longitudinal segment 4203, a pivot connection portion is provided at one end of the first longitudinal segment 4201 remote from the transverse segment 4202, the pivot connection portion is configured to be pivotally connected to the motion member 410, and a fixed connection portion is provided at one end of the second longitudinal segment 4203 remote from the transverse segment 4202, the fixed connection portion is configured to be connected to the clamping arm 100.

[0065] Referring to FIG. 12, in one embodiment, the horizontal segment 4202 and the first vertical segment 4201 have a lock engagement surface 422 at the inner corner thereof to form the lock groove 423, and the lock engagement surface 422 is used to surround and form the lock groove 423.

[0066] Referring to FIG. 12, in one embodiment, the first longitudinal segment 4201 has an inclined guide surface 426 to form the guide space 425, and the guide surface 426 and the lock engagement surface 422 are located on the same side of the first longitudinal segment 4201.

[0067] 12, in one embodiment, to form the position limiting structure, a position limiting portion 427 is provided at one end of the first vertical segment 4201 away from the horizontal segment 4202, and the position limiting portion 427 is provided to protrude toward the side where the horizontal segment 4202 is located. In this case, the pivot connection portion may be a self-adjusting groove 428, and the self-adjusting groove 428 is provided in the position limiting portion.

[0068] Further, referring to FIG. 10 , in one embodiment, a pair of support arms 300 are provided opposite each other in the notch between the two clamping arms 100, and both ends of the position limiting member 310 are fixedly connected to one of the support arms 300, for example, by laser or fastening, welding, adhesive, screw locking, caulking, or other fixing methods, to form a stable position limiting structure.

[0069] When the clamping structure 1 realizes opening and closing using a structure in which a sleeve is added to a clamping arm, the position limiting member 410 may be fixed to the sleeve along the radial direction of the sleeve.

[0070] 8 to 10, in one embodiment, the position limiting member 310 has two position limiting blocks 311 arranged along its axial direction, and a position limiting space is formed between the two position limiting blocks 311. Two rocker arms 420 are stacked in the position limiting space along the axial direction of the position limiting member 310, thereby preventing the two rocker arms 420 from separating along the axial direction of the position limiting member 310, restricting the rocker arms 420 from sliding outward at both ends, and preventing the teeth of the clamping arms 100 from being misaligned.

[0071] 10, the position limiting member 310 has a shaft-like structure, and the two position limiting blocks 311 are distributed in a dumbbell shape on the position limiting member 310. Of course, the position limiting member 310 may have other structures in other embodiments.

[0072] Furthermore, the function of the moving member 410 is to move within the clamping structure 1 and drive the rocker arm 420 to move, and the movement of the moving member 410 relative to the clamping structure 1 may be, but is not limited to, sliding, rolling, etc. The moving member 410 may adopt any shape and structure that meets the above requirements.

[0073] 8, 9, and 11, in one embodiment, the motion member 410 is a slider, and the motion member 410 is slidably mounted within the clamping structure 1. The motion member 410 includes a first base 411 and a second base 412, and a rocker arm 420 is connected and limited between the first base 411 and the second base 412, which are joined to form the motion member 410. In this structure, the motion member 410 can be divided into the first base 411 and the second base 412 and manufactured separately, reducing manufacturing difficulty. In this assembly structure, the rocker arm 420 is first attached to the first base 411, and then the second base 412 is engaged with the first base 411, thereby completing the assembly of the motion member 410 and the installation of the rocker arm 420.

[0074] 11, in one embodiment, the first base 411 has a rotation shaft 4111, and the rocker arm 420 is fitted on the rotation shaft 4111. The second base 412 can be engaged with the first base 411, and to engage with the second base 412, the first base 411 is provided with a protrusion 4112 and the second base 412 is provided with a recess 4121, and the protrusion 4112 and the recess 4121 are inserted and fitted together to form lateral positioning.

[0075] Of course, in other embodiments, motion member 410 may have other structures, such as a single piece, or may be formed from three or more sub-members joined together. Rocker arm 420 may be attached to motion member 410 in other ways.

[0076] In some embodiments, the motion member 410 may be laser cut from a steel tube or manufactured using powder metallurgy molding (which is easier to assemble).

[0077] Furthermore, in one embodiment, in order to prevent the motion member 410 from rotating within the clamping structure 1, at least one support arm 300 has a position limiting guide portion arranged along its longitudinal direction, and the motion member 410 has at least one position limiting guide engaging portion, which engages with the position limiting guide portion to limit the motion of the motion member 410 along the direction limited by the position limiting guide portion.

[0078] Here, in one embodiment, one of the position limiting guide portion and the position limiting guide engaging portion is a guide groove, and the other is a protruding guide block, and the guide block is inserted into the guide groove. For example, referring to Figures 6 and 8, in one embodiment, the guide block 4113 is provided on the motion member 410, specifically, on the outer wall of the first base 411. The guide groove 320 is provided on the support arm 300 corresponding to the first base 411. Of course, if guiding is required on both sides, the guide block 4113 may be provided on the second base 412, and the guide groove 320 may be provided on another support arm 300 corresponding to the second base 412.

[0079] Furthermore, when the transmission member 510 moves along the second stroke, in addition to the position limiting member 310 and the rocker arm 420 working together to self-lock as described above, a separate locking structure is provided to lock the movement member 410, preventing it from returning and causing the clamping arm 100 to undesirably open.

[0080] In one embodiment, the clamping structure 1 has a locking engagement portion, and the moving member 410 has a locking portion. When the clamping arm 100 is in the clamping state, the locking engagement portion and the locking portion can move relative to each other to a locked position. In this way, when the clamping arm 100 moves away from the transmission member 510, the locking portion and the locking engagement portion can lock in a timely manner, thereby preventing the moving member 410 and the rocker arm 420 from moving toward the tip of the clamping structure 1 and preventing the clamping arm 100 from opening.

[0081] 16 to 18 , in one embodiment, the locking portion is a locking base 4122 provided on the motion member 410, and the locking engagement portion is an inwardly extending elastic locking member 330. The elastic locking member 330 is provided on the path of the locking base 4122 as it moves toward its rear end, so that when the clamping arm 100 is in the clamping state, the locking base 4122 can move toward its rear end and pass the position of the elastic locking member 330. When the clamping arm 100 separates from the transmission member 510, the elastic restoring force of the clamping arm 100 allows the locking base 4122 to return a short distance toward the front end of the motion member 410. When the elastic locking member 330 abuts against the front side of the locking base 4122, it prevents the locking base 4122 from continuing to move toward the front end of the clamping structure 1, thereby forming a lock.

[0082] Referring to Figures 16 to 18, in one embodiment, in order to better guide the movement of the elastic locking device 330 to the locking base 4122, a slope 4122a extending along its longitudinal direction may be formed on the outer wall of the locking base 4122.

[0083] 16 to 18, in one embodiment, the elastic stopper 330 is formed by extending a portion of the support arm 300 inward, and the elastic stopper 330 and the support arm 300 are a one-piece structure. Such a structure is easy to manufacture and may be formed as a single piece, for example, by laser cutting, without the need for additional components. Furthermore, the elastic stopper 330 can utilize the vertical space, and when the clamping structure 1 maintains the same length, the elastic stopper 330 is longer and has better elasticity.

[0084] In some embodiments, both support arms 300 may be provided with elastic stoppers 330. When a support arm 300 is provided with the position limiting guide member, referring to FIG. 14 , in one embodiment, one support arm 300 may have an elastic stopper 330, and the other support arm 300 may have a position limiting guide member (e.g., guide groove 320) provided along its longitudinal direction, which is used to limit the movement of the motion member 410 along the longitudinal direction of the clamping structure 1. In this embodiment, the locking condition of the elastic stopper 330 is more unified, and the locking is more reliable. Two elastic stoppers 330 not only take up space, but also place high demands on the manufacturing and assembly precision of parts when accurately aligning and locking the two elastic stoppers 330 with the locking base 4122. In addition, the position limiting guide action of the position limiting guide portion on the other side can reduce the radial swing range of the elastic locking device 330 and the locking base 4122 of the moving member 410, thereby ensuring more stable locking.

[0085] Furthermore, when the self-locking structure is formed by the position limiting member 310 and rocker arm 420, the reverse biasing force of the target tissue 2 that opens the clamping arm 100 is converted via the rocker arm 420 into a lateral displacement of the rocker arm 420 relative to the position limiting member 310, and the biasing force toward the tip of the moving member 410 becomes very small. This means that the elastic locking device 330 only needs to be subjected to a small force toward its tip to lock the entire clamp, and therefore locking can usually be achieved with one elastic locking device 330.

[0086] Furthermore, unlike the prior art, which uses a sleeve to restrict the position of the clamping arm 100 to open or close it, in this embodiment, the opening and closing of the clamping arm 100 mainly depends on the deformation of the bendable portion 120. Here, the bendable portion 120 has a structure that can bend in the closing direction of the clamping structure 1 and / or in the opening direction of the clamping structure 1. Referring to Figures 5 to 7, in the illustrated embodiment, the initial state of the clamping structure 1 is the clamping state, i.e., when the bendable portion 120 is not deformed, the clamping structure 1 is in the clamping state. At this time, the bendable portion 120 has a structure that can bend at least in the opening direction of the clamping structure 1, thereby realizing the opening of the clamping structure 1 as shown in Figures 2 to 4.

[0087] Here, the clamping head 110 is a hard segment that is less likely to deform than the bendable portion 120. During the movement of the motion member 410 to the front and rear ends, the bending deformation of the bendable portion 120 precedes the bending deformation of the clamping head 110, thereby ensuring that the clamping arm 100 can better engage the target object. The bending deformation of the bendable portion 120 is achieved by modifying its structure, for example, by providing the bendable portion 120 with a torsionally deformable bending structure, by changing the thickness of the material of the bendable portion 120, or by selecting a material that is more easily deformed, or of course, by other structures. Such bending deformation of the bendable portion 120 is reversible, i.e., the bendable portion 120 has elasticity and can rebound and return to its original shape when the external force is removed, so such bending deformation can be repeated.

[0088] 2-7, in one embodiment, the bendable portion 120 has a semi-cylindrical structure, and when the clamping arms 100 are closed, the bendable portion 120 can form a surrounding cylindrical structure. The semi-cylindrical structure is an incomplete cylindrical structure, and does not necessarily have to be half of a cylindrical structure, but may be one-third of a cylindrical structure or some other size. Note that in other embodiments, the bendable portion 120 can have other structures, such as a sheet, but is not limited to the semi-cylindrical structure.

[0089] 1 to 7 and 19, in one embodiment, the bendable portion 120 includes a plurality of first shrinkage slit groups 121 and second shrinkage slit groups 122. Each first shrinkage slit group 121 has at least one first shrinkage slit 1211, and each second shrinkage slit group 122 has at least one second shrinkage slit 1221, with the first shrinkage slit 1211 and the second shrinkage slit 1221 extending along the circumferential direction of the bendable portion 120. The first shrinkage slit groups 121 and the second shrinkage slit groups 122 are arranged at intervals along the longitudinal direction of the clamping arm 100, with the first shrinkage slit group 121 interposed between two second shrinkage slit groups 122. Here, an overlapping region between the first shrinkage slit 1211 and the second shrinkage slit 1221 forms a torsional deformation segment 124, which allows the bendable portion 120 to bend and torsionally deform.

[0090] 5 and 19, the clamping structure 1 is maintained in a clamping state in its initial state, the first shrinking slits 1211 are maintained in their initial state relative to each other, and the portions of the bendable portion 120 are not deformed. As shown in FIGS. 2 and 19, when the clamping structure 1 needs to be opened, the bendable portion 120 deforms outward, the first shrinking slit 1211 and the second shrinking slit 1221 contract, and the torsional deformation segment 124 bends and torsionally deforms, thereby causing the outer sides of the bendable portion 120 (the sides facing away from each other of the clamping arms 100) to contract, and the entire clamping head 110 opens.

[0091] In one embodiment, the first shrinkage slit group 121 and the second shrinkage slit group 122 may be integrally formed by laser cutting in a tube or sheet material, for example, in a tube or sheet material having a wall thickness of 2 mm.

[0092] Referring now to FIG. 19, in one embodiment, two second shrinkage slits 1221 are provided between the adjacent first shrinkage slit groups 121, and the two second shrinkage slits 1221 are provided on both sides of the bendable portion 120, respectively, and the second shrinkage slits 1221 extend outward to the corresponding side edges of the bendable portion 120.

[0093] The more densely the torsional deformation segments 124 are distributed within the same distance in the longitudinal direction of the bendable portion 120, the more flexible the bending deformation of the bendable portion 120. To ensure the strength of the bendable portion 120, in one embodiment, the number of the first shrinkage slit groups 121 is 6 to 10. The second shrinkage slit groups 122 are distributed at both ends of the bendable portion 120, so the number of the second shrinkage slit groups 122 is one more than the number of the first shrinkage slit groups 121, ranging from 7 to 11. This number not only allows the bendable portion 120 to bend easily, but also ensures strength, preventing the bendable portion 120 from being too soft to support the clamping head 110. When an operator normally opens and closes the clamping structure 1, a small force is required, and the clamping structure 1 feels pleasant to the touch. 19, in the illustrated embodiment, the number of the second shrinkage slit groups 122 is 8, and the number of the first shrinkage slit groups 121 is 7. By adjusting the circumferential lengths of the first shrinkage slits 1211 and the second shrinkage slits 1221 and the distance between them, the flexibility of bending or the supportability can be changed, and the circumferential lengths and the distances can be flexibly set according to demand.

[0094] Referring to FIG. 19, in one embodiment, the first shrink slits 1211 are arranged parallel to each other, and the second shrink slits 1221 are arranged parallel to each other.

[0095] Of course, the first shrinkage slits 1211 and the second shrinkage slits 1221 may be arranged in other non-parallel arrangements other than being parallel to each other. By arranging the first shrinkage slits 1211 in parallel along the circumferential direction of the bendable portion 120, the bending deformation directions of the first shrinkage slits 1211 can be aligned in the same direction, making the bending deformation of the clamping structure 1 smoother and more stable.

[0096] Furthermore, in one embodiment, the first shrink slit 1211 has a gap in the vertical direction of the bendable portion 120. Referring to Fig. 19, the first shrink slit 1211 is an elongated groove having two arc-shaped sides protruding opposite to each other from the center of the first shrink slit 1211. When the clamping structure 1 opens to a predetermined position, the arc-shaped sides come into contact with each other, thereby determining the maximum opening angle.

[0097] 19, the second shrink slits 1221 are provided linearly in the circumferential direction, but in other embodiments, the second shrink slits 1221 may be provided in other shapes.

[0098] 22 and 23 , after the clamping arm 100 clamps the target tissue 2, the motion member 410 needs to move to a predetermined locking position together with the clamping arm 100 to lock it; that is, the locking base 4122 needs to move to a position corresponding to the elastic locking device 330 to achieve locking. However, in actual use, when the hardness or thickness of the human tissue clamped by the clamping structure 1 is different (for example, as shown in FIG. 22 ), the closing angle of the clamping structure 1 is limited. Because the closing angle is related to the stroke of the motion member 410, at this time, the motion member 410 cannot move to the locking position, and the clamping arm 100 cannot maintain the clamping state.

[0099] 19 to 24 , the bendable portion 120 has an annular deformation portion 123. When the clamping arm 100 is in the clamping state and clamps a large target tissue 2, it is difficult for the clamping arm 100, the motion member 410, and the rocker arm 420 to move to a position where they can self-lock with the position limiting member 310 and lock with the locking engagement portion. If a larger tensile force is continuously applied by the transmission member 510, the deformation portion 123 is pressed inward and deformed, thereby driving the clamping arm 100, the motion member 410, and the rocker arm 420 as a whole to move toward the rear end of the insertable tissue clip device relative to the support portion and the position limiting member 310, thereby achieving self-locking between the rocker arm 420 and the position limiting member 310 and locking between the motion member 410 and the locking engagement portion. Because there is a gap between the deformation portion 123 and the support arm 300, a retreat area is formed around the outer periphery of the deformation portion 123, making it easier to deform.

[0100] 20, when the clamping arms 100 clamp a thin target tissue 2, the clamping arms 100 can close normally, the deformation portion 123 maintains a normal gap, and the motion member 410 and the clamping arms 100 accurately move to the position of the locking structure as described above, locking the clamping arms 100 in the clamping state. Referring to FIGS. 21 and 22, when the clamping arms 100 clamp a thick target tissue 2, the clamping arms 100 cannot close to the extent shown in FIG. 20. At this time, if the operator continues to apply force to the motion member 410, and then intentionally applies a larger force, the deformation portion 123 deforms significantly, thereby compensating for the lost stroke of the clamping arms 100 and the motion member 410, and the clamping arms 100 can finally be locked in the locking structure.

[0101] 19 to 23, when the clamping arm 100 is opened to different widths, the deformation portion 123 provides the motion member 410 with a self-adaptive stroke range, and after receiving a certain downward pulling force, a large width deformation occurs, which always locks the elastic locking member 330 accurately and reliably, and allows the rocker arm 420 and the position limiting member 310 to achieve self-locking.

[0102] Specifically, the first shrinkage slit group 121 and the second shrinkage slit group 122 are provided on the front side of the deformation part 123, and the torsional deformation segment 124 is connected to the front part of the deformation part 123, i.e., the upper wall of the deformation part 123 is connected to the torsional deformation segment 124 of the clamping arm 100. The lower wall of the deformation part 123 is connected to the connecting part 140 (described in detail later), and the deformation part 123 has a certain gap with the support arm 300 in the lateral direction to avoid interference. After the deformation part 123 receives a force, the arc gradually increases and further assumes a linear state, and the quadrant points of the upper and lower walls also overlap.

[0103] The deformation width of the deformation portion 123 can be determined based on the difference between the actual stroke and the desired stroke between the rocker arm 420 and the position limiting member 310 when the clamping arm 100 clamps a large target tissue 2. That is, as shown in Fig. 23, the distance between the locking and self-locking positions of the rocker arm 420 and the position limiting member 310 determines the deformation dimension of the deformation portion 123. By repeating experiments, in one embodiment, the range of the value of the maximum distance a of the inward pressing deformation of the deformation portion 123 is 0.1 mm≦a≦1.0 mm, for example, 0.3 to 0.8 mm.

[0104] The deformable portion 123 can self-adaptively deform in the clamping direction, so that when the clamping structure 1 clamps the target tissue 2, the bendable portion 120 can self-adaptively bend and deform based on the volume of the target tissue 2, providing the clamping arm 100 with a self-adaptive stroke range and allowing the motion member 410 and the clamping arm 100 to always move to the locked position, thereby achieving accurate and reliable locking. Due to the design of the deformable portion 123, the operating force when the operator normally opens and closes the clamping structure 1 will not lock the clamping structure, and the clamping structure will only be significantly deformed when the operator intentionally attempts to release the clamping structure, thereby achieving stable and reliable locking.

[0105] 19, in one embodiment, the deformation 123 is an oval structure. Of course, in other embodiments, the deformation 123 may be other shapes, such as a circle, a square, etc.

[0106] 24 and 25, the number of the deformation portions 123 can be two or more, and these deformation portions 123 are connected in sequence along the longitudinal direction of the clamping arm 100. By overlapping the deformations of multiple deformation portions 123, when the deformation portions 123 of each segment are compressed inward, they each generate a small deformation, and after finally overlapping, a large displacement toward the rear end is obtained, which is used to compensate for the tolerance of the elastic locking member 330 and ensure its locking, and the rocker arm 420 and the position limiting member 310 realize self-locking.

[0107] Also, referring to Figure 26, in another embodiment, the above-mentioned first shrinkage slit group 121 and second shrinkage slit group 122 may be omitted, and the bendable portion 120 is formed by combining multiple deformation portions 123, which are connected in sequence along the vertical direction of the clamping arm 100, and the opening and closing of the clamping arm 100 is achieved by deformation of these deformation portions 123.

[0108] In the above embodiment, the bendable section 120 exhibits a structure that realizes bending deformation by providing a first shrinkage slit group 121, a second shrinkage slit group 122, and a torsional deformation segment 124, but the structure of the bendable section 120 in this embodiment is not limited to this and may be realized in other ways.

[0109] For example, in one embodiment, the thickness of the bendable portion 120 of the clamping arm 100 may be thinner than other portions, for example, thinner than the clamping head 110 and the connecting portion 140, so that when the motion member 410 drives the movement of the clamping arm 100, the bendable portion 120 can be preferentially bent and deformed.

[0110] In one embodiment, the bendable portion 120 of the clamping arm 100 may have a material and structure that is easier to bend than the clamping head 110 and the connecting portion 140, such as a metal material, a plastic material, or a metal wire braided mesh with excellent bending performance, so that the bendable portion 120 can be preferentially bent when the motion member 410 drives the motion of the clamping arm 100. Of course, the bendable portion 120 may also have other structures with good bending performance, such as a metal braided structure.

[0111] Furthermore, the first stroke, second stroke, and third stroke are three parts of the overall movement stroke of the transmission member 510, and the three strokes may be in the same direction, or at least two strokes may be in different directions. The strokes may be completely separate or completely unrelated, or at least two strokes may be continuous or overlapping, for example, the third stroke may be closely connected after the second stroke. Of course, the second stroke and the third stroke may also be two parts that are separate and not continuous.

[0112] As an example, referring to Figures 2 to 4, at this time, the transmission member 510 is in the first stroke, and the transmission member 510 moves along its axial direction away from the control handle 3 and toward the tip, driving the clamping arm 100 to open outward, thereby moving until the clamping arm 100 reaches the open state.

[0113] Referring to Figures 5 to 7, at this time, the transmission member 510 is in the second stroke, and the transmission member 510 approaches the control handle 3 along its axial direction and moves to the rear end, and the transmission member 510 can drive the clamping arms 100 to approach each other inward, so that the clamping arms 100 move until they reach a clamping state.

[0114] 13 to 18 and 27 to 32, at this time, the transmission member 510 is in the third stroke, and when the transmission member 510 approaches the control handle 3 along its axial direction and moves away from the clamping arm 100, the third stroke is in the same direction as the second stroke and is closely connected, that is, after the clamping arm 100 moves to the clamping state, the transmission member 510 switches from the second stroke to the third stroke. Here, the third stroke can be further divided into several sub-strokes, including a lock stroke, an inner separation stroke and an outer separation stroke.

[0115] 16 to 18, when the transmission member 510 switches to the third stroke and moves to the position shown in the figures, the clamping arm 100 is locked, and the transmission member 510 cannot move in the opposite direction to reopen the clamping arm 100. In this process, the movement stroke of the transmission member 510 is the lock stroke.

[0116] 27 to 29, after completing the locking stroke, the transmission member 510 enters the inner separation stroke. When the transmission member 510 moves to the position shown in the figures, the clamping arm 100 separates from the transmission member 510, and the transmission member 510 can no longer drive the clamping arm 100 to move, so the transmission member 510 can no longer control the clamping arm 100, and the clamping arm 100 remains in the locked state. The movement stroke of the transmission member 510 during this process is the inner separation stroke.

[0117] 30-32, after completing the inner separation stroke, the transmission member 510 enters the outer separation stroke. When the transmission member 510 moves to the position shown, the clamping arm 100 separates from the separation base 200, leaving the clamping arm 100 with the target tissue 2 that it clamped. The separation base 200 and the transmission member 510 can be removed from the patient's body. The movement stroke of the transmission member 510 during this process is the outer separation stroke.

[0118] 13-18 and 27-32 show only the third stroke, the transmission member 510 is in the third stroke, and the separation of the clamping arm 100 from the transmission member 510 and the separation of the separation base 200 and the clamping arm 100 may be achieved simultaneously, or one of the operations may be achieved before the other. In other embodiments, the locking stroke, inner separation stroke, and outer separation stroke may be performed overlapping, for example, the inner separation stroke and the outer separation stroke overlap, and the inner separation and outer separation are achieved synchronously.

[0119] To achieve the inner separation, in the example provided in this application, the transmission member 510 has a first engaging portion at the front end thereof and a second engaging portion at the rear end thereof. The first engaging portion and the second engaging portion are engaged with each other. Here, at least one of the first engaging portion and the second engaging portion has a deformable structure. When the transmission member 510 moves along the third stroke, the deformable structure can be deformed by the tensile force of the transmission member 510, thereby separating the first engaging portion from the second engaging portion and separating the motion member 410 from the transmission member 510.

[0120] Here, the deformable structure refers to a structure that can only generate deformation after the tensile force reaches a set value, and the structure can be realized by designing the material and structure, for example, by using an elastic material to manufacture the deformable structure.

[0121] One of the first and second engaging portions is a deformable connecting portion, and the other is an engaging groove, and the deformable connecting portion is engaged in the engaging groove. Referring to Figures 8, 28 and 29, the deformable connecting portion 511 is provided on the transmission member 510, and the engaging groove 413 (which may be a through hole or a blind via) is provided on the bottom of the motion member 410. The shape of the engaging groove 413 matches the shape of the deformable connecting portion 511 to engage the deformable connecting portion 511.

[0122] 8, 28 and 29, in one embodiment, the deformable connecting portion 511 includes at least one deformable locking hook, which is connected into the corresponding engaging locking groove 413. When the applied tensile force reaches a predetermined value, the deformable locking hook is pulled and deformed, thereby disengaging from the engaging locking groove 413.

[0123] A slot, through which a position limiting pin passes and which has a cylindrical bottom and is connected to a towing member (e.g., a towing rope), may be provided at the center of the rear end of the transmission member 510. When the tensile force of the towing rope exceeds the load limit of the deformable hook, the deformable hook will deform inward and thereby separate from the motion member 410.

[0124] 8, 28 and 29, in one embodiment, the deformable connecting part 511 includes two deformable hooks, which are spaced apart from each other, and the engaging groove 413 has two cavities symmetrically communicating with each other. In addition, the deformable connecting part 511 may further include at least one intermediate position limiter 512, which is located between the two deformable hooks and prevents the two deformable hooks from being excessively deformed toward each other, resulting in uneven separation force.

[0125] Of course, other inner separation structures can be used between the motion member 410 and the transmission member 510 instead of the structure shown in the above embodiment.

[0126] 2 to 7, in one embodiment, the clamping arm 100 includes a connecting portion 140, which is provided on the rear side of the bendable portion 120, and the connecting portion 140, the bendable portion 120, the clamping head 110, and the support arm 300 are integrally formed. The connecting portion 140 is used to connect the bendable portion 120, the clamping head 110, and the support arm 300 as a whole to the separation base 200. Here, the separation base 200 and the connecting portion 140 may be integrally formed, or may be manufactured separately and then fixedly connected.

[0127] 2 and 30 to 32, in one embodiment, to achieve the outer separation, the separation base 200 is rotatably connected to the sleeve assembly 520, so that the entire clamping structure 1 can rotate relative to the sleeve assembly 520, and the clamping arm 100 and the support arm 300 are integrally connected to the separation base 200 via a first tearing portion 210. In this embodiment, the separation base 200 and other parts of the clamping structure 1 are integrally formed, and the two are integrally connected via the first tearing portion 210. Note that the separation base 200 and other parts of the clamping structure 1 may also be integrally connected by a method such as fastening.

[0128] 30 to 32, in one embodiment, the separation base 200 has a driven member 220, which is used to receive an external force and drive the separation base 200 to break from the first tearing portion 210 and other parts of the clamping structure 1. For example, the external force applied by an operator can be transmitted to the first tearing portion 210 via the motion member 410 or other members.

[0129] 30 to 32, in one embodiment, the motion member 410 drives the movement of the driven member 220. Specifically, the driven member 220 is located on the movement path of the motion member 410, and when the motion member 410 moves to the position of the driven member 220, it drives the driven member 220 to move together toward the control handle 3. As a result, the action of the motion member 410 causes the separation base 200, the connecting portion 140, etc. to break from the first tearing portion 210.

[0130] 30 to 32, in the outer separation structure, there is at least one first tearing portion 210, and the clamping arm 100 and the support arm 300 have an inner recessed region 150 at the end facing the separation base 200, for example, the inner recessed region 150 is provided in the connection portion 140. The first tearing portion 210 is provided in the inner recessed region 150, and the separation base 200 is connected to the clamping arm 100 and the support arm 300 only by the first tearing portion 210. With this design, after the first tearing portion 210 breaks, the broken surface can be contained within the inner recessed region 150, preventing sharp burrs from being exposed and causing damage to the surgical object.

[0131] 20 and 30 to 32, in one embodiment, the separation base 200 includes a cylindrical main body 230 and a hanging portion 240. The main body 230 has a hanging cavity 231 on its side wall, and the hanging portion 240 is disposed in the hanging cavity 231. The hanging portion 240 is aligned with and connected to the first tearing portion 210. The hanging portion 240 is provided with the driven member 220, for example, a position limiting shaft fixedly attached to the hanging portion 240, which crosses the hanging portion 240. The driven member 220 is used to drive the hanging portion 240 to move rearward together with the transmission member 510 when the transmission member 510 moves along the third stroke. Both sides of the hanging portion 240 are connected to the main body 230 via hanging arms 241 , so that the hanging portion 240 can deform relative to the main body 230 to break the first tear portion 210 .

[0132] 30 to 32, the motion member 410 may further have a position limiting groove 513 arranged along its axial direction, and the driven member 220 is disposed at the bottom of the position limiting groove 513. As the motion member 410 moves toward the control handle 3, when the motion member 410 enters the outer separation stroke, the top of the position limiting groove 513 moves to the position of the driven member 220, thereby driving the driven member 220 and the hanging part 240 to move toward the control handle 3, and further separating the separation base 200 from the connecting part 140.

[0133] As a more specific example, referring to FIGS. 30 to 32, the driven member 220 is a position limiting shaft, which is disposed within the position limiting groove 513 .

[0134] In one embodiment, the width of the first tearing portion 210 may be predetermined according to needs, or multiple first tearing portions 210 may be provided according to functional needs, thereby making the structure more reliable and stable.

[0135] 30 to 32, in order to receive the force uniformly, in one embodiment, there are at least two first tearing portions 210 and two hanging portions 240, and the first tearing portions 210 are distributed along the circumferential direction of the separation base 200, and one hanging portion 240 is provided corresponding to each first tearing portion 210. By uniformly distributed, it is meant that the adjacent first tearing portions 210 or hanging portions 240 are spaced apart at the same distance or angle.

[0136] In addition, the driven member 220 can also limit the stroke position of the moving member 410, restricting the movement of the moving member 410 within a set range, thereby limiting the limit stroke of the moving member 410 toward the tip and further limiting the opening stroke of the clamping structure 1. Referring to Figure 3, when the position limiting groove 513 moves toward the tip of the driven member 220 to the position of the driven member 220, the driven member 220 blocks the transmission member 510, further limiting the forward movement of the moving member 410 and the opening stroke of the clamping structure 1.

[0137] Further, referring to Figures 30 to 32, in one embodiment, both sides of the hanging portion 240 are connected to the main body 230 via hanging arms 241, thereby allowing the hanging portion 240 to deform more easily relative to the main body 230.

[0138] Specifically, when the motion member 410 moves along the outer separation stroke, the entire separation base 200 cannot move independently toward the control handle 3 under the support of the sleeve assembly 520. When the motion member 410 pulls the hanging portion 240, the main body 230 of the separation base 200 remains stationary, while the hanging arm 241 of the hanging portion 240 is deformed by the tensile force of the motion member 410. During the deformation of the hanging portion 240, the main body 230 of the separation base 200 provides counter-support to the clamping arm 100, etc., and the material of the hanging arm 241 and the first tearing portion 210 is gradually stretched. As shown in FIGS. 30 to 32 , when the yield limit is reached, a break occurs, and the hanging portion 240 and the connecting portion 140 achieve outer separation. The separation base 200 can then be removed from the surgical subject's body together with the transmission assembly 5.

[0139] 30 to 32, in one embodiment, in order to prevent the hanging portion 240 from being deformed in an undesired direction when the motion member 410 pulls the hanging portion 240, the hanging cavity 231 has a guide groove 232 arranged along the axial direction of the separation base 200, and the hanging portion 240 is disposed in the guide groove 232, thereby guiding the hanging portion 240 to move within the guide groove 232. The guide direction defined by the guide groove 232 aligns the hanging portion 240 with the first tear portion 210, so that the hanging portion 240 can be easily broken off from the first tear portion 210.

[0140] 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 invention should therefore be determined according to the claims that follow.

Claims

1. a clamping structure, a motion member, and at least two rocker arms; the clamping structure has at least two clamping arms configured to clamp the target tissue; the clamping structure defines a movement space along its axial direction, the movement member is disposed within the movement space, and the movement member is configured to reciprocate within the movement space in conjunction with a control handle; The rocker arms each have one end hingedly connected to the motion member and the other end connected to a corresponding one of the clamping arms; When the motion member moves to the front end of the clamping structure, the rocker arm opens the clamping arm, putting the clamping arm in an open state, and when the motion member moves to the rear end of the clamping structure, the rocker arm pulls the clamping arm to close it, putting the clamping arm in a clamping state.

2. The insertable tissue clip device according to claim 1 , wherein the two rocker arms are distributed in a cross pattern.

3. 3. The insertable tissue clip device according to claim 2, wherein the clamping structure is provided with a position limiting member, the position limiting member being located within an intersection area formed by the two rocker arms and adjacent to the motion member, so that when the motion member moves to the rear end, the position limiting member can contact at least one of the rocker arms and form a fulcrum of a lever structure with respect to the at least one rocker arm.

4. The insertable tissue clip device according to claim 3, characterized in that, when the clamping arm moves to a clamping state, the moment arm from the center of rotation of the rocker arm relative to the moving member to the center of the position limiting member is larger than the moment arm from the connection center between the rocker arm and the clamping head to the center of the position limiting member.

5. 5. The insertable tissue clip device according to claim 3, wherein the two rocker arms have lock engagement surfaces, and when the clamping arms are in the clamping state, the lock engagement surfaces of the two rocker arms surround each other to form a lock groove, and the position limiting member is located within the lock groove, thereby preventing lateral cross movement of the two clamping arms and maintaining the clamping arms in the clamping state.

6. 6. The insertable tissue clip device according to claim 5, wherein the lateral dimension of the locking groove is slightly larger than or equal to the lateral dimension of the position limiting member.

7. 7. The insertable tissue clip device according to claim 5, wherein the two rocker arms have guide surfaces, and when the clamping arms move from the open state to the clamping state, the guide surfaces surround and form a guide space, and the position limiting member is provided in the guide space, and the guide space communicates with the locking groove, thereby guiding the locking groove to engage with the position limiting member when the rocker arms drive the clamping arms to move to the clamping state.

8. The insertable tissue clip device according to claim 7, wherein the locking groove abuts against the front side of the guide space, and the lateral dimension of the guide space gradually decreases from the rear to the front.

9. 9. The insertable tissue clip device according to claim 8, wherein the rocker arm has an inclined guide surface and an arc-shaped lock engagement surface, the lock engagement surface is located in front of the guide surface, and when the clamping arms are in the clamping state, the lock engagement surfaces of the two rocker arms surround each other to form an arc-shaped lock groove.

10. The insertable tissue clip device according to any one of claims 3 to 9, characterized in that the clamping structure includes a pair of support arms, the pair of support arms being arranged opposite each other in a notch between the two clamping arms, and both ends of the position limiting member being fixedly connected to one of the support arms.

11. 11. The insertable tissue clip device of claim 10, wherein the support arm and the clamping arm are of unitary construction or fixedly connected.

12. The insertable tissue clip device according to claim 10 or 11, characterized in that the clamping arms include a clamping head and a bendable portion, the clamping head and the bendable portion are fixed relative to each other, the clamping head is configured to clamp target tissue, and the bendable portion has a structure that can be bent in the closing direction of the clamping arms and / or in the opening direction of the clamping arms.

13. The insertable tissue clip device according to any one of claims 3 to 9, characterized in that the clamping structure further includes a sleeve, the clamping arm having one end disposed within the sleeve and the other end extending from the sleeve, the motion member being at least partially located within the sleeve and capable of reciprocating motion along the axial direction of the sleeve, and the position limiting member being fixedly disposed on the sleeve.

14. 14. The insertable tissue clip device according to claim 1, wherein one of the motion member and the rocker arm has a rotation axis and the other has a self-adjusting groove, the rotation axis being located within the self-adjusting groove, and the rotation axis and the self-adjusting groove can self-adaptively adjust the relative lateral positions of the motion member and the rocker arm during the motion of the rocker arm.

15. The insertable tissue clip device according to any one of claims 1 to 14, characterized in that the tip of the rocker arm has a recess on a surface away from the corresponding clamping arm, the recess being configured to allow tissue clamped by the clamping head to retreat.

16. 16. The insertable tissue clip device according to any one of claims 1 to 15, wherein the rocker arm has a protruding connection portion at its tip, the protruding connection portion being inserted into the corresponding clamping arm and fixedly connected to the clamping arm.

17. a first vertical segment, a horizontal segment, and a second vertical segment; a rocker arm of an insertable tissue clip device, characterized in that one end of the transverse segment is connected to one end of the first longitudinal segment, the other end of the transverse segment is connected to one end of the second longitudinal segment, a pivotal connection portion is provided at one end of the first longitudinal segment remote from the transverse segment, the pivotal connection portion is configured to be pivotally connected to a motion member, and a fixed connection portion is provided at one end of the second longitudinal segment remote from the transverse segment, the fixed connection portion is configured to be connected to a clamping arm.

18. 18. The rocker arm of claim 17, further comprising locking engagement surfaces at inner corners of the transverse segment and the first longitudinal segment, the locking engagement surfaces configured to surround and define a locking groove.

19. 19. The rocker arm of claim 17 or 18, wherein the first longitudinal segment has an inclined guide surface, the guide surface and the lock engagement surface being located on the same side of the first longitudinal segment.

20. 20. The rocker arm of claim 17, wherein the pivotal connection is a self-aligning groove, the self-aligning groove being provided at an end of the first longitudinal segment remote from the transverse segment.

21. 21. The rocker arm according to any one of claims 17 to 20, wherein the rocker arm is of one-piece molded construction.

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