Integrated gripper and manufacturing method

Abstract

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

Description

[Technical Field]

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

[0002] An insertable tissue clip device is an insertable medical instrument used to clip tissue inside the human or animal body to achieve hemostasis or 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] In the prior art, one type of hemostatic clip (or tissue clip) achieves opening and clamping primarily through the cooperation of a clamp arm and a sleeve. Specifically, the left and right clamp arms are loosely assembled together by a pin. When the clamp arm assembly is pulled proximally, the clamp arms gradually fit into the sleeve and contact the leading edge of the sleeve. Restricted by the outer diameter of the sleeve, the sleeve applies a pushing force in the opposite direction to the clamp arms, causing them to elastically deform inward and close. When the clamp arm assembly is moved distally, the clamp arms are pushed out of the sleeve, and their elastic restoring force automatically opens them again. This allows the clamping device to repeatedly open and close.

[0005] Another type of hemostatic clip (or tissue clip) has clamp arms connected mainly by a single rotating shaft and a rail that slides up and down inside the sleeve, along which the shaft can slide. The upper end of the sleeve also has a fixed shaft, and the clamp arms have elongated holes that pass through the fixed shaft. By pushing and pulling the sliding shaft, the two clamp arms are driven to move up and down, and after being hindered by the fixed shaft, the clamp arms move along the path of the elongated holes, thereby realizing opening and closing.

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

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

[0008] Based on the above object, in one embodiment of the present application, providing a tubular substrate; using a laser to cut out a plurality of opposing clamp heads from the substrate; a laser is used to cut out a plurality of rows of first shrink slits in the substrate, the rows being distributed along a first direction of the substrate, the first shrink slits all extending along a second direction of the substrate, and the first shrink slits in each row corresponding to one clamp head and the first direction; using a laser to cut the substrate along a first direction into at least two clamp arms connected at one end and separated at the other end, each clamp arm including one row of the first shrink slits and one clamp head; and bending the clamp head inward to form a gripper structure.

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

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

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

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

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

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

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

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

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

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

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

[0020] In one embodiment, the manufacturing method comprises: The method includes using a laser to cut out a hanging portion suspended from the separation base and hanging arms located on both sides of the hanging portion, and the hanging portion is aligned with the first tearing portion.

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

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

[0023] Based on the above object, one embodiment of the present application provides an integrated gripper manufactured using any one of the manufacturing methods described above. [Effects of the Invention]

[0024] According to the manufacturing method of the integrated gripper of the above embodiment, a laser is used to cut out an integrated gripper having at least two clamp arms from a cylindrical substrate, and the clamp arms have first shrinkage slits distributed along the axial direction of the clamp head and the substrate. The first shrinkage slits allow the bendable section to have a deformable structure that can be bent in the direction of closing the gripper and / or in the direction of opening the gripper. This structure eliminates the sleeve used in conventional structures and, in combination with the deformed state of the bendable section, achieves the opening and closing of the clamp arms. Using this integrated gripper reduces the number of parts in the entire clamp structure, making the structure simpler and lowering assembly requirements, significantly reducing costs. [Brief explanation of the drawings]

[0025] [Figure 1] FIG. 2 is a schematic diagram illustrating the configuration of a gripper (without a separation base) in an embodiment of the present application when the gripper is in a clamping state. [Figure 2] FIG. 2 is a schematic diagram illustrating the configuration of the gripper shown in FIG. 1 when it is in an open state. [Figure 3] 1 is a schematic diagram illustrating a configuration of a gripper (having a separation base) in an embodiment of the present application when the gripper is in a clamping state. FIG. [Figure 4] FIG. 4 is a schematic diagram illustrating the configuration of the gripper shown in FIG. 3 when it is in an open state. [Figure 5] FIG. 1 is a schematic diagram of the unfolded shape of a gripper in one embodiment of the present application, and this figure can also be considered as a schematic diagram of cutting out the integrated gripper when processing it from a sheet-like base material. [Figure 6] 6 is an enlarged schematic view of the deformed structure of the bendable section in the embodiment shown in FIG. 5 after being unfolded. FIG. [Figure 7] 10 is an enlarged schematic view of the deformed structure of a bendable portion in another embodiment of the present application after unfolding, and this view can also be regarded as a cut-out schematic view when processing the bendable portion using a sheet-like base material. [Figure 8]10 is an enlarged schematic view of the deformed structure of a bendable portion in another embodiment of the present application after unfolding, and this view can also be regarded as a cut-out schematic view when processing the bendable portion using a sheet-like base material. [Figure 9] 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 10] FIG. 10 is a partial cross-sectional view of a connection structure between a gripper and a transmission assembly in one embodiment of the present application. [Figure 11] 1 is a cross-sectional view of an insertable tissue clip device according to one embodiment of the present application in an open state (the moving rod moves within a first stroke). FIG. [Figure 12] FIG. 12 is a schematic diagram of the configuration in which a part of the gripper is cut off in the state shown in FIG. 11. [Figure 13] 1 is a cross-sectional view of an insertable tissue clip device according to an embodiment of the present application in a clamping state (when the moving rod moves within the second stroke). FIG. [Figure 14] 10 is a cross-sectional view of an insertable tissue clip device according to one embodiment of the present application in a clamping state, when the clamp arm is locked in the locking structure (the moving rod moves within the third stroke). FIG. [Figure 15] This is a cross-sectional view of an insertable tissue clip device in one embodiment of the present application in a clamping state when the remaining segment and the separation segment of the moving rod are broken from the second tearing portion (the moving rod moves within the third stroke). [Figure 16] 10 is a cross-sectional view of an insertable tissue clip device according to an embodiment of the present application in a clamping state when the gripper and separation base are broken from the first tearing portion (the moving rod moves within the third stroke). FIG. [Figure 17] FIG. 10 is a schematic diagram illustrating a deformation structure of a bendable portion when a gripper grips thin tissue in an embodiment of the present application. [Figure 18] FIG. 10 is a schematic diagram illustrating a deformation structure of a bendable portion when a gripper grips thick tissue in one embodiment of the present application. [Figure 19]10 is a schematic diagram of the clamp arm and the separation base according to the embodiment of the present invention when they are torn by a first tearing portion. FIG. [Figure 20] FIG. 2 is a schematic diagram illustrating the configuration of a first tearing portion in an embodiment of the present invention when the first tearing portion is in an unbroken state. [Figure 21] FIG. 2 is a schematic diagram illustrating the configuration of a first tearing portion in an embodiment of the present invention when the first tearing portion is in a broken state. DETAILED DESCRIPTION OF THE INVENTION

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

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

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

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

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

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

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

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

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

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

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

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

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

[0039] In this step, the clamp head 1111 extending along the first direction of the substrate can be bent and then the gripper structure shown in FIGS.

[0040] The steps shown in this embodiment can be performed in any feasible order and are not limited to the order described above. In particular, when laser cutting, corresponding portions can be flexibly selected and cut as needed, and the cutting is not limited to the above order. For example, the cutting order of the clamping head 1111, the first shrink slit 1113, the clamping arm 111, and other features described below can be arbitrarily combined, provided they are not mutually contradictory.

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

[0042] In this step, Sheet-like The substrate may be a metal sheet material of 0.25 to 0.15 mm, although of course other sheet materials of other thicknesses and materials may also be used.

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

[0044] In this step, the clamp head 1111 extending along the first direction of the substrate can be bent and then the gripper structure shown in FIGS.

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

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

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

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

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

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

[0051] Similarly, the steps shown in this embodiment can be performed in any feasible order and are not limited to the order described above. In particular, when laser cutting, corresponding portions can be flexibly selected and cut as needed, and cutting is not limited to the above order. For example, the cutting order of the clamping head 1111, the first shrink slit 1113, the clamping arm 111, and other features described below can be arbitrarily combined, provided they are not mutually contradictory.

[0052] Furthermore, the above-mentioned two manufacturing methods may further include the following steps, with reference to FIGS.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0068] In this embodiment, the gripper 100 has a one-piece molded structure. When cutting using a laser, it is possible to realize processing with extremely small gaps, which is advantageous for miniaturizing the entire structure and improving the compactness of the structure.

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

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

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

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

[0073] Furthermore, the clamp head 1111 has a higher bending resistance than the bendable portion 1112, thereby ensuring that the clamp arm 111 can better engage with the target. The bending of the bendable portion 1112 is achieved by its integral structure. Such bending of the bendable portion 1112 is reversible, i.e., the bendable portion 1112 has elasticity and can rebound and recover when the external force is removed, so such bending can be repeated.

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

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

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

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

[0078] 3 to 16, at this time, the moving rod 200 is in the third stroke, and when the moving rod 200 approaches the control handle 400 along its axial direction and moves away from the clamping body 110 (moving to the left as shown in the figure), the third stroke is in the same direction as the second stroke and is closely connected, that is, when the clamping body 110 moves until it reaches the clamping state, the moving rod 200 switches from the second stroke to the third stroke. In addition, the third stroke can be divided into multiple sub-strokes, including a locking stroke, an inner release stroke, and an outer release stroke.

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

[0080] 15, after completing the locking stroke, the moving rod 200 enters the inward release stroke. When the moving rod 200 moves to the position shown in the figure, the clamp 110 separates from the moving rod 200, and the moving rod 200 can no longer drive and move the clamp 110, so the clamp 110 cannot be controlled and remains in the locked state. During this process, the moving stroke of the moving rod 200 is the inward release stroke.

[0081] 16, after completing the inner release stroke, the moving rod 200 enters the outer release stroke. When the moving rod 200 moves to the position shown in the figure, the clamping body 110 and the separation base 120 are torn off from the first tearing portion 130, leaving the clamping body 110 behind in the clamped target object. The separation base 120, moving rod 200, and transmission assembly 300 can be pulled out from within the target object. During this process, the moving stroke of the moving rod 200 is the outer release stroke.

[0082] In the structures shown in the above-described embodiments, the sleeve used in the conventional structure is omitted, and the moving rod 200 directly drives the clamp 110, which, in combination with the deformation of the bendable portion 1112, achieves the opening and closing of the clamp 110. Because the sleeve no longer has a restricting effect on the clamp arm 111, the clamp 110 begins to deform from the bendable portion 1112, and the deformation region is closer to the bottom of the entire clamp 110. Therefore, with the same width requirement, the length of the integrated clamp 110 is shorter than the combination of the clamp arm 111 and the sleeve in the prior art. With the same length, the integrated clamp 110 can open to a larger angle and more easily engage with the target tissue than the combination of the clamp arm 111 and the sleeve in the prior art. After the clamping body 110 is detached from the separation base 120, such a shorter clamping body 110 temporarily remains within the target object, thereby reducing discomfort caused by a clip head left behind by a hemostatic clip (or tissue clip) that is too long and minimizing the problem of excessive wear on the target object caused by a clip head left behind by a hemostatic clip (or tissue clip). In addition, this integrated structure avoids gaps in the fitting of parts required for axial hole fitting or sliding displacement, so the clamping arm 111 has higher bending repeatability.

[0083] Furthermore, in addition to the clamping body 110 itself being manufactured as a single unit, in this embodiment, the separation base 120, which must be removed from the surgical subject's body, is also manufactured as a single unit with the clamping body 110. The manufacturing process for the entire gripper 100 is simplified. Compared to the multiple-component structure of conventional hemostatic clips (or tissue clips), the adoption of the gripper 100 manufactured as a single unit significantly reduces the number of components in the entire clip device, resulting in a simpler structure, lower assembly requirements, significantly reduced costs, and more precise operational control. Similarly, the overall length of the gripper 100 is shorter than that of conventional hemostatic clips (or tissue clips). Because the inner diameter of the passages in endoscopic instruments is very limited, such a shorter gripper 100 can more easily pass through the passages of endoscopic instruments.

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

[0085] 1 and 3, the clamping body 110 is maintained in a clamping state in an initial state, and the first contraction slit 1113 is maintained in the initial state, and each portion of the bendable portion 1112 does not deform. As shown in FIGS. 2 and 4, when it is necessary to open the clamping body 110, the bendable portion 1112 deforms outward, and the first contraction slit 1113 contracts and deforms, thereby causing the outer sides of the bendable portion 1112 (the sides of the clamping arms 111 facing away from each other) to contract, and thereby the entire clamping head 1111 opens.

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

[0087] To achieve smoother bending changes, in one embodiment, the first shrink slits 1113 are divided into multiple sets, and each set of first shrink slits 1113a has at least one first shrink slit 1113. As shown in FIGS. 1 to 6, in this embodiment, each set of first shrink slits 1113a has two first shrink slits 1113. As shown in FIGS. 7 and 8, in this embodiment, each set of first shrink slits 1113a has one first shrink slit 1113. By contracting each first shrink slit 1113, the bendable section 1112 can have a certain bending angle, and by combining multiple sets of first shrink slits 1113, the bendable section 1112 can have one large opening / closing angle. The combined length of all the first shrink slits 1113 in the first direction determines the bending deformation area of ​​the entire bendable section 1112. The number of the first shrink slit sets 1113a, the gap between adjacent first shrink slit sets 1113a in the first direction, and the number of first shrink slits 1113 in each first shrink slit set 1113a can be flexibly set according to actual needs. For example, the number of first shrink slit sets 1113a may be 4 to 6.

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

[0089] Considering the needs of minimally invasive surgery, clipping devices typically have very fine and delicate structures, and therefore, given the small volume of the clipping device, it is generally not preferable to use a thick material for the gripper 100. However, the requirement for a thin thickness may result in a weakening of the bendable portion 1112. Specifically, as shown in FIG. 4 , if the operator applies too much external force and the clamp arm 111 is bent outward at a large angle, the clamp arm 111 may break from the bendable portion 1112.

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

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

[0092] As shown in Figures 5 to 8, in one embodiment, the first stopper 1115 and the second stopper 1116 are two mutually engaging position limiting hook structures. The position limiting hook structures may be replaced with other structures having similar functions. As shown in Figures 1 to 4, in one embodiment, the first shrink slit 1113 is located at the circumferential center of the bendable portion 1112, and there are at least two sets of position limiting structures 1114, one on each side of the bendable portion 1112 in the circumferential direction of the bendable portion 1112, which further ensures that the entire bendable portion 1112 bends and is limited in position synchronously.

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

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

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

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

[0097] Considering that the bending movement of the clamping body 110 in the opening direction and the clamping direction is always accompanied by a torsional movement around its circumference, referring to FIGS. 5 to 8 , in one embodiment, both ends of each pair of first shrinkage slits 1113a extend between the second shrinkage slits 1118 of the two corresponding position limiting units 1114a adjacent in the first direction, and the overlapping region between the first shrinkage slits 1113a and the second shrinkage slits 1118 forms a torsional deformation segment 1119, which can bend and torsionally deform the bendable portion 1112. The provision of this torsional deformation segment 1119 makes the bending deformation of the clamping body 110 smoother and prevents the bendable portion 1112 from breaking under torsional force. The maximum opening angle, bending flexibility, or supportability of the bendable portion 1112 can be further changed by adjusting the circumferential length and vertical height of the torsional deformation segment 1119, which can be flexibly set according to actual needs.

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

[0099] 17 and 18, the second shrinkage slit 1118 has a gap in the first direction, and the second shrinkage slit 1118 of the position limiting structure 1114 forms a self-adaptive floating structure that can deform in the clamping direction.

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

[0101] moreover, Clamp Arm 111 In order to reduce the mutual interference during closure, in one embodiment, referring to FIG. 7, in this embodiment, Clamp Arm 111 The opposing ends of the retract inward to form a retraction structure 1110, and two opposing Clamp Arm 111 The recessed area forms one recess groove between the recessed areas. The width of the recess groove is Clamp Arm 111 The width of the retraction groove gradually increases along the first direction, and one end of the retraction groove closer to the clamp head 1111 is wider than the other end.

[0102] 12 and 13, in one embodiment, the clamp connection structure 600 includes two connecting rods 610, one end of which is connected to the distal end of the moving rod 200 and can rotate around an axis 620, and the other end of which is connected to a horizontal axis of the clamp head 1111 and can also rotate around the horizontal axis. The assembly of the connecting rods 610 resembles a Y-shape, and its purpose is to effectively transmit the thrust and tension forces of the moving rod 200 moving up and down to the clamp head 1111, thereby realizing the opening and closing control of the clamp head 1111.

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

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

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

[0106] Furthermore, in one embodiment, the moving rod 200 is a one-piece structure and includes a remaining segment 220 and a separating segment 230. The remaining segment 220 and the separating segment 230 are connected together via a second tear-away section 240.

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

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

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

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

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

[0112] 20 and 21, both sides of the hanging portion 124 are connected to the main body 122 via the hanging arms 127. When the moving rod 200 moves along the outer release stroke, the entire separation base 120 cannot move independently toward the control handle 400 due to the support of the rotating base 500 and the sleeve assembly 310. When the moving rod 200 pulls the hanging portion 124, the main body 122 of the separation base 120 is prevented from moving, but the hanging arms 127 of the hanging portion 124 are deformed by the pulling force of the moving rod 200. During the deformation of the hanging portion 124, the main body 122 of the separation base 120 forms a reverse support for the clamp 110, and the hanging arms and the material of the first tearing portion 130 are gradually stretched. 21, when the yield limit is reached, a break occurs, and the hanging portion 124 and the clamping body 110 are released to the outside. Thereafter, the separation base 120 and the moving rod 200 can be removed from the surgical target body together with the transmission assembly 300.

[0113] 20 and 21 , in one embodiment, to prevent the hanging portion 124 from being deformed in an undesired direction when the moving rod 200 pulls the hanging portion 124, the hanging cavity 123 has a guide groove 126 arranged along the axial direction of the separation base 120, and the hanging portion 124 is disposed in the guide groove 126 to guide the hanging portion 124 to move into the guide groove 126. The guide direction defined by the guide groove 126 is aligned with the first tear portion 130, which makes it easier to break the hanging portion 124 from the first tear portion 130.

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

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

Claims

1. providing a tubular substrate; using a laser to cut out a plurality of opposing clamp heads from the substrate; using a laser to cut out a plurality of rows of first shrink slits in the substrate, the rows being distributed along a first direction of the substrate, the first shrink slits all extending along a second direction of the substrate, the first direction being an axial direction of the substrate and the second direction being a circumferential direction of the substrate, and each row of the first shrink slits corresponding to one clamp head along the first direction; using a laser to cut the substrate along the first direction into at least two clamp arms connected at one end and separated at the other end, each clamp arm including one row of the first shrink slits and one clamp head; and bending the clamp head inward to form a gripper structure.

2. providing a sheet-form substrate; cutting a plurality of clamp heads in the substrate using a laser; using a laser to cut out a plurality of rows of first shrink slits in the substrate, the rows being distributed along a first direction of the substrate, the first shrink slits all extending along a second direction of the substrate, the first direction being the length direction of the substrate, the second direction being the width direction of the substrate, and each row of the first shrink slits corresponding to one clamp head along the first direction; using a laser to cut the substrate along the first direction into at least two clamp arms connected at one end and separated at the other end, each clamp arm including one row of the first shrink slits and one clamp head; bending the substrate about the first direction and fixing it into a tubular shape; and bending the clamp head inward to form a gripper structure.

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

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

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

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

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

7. The manufacturing method of the integrated gripper includes:

3. The method of claim 1, further comprising using a laser to cut out notches extending along the first direction of the substrate at opposing ends of the clamp arms to form retraction structures.

8. The manufacturing method of the integrated gripper includes:

3. The method of claim 1, further comprising the step of using a laser to cut out a locking groove at the connected end of the clamp arm for locking the clamp arm.

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

10. The manufacturing method of the integrated gripper includes:

3. The manufacturing method according to claim 1, further comprising the step of using a laser to cut out a separation base at one end of the substrate away from the clamp arm, and the separation base and the clamp arm being connected together via a first tear portion.

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

12. The manufacturing method of the integrated gripper includes:

11. The method of claim 10, further comprising the step of using a laser to cut separation grooves recessed into one side of the clamp arm on both sides of the first tear portion, and the first tear portion being located at the recessed locations.

13. The manufacturing method of the integrated gripper includes:

11. The manufacturing method of claim 10, further comprising the step of using a laser to cut out a hanging portion suspended at the separation base and hanging arms located on both sides of the hanging portion, so that the hanging portion is aligned with the first tear portion.

14. The manufacturing method of the integrated gripper includes:

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

15. The manufacturing method of the integrated gripper includes: using a laser to cut out a stopper piece in the separation base; 11. The manufacturing method according to claim 10, further comprising the step of deforming the stopper piece by pressing it against the inside of the separation base, so that the stopper piece protrudes into the inside of the separation base.

Images