Clip instrument and control method therefor

Abstract

Embodiments of the present specification provide a clip instrument and a control method therefor. The clip instrument comprises a clip device and a delivery device. The clip device is releasably disposed at a distal end of the delivery device and comprises a clamping portion, and the delivery device comprises a sheath tube and a deflection assembly. The deflection assembly is connected to a distal end of the sheath tube, and the clip device is releasably connected to a distal end of the deflection assembly. Moreover, the deflection assembly provides the clamping portion with a degree of freedom to deflect relative to the sheath tube. The control method comprises: controlling the clamping portion to abut against a clamping target, such that the clamping portion deflects under an acting force applied by the clamping target, causing the axis of the clamping portion to form a deflection angle with the axis of the distal end of the sheath tube; and controlling a core shaft to move from the distal end toward a proximal end, thereby driving the clamping portion to close in order to clamp the clamping target.

Description

A clamp device and a control method thereof Cross-references

[0001] This application claims priority to Chinese application No. 202410139085.5 filed on January 31, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This specification relates to the field of medical devices, and in particular to a clamp device and a control method thereof. Background Art

[0003] With the widespread application of endoscopic technology in the medical field, people have also placed higher demands on the clamp devices needed for endoscopic surgery. In clinical operations, when the distal end of the endoscope reaches the vicinity of the wound, the clamping direction of the clamp device may not be perpendicular to the clamping target. Therefore, the clamp device needs to be adjusted to face the clamping target to achieve effective clamping. Usually, the clamping direction of the clamp device is changed by adjusting the distal swing of the endoscope (or sheath), but this method is difficult to operate and has inaccurate positioning, which leads to prolonged surgery and increased surgical risks.

[0004] Therefore, it is desired to provide a clip instrument and a control method thereof, so that the position adjustment operation of the clip device is more convenient and accurate, thereby simplifying the surgical operation and reducing the surgical risk. Summary of the Invention

[0005] One of the embodiments of the present specification provides a clamp instrument, which includes a clamp device and a conveying device, wherein the clamp device is releasably arranged at the distal end of the conveying device, and the clamp device includes a clamping portion; the conveying device includes a sheath and a deflection assembly, wherein the deflection assembly is connected to the distal end of the sheath, and the clamp device is releasably connected to the distal end of the deflection assembly; and the deflection assembly provides the clamping portion with freedom of deflection relative to the sheath.

[0006] In some embodiments, the conveying device includes a core shaft, the distal end of which is releasably connected to the clamping portion; and the clamping portion is deflected by the force of the clamping target, driving the core shaft to bend toward the clamping target; the axis of the clamp device and the axis of the distal end of the sheath tube present a deflection angle.

[0007] In some embodiments, the core shaft moves from the distal end to the proximal end, driving the clamping portion to close; and after the clamping portion is closed, the core shaft continues to move from the distal end to the proximal end, driving the clamp device to deflect until the axis of the clamp device coincides with the axis of the distal end of the sheath tube.

[0008] In some embodiments, the clamping device includes a receiving tube, the clamping portion is partially arranged in the receiving tube, the receiving tube includes a locking portion, and the clamping portion includes a locked portion. When the locking portion cooperates with the locked portion, the clamp device locks the locking portion. Before the locking portion cooperates with the locked portion, the force generated by the movement of the core shaft from the distal end to the proximal end acts on the clamping portion to drive the clamping portion to close; and after the locking portion cooperates with the locked portion, the force generated by the movement of the core shaft from the distal end to the proximal end acts on the receiving tube to drive the clamping portion to deflect relative to the sheath tube.

[0009] In some embodiments, after the axis of the clamp device coincides with the axis of the distal end of the sheath tube, the core shaft moves from the distal end to the proximal end, driving the core shaft to release the connection with the clamping portion; and the core shaft continues to move from the distal end to the proximal end, driving the clamp device to release the connection with the deflection assembly.

[0010] In some embodiments, the deflection assembly includes an upper connecting end and a lower connecting end, the upper connecting end is arranged at the distal end of the deflection assembly, and the lower connecting end is arranged at the proximal end of the deflection assembly, and the upper connecting end and the lower connecting end are deflectably connected.

[0011] In some embodiments, the upper connecting end includes a ball sleeve, the lower connecting end includes a spherical end, and the ball sleeve includes an inner cavity for mounting the spherical end; or the upper connecting end includes a spherical end, the lower connecting end includes a ball sleeve, and the ball sleeve includes an inner cavity for mounting the spherical end.

[0012] In some embodiments, the ball-shaped tip includes a slit.

[0013] In some embodiments, the spherical end is connected to the ball sleeve through interference fit.

[0014] In some embodiments, the ball sleeve includes a sealing edge, the sealing edge of the ball sleeve is interference fit with the spherical end head, and the inner diameter of the ball sleeve is clearance fit with the spherical end head; and the ball sleeve includes a slot, and the deflection axis is perpendicular to the longitudinal section of the slot.

[0015] In some embodiments, the upper connecting end includes a first side wing, the lower connecting end includes a second side wing, the first side wing includes a first pin hole, the second side wing includes a second pin hole, the first side wing and the second side wing are connected by a pin passing through the first pin hole and the second pin hole, and the deflection axis is the straight line where the pin is located.

[0016] In some embodiments, the clamping device includes a receiving tube, the clamping portion is partially arranged in the receiving tube, and the receiving tube is rotatable around the axis of the receiving tube; the receiving tube includes an annular groove, and the upper connecting end includes an annular protrusion, and the annular groove and the annular protrusion are rotatably matched; and the core shaft rotates around the axis of the core shaft, driving the receiving tube to rotate around the axis of the receiving tube relative to the upper connecting end.

[0017] One of the embodiments of the present specification provides a control method for a clamp instrument, wherein the clamp instrument includes a clamp device and a conveying device, the clamp device being releasably arranged at the distal end of the conveying device, the clamp device including a clamping portion, the conveying device including a sheath, a core shaft and a deflection assembly, the deflection assembly being connected to the distal end of the sheath, the clamp device being releasably connected to the distal end of the deflection assembly, the distal end of the core shaft being releasably connected to the clamping portion, and the deflection assembly providing the clamping portion with freedom of deflection relative to the sheath; the method includes: controlling the clamping portion to abut against a clamping target, causing the clamping portion to deflect due to the force of the clamping target, and the axis of the clamping portion presenting a deflection angle with the axis of the distal end of the sheath; controlling the core shaft to move from the distal end to the proximal end, driving the clamping portion to close, so as to clamp the clamping target.

[0018] In some embodiments, the method further comprises: before the clamping portion is closed, controlling the core shaft to rotate around the axis of the core shaft, thereby driving the clamp device to rotate around the axis of the clamp device relative to the deflection assembly.

[0019] In some embodiments, the method further includes: after the clamping portion is closed, controlling the core shaft to continue moving from the distal end to the proximal end, driving the clamp device to deflect until the axis of the clamp device coincides with the axis of the distal end of the sheath tube.

[0020] In some embodiments, the method further includes: after the axis of the clamp device coincides with the axis of the distal end of the sheath tube, controlling the core shaft to move from the distal end to the proximal end, driving the core shaft to release the connection with the clamping portion; and controlling the core shaft to continue moving from the distal end to the proximal end, driving the clamp device to release the connection with the deflection assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] This specification will be further described in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, like numbers represent like structures, wherein:

[0022] FIG1 is a schematic structural diagram of a clip device according to some embodiments of the present specification;

[0023] FIG2 is a cross-sectional view of a clip device and a distal end of a delivery device according to some embodiments of the present specification;

[0024] FIG3A is a schematic structural diagram of a portion of a storage tube according to some embodiments of this specification;

[0025] FIG3B is a schematic structural diagram of a portion of a receiving tube according to yet other embodiments of the present disclosure;

[0026] FIG4 is a schematic diagram of a clip device and a distal portion of a delivery device according to some embodiments of the present specification;

[0027] FIG5 is a schematic structural diagram of the distal end of a clip device according to some embodiments of this specification;

[0028] FIG6 is a schematic diagram of a clip instrument deflection according to some embodiments of the present specification;

[0029] FIG7A is a cross-sectional schematic diagram of a deflection assembly according to some embodiments of the present specification;

[0030] FIG7B is a schematic diagram of a deflection assembly according to some embodiments of the present specification;

[0031] FIG8 is a schematic diagram of a lower connecting terminal according to some embodiments of this specification;

[0032] FIG9A is a schematic diagram of an upper connection terminal according to some embodiments of this specification;

[0033] FIG9B is a partial cross-sectional schematic diagram of a deflection assembly according to some embodiments of the present specification;

[0034] FIG10A is a schematic diagram illustrating deflection of a clip instrument according to some embodiments of the present specification;

[0035] FIG10B is a schematic diagram of the rotation of a clip instrument according to some embodiments of the present specification;

[0036] FIG11A is a schematic diagram of a deflection assembly according to some other embodiments of the present specification;

[0037] FIG11B is a cross-sectional schematic diagram of a lower connecting terminal according to other embodiments of this specification;

[0038] FIG11C is a schematic diagram of a lower connecting terminal according to other embodiments of this specification;

[0039] FIG12 is a schematic diagram of a deflection assembly according to yet other embodiments of the present specification;

[0040] FIG13 is a schematic diagram of a lower connecting terminal according to some other embodiments of the present specification;

[0041] FIG14 is a schematic diagram of an upper connecting terminal according to some other embodiments of the present specification;

[0042] FIG15 is a schematic diagram of a clip instrument deflecting and / or rotating according to some embodiments of the present specification;

[0043] FIG16 is a schematic diagram of a clip device in an open state according to some embodiments of the present specification;

[0044] FIG17 is a schematic diagram of a clip device in a deflected state according to some embodiments of the present specification;

[0045] FIG18 is a schematic diagram of a clip device in a clamping state according to some embodiments of the present specification;

[0046] FIG19A is a schematic diagram of a clip device in a clamping state according to yet other embodiments of the present specification;

[0047] FIG19B is a partially enlarged schematic diagram of the clip device according to some embodiments of FIG19A;

[0048] 20A is a schematic diagram of a clip device in a locked state and a released state of a clamping portion and a control line according to some embodiments of the present specification;

[0049] FIG20B is a partially enlarged schematic diagram of the clip device according to some embodiments of FIG20A ;

[0050] FIG21A is a schematic diagram of a clamp device and a deflection assembly in a released state according to some embodiments of the present specification;

[0051] FIG21B is a partially enlarged schematic diagram of the clip device according to some embodiments of FIG21A ;

[0052] FIG. 22 is a flow chart of a method for controlling a clip instrument according to some embodiments of the present specification.

[0053] The accompanying drawings are:

[0054] 10. Clamp equipment;

[0055] 100. Control device; 120. Handle;

[0056] 200, conveying device; 210, deflection assembly; 211, upper connecting end; 212, lower connecting end; 213, ball sleeve; 213-1, edge sealing; 213-2, slot; 214, spherical end; 214-1, slit; 215, guide post; 216, first wing; 216-1, first pin hole; 217, second wing; 217-1, second pin hole; 218, pin; 219, annular protrusion; 220, core shaft; 221, connecting piece; 230, sheath; 240, elastic pin;

[0057] 300, clamping device; 310, clamping portion; 311, first clamping arm; 312, second clamping arm; 313, locked portion; 314, pin; 320, storage tube; 321, annular groove; 322, locking portion; 323, spring; 324, base ring; 325, mounting plate; 326, blocking structure; 327, blocking device; 327-1, limiting piece;

[0058] 400. Clamping target; 410. Wound. DETAILED DESCRIPTION

[0059] Exemplary embodiments or implementations will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments are not intended to represent all implementations consistent with the present application. Instead, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0060] The terms used in this application are for the purpose of describing particular embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0061] It should be understood that the words “first”, “second” and similar terms used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as “a” or “an” do not indicate a quantity limitation, but rather indicate the presence of at least one. Unless otherwise indicated, words such as “front”, “rear”, “lower” and / or “upper” are for ease of description only and are not limited to one position or one spatial orientation. Words such as “include” or “comprising” mean that the elements or objects appearing before “include” or “comprising” cover the elements or objects listed after “include” or “comprising” and their equivalents, and do not exclude other elements or objects.

[0062] FIG1 is a schematic structural diagram of a clip device according to some embodiments of the present specification.

[0063] As shown in FIG1 , the clip device 10 can be applied to a medical endoscope to perform operations such as clamping, hemostasis, and suturing during endoscopic surgery. In some embodiments, the clip device 10 can include a delivery device 200 and a clip device 300 .

[0064] The clamp device 300 can be used to perform medical operations on a clamping target 400. The clamping target 400 refers to an organ or tissue of a human body or other organism that requires surgical treatment. For example, blood vessels of a human body, fallopian tubes of an animal, etc. In some embodiments, the medical operations performed by the clamp device 300 may include surgical hemostasis, wound healing, tissue fixation, etc., and the clamp device 300 can achieve these medical operations by closing the clamping portion 310. In some embodiments, in order to maintain the medical operation performed by the clamp device 300, the clamp device 300 includes a locking state. When the clamp device 300 is in the locked state, the clamping portion 310 of the clamp device 300 can remain in a closed state. In some embodiments, the clamp device 300 remains on the medical operation object (e.g., clamped on the tissue) by maintaining the locked state.

[0065] In some embodiments, the clamp device 300 is releasably connected to the delivery device 200. A releasable connection refers to a connection between multiple components (e.g., the clamp device 300 and the delivery device 200) that can be detached and released. For example, the clamp device 300 can be releasably attached to the distal end of the delivery device 200.

[0066] In some embodiments of this specification, the terms "proximal end" and "distal end" may refer to directions, meaning the direction along the axial direction of the clamping device 10 (e.g., the direction of extension of the delivery device 200) or the direction along which the clamping device 10 enters the human body, the direction closer to the operator and away from the clamping target 400 is the "proximal end," and the direction closer to the clamping target 400 and away from the operator is the "distal end." "Proximal end" and "distal end" should not be understood as referring solely to ends. "Proximal end" and "distal end" may refer to endpoints, end faces, ends, or portions of a certain length near an end of the clamping device 10 or its components. In the embodiments of this specification, the terms "axis of the clamping device 300," "axis of the distal end of the sheath 230," "axis of the receiving tube 320," "axis of the core shaft 220," and "axis of the clamping portion 310" refer to the central axes of the clamping device 300, sheath 230, receiving tube 320, core shaft 220, and clamping portion 310, respectively, in the directions of extension.

[0067] In some embodiments, the clip device 300 may include a clamping portion 310 . The clamping portion 310 is a component for clamping a wound 410 of a clamping target 400 .

[0068] In some embodiments, the clamping portion 310 is disposed at the distal end of the clip device 300 .

[0069] In some embodiments, the clamping portion 310 includes a first clamping arm 311, a second clamping arm 312, and a pin 314. The proximal end of the first clamping arm 311 and the proximal end of the second clamping arm 312 are connected by the pin 314. In some embodiments, the proximal end of the first clamping arm 311 is provided with a first hole, and the proximal end of the second clamping arm 312 is provided with a second hole. The pin 314 passes through the first and second holes, connecting the first and second clamping arms 311, 312. The first and second clamping arms 311, 312 can move toward each other to close the clamping portion 310, and can move away from each other to open the clamping portion 310. In some embodiments, the clamping arms can have various shapes, such as an irregular sheet-like structure with a serrated edge. It is understood that the clamping portion 310 can also include more than two clamping arms, such as three or four clamping arms.

[0070] In some embodiments, the clamp device 300 may include a receiving tube 320. The receiving tube 320 may refer to a hollow tubular component that can accommodate other components of the clamp device 300 (e.g., the clamping portion 310). In some embodiments, the clamping portion 310 may be partially disposed within the receiving tube 320. For example, a portion of the clamping portion 310 near the proximal end may be disposed within the receiving tube 320. In some embodiments, the clamping portion 310 has different states at different positions of the receiving tube 320. For example, the clamping portion 310 has an open state when extending from the distal end of the receiving tube 320; the clamping portion 310 has a closed state and / or a locked state after the proximal end of the clamping portion 310 is retracted into the receiving tube 320, etc.

[0071] In some embodiments, the receiving tube 320 may include a locking portion 322 , and the clamping portion 310 may include a locked portion 313 .

[0072] The locking portion 322 can be used to lock the clip device 300 and restrict its displacement. The locked portion 313 can be used to cooperate with the locking portion 322 to lock the clip device 300. In some embodiments, the locking portion 322 and the locked portion 313 can have various shapes that can cooperate with each other. For example, the locking portion 322 can be recessed and the locked portion 313 can be protruding. In another example, the locking portion 322 can be a hook groove and the locked portion 313 can be a hook.

[0073] FIG2 is a cross-sectional view of the distal end of the clamp device and the delivery device according to some embodiments of the present specification. In some embodiments, the radial end of the pin 314 constitutes a locked portion 313, and the pin 314 is configured to cooperate with the locking portion 322 when it passes over the locking portion 322 from the distal end to the proximal end. The pin 314 has both the function of connecting the first clamp arm 311 and the second clamp arm 312 and the function of locking the clamping portion 310, which simplifies the structure. In some embodiments, a protrusion is provided at the proximal end of the clamping portion 310, for example, a protrusion is provided at the proximal end of the first clamp arm 311 and the second clamp arm 312, respectively. The protrusion constitutes the locked portion 313, and when the protrusion passes over the locking portion 322 from the distal end to the proximal end, it cooperates with the locking portion 322.

[0074] In some embodiments, when the locking portion 322 cooperates with the locked portion 313 , the clamping portion 310 cannot move from the proximal end to the distal end relative to the receiving tube 320 , and the clip device 300 is locked.

[0075] FIG3A is a schematic diagram of the structure of a portion of a storage tube according to some embodiments of the present specification; FIG3B is a schematic diagram of the structure of a portion of a storage tube according to still other embodiments of the present specification.

[0076] In some embodiments, as shown in FIG3A , the locking portion 322 includes at least one spring piece 323. The distal end of the spring piece 323 is connected to the receiving tube 320, and the proximal end of the spring piece 323 extends into the receiving tube 320. The spring piece 323 is elastically deformable. When the clamping portion 310 moves from the distal end to the proximal end, the locked portion 313 on the clamping portion 310 passes over the spring piece 323. The locked portion 313 radially presses the proximal end of the spring piece 323 outward, causing the spring piece 323 to elastically deform to avoid the locked portion 313. After the locked portion 313 passes over the proximal end of the spring piece 323, the spring piece 323 returns to its original shape, and the proximal end of the spring piece 323 extends into the interior of the storage tube 320 again, forming a stop with the locked portion 313, limiting the movement of the locked portion 313 from the proximal end to the distal end, thereby limiting the movement of the clamping portion 310 from the proximal end to the distal end, and the clamping portion 310 is locked in the storage tube 320.

[0077] In some embodiments, the locking portion 322 includes two springs 323, which are spaced 180° or substantially 180° apart from each other in the circumferential direction of the receiving tube 320. Substantially 180° may mean that the angle between the two springs 323 is between 170° and 190°, such as 175°.

[0078] In some embodiments, the storage tube 320 includes a base ring 324 and at least one mounting plate 325. The mounting plate 325 is configured as an arc-shaped plate extending axially from the base ring 324 and is disposed at the distal end of the base ring 324. The locking portion 322 is disposed on the mounting plate 325. For example, the locking portion 322 is cut from the wall of the mounting plate 325, or the locking portion 322 is fixed to the mounting plate 325 by welding or other means.

[0079] FIG. 4 is a schematic diagram of a clip device and a distal portion of a delivery device according to some embodiments of the present disclosure.

[0080] As shown in conjunction with FIG3B and FIG4 , in some embodiments, the proximal end of the storage tube 320 includes a blocking structure 326. The blocking structure 326 is configured to limit the movement of the clamping portion 310 from the distal end to the proximal end within a certain distance after the pin 314 passes over the locking portion 322. In some embodiments, after the pin 314 passes over the locking portion 322, the locking portion 322 can lock the locked portions 313 at both ends of the pin 314, limiting the movement of the clamping device 300 from the proximal end to the distal end. The clamping device 300 continues to move from the distal end to the proximal end for a certain distance before engaging the blocking structure 326. The blocking structure 326 can limit the movement of the clamping portion 310 from the distal end to the proximal end, thereby preventing locking failure caused by the narrow distance between the locking portion 322 and the blocking structure 326. In addition, the pin shaft 314 of the clamping portion 310 moves within a certain distance between the locking portion 322 and the blocking structure 326. The operator can operate the sliding portion 420 to make the clamping portion 310 cooperate with the blocking structure 326. The clamping portion 310 remains stationary, and the connecting piece 221 continues to be subjected to force and the pin shaft 314 is released.

[0081] In some embodiments, after the pin 314 passes over the locking portion 322, it continues to move until it abuts against a blocking structure 326. This blocking structure 326 restricts the movement of the clamping portion 310 from the distal end to the proximal end. In some embodiments, the blocking structure 326 includes, but is not limited to, a protrusion, a blocking piece, etc. In some embodiments, the blocking structure 326 is positioned corresponding to the locking portion 322 of the pin 314 and abuts against the proximal end of the locking portion 322.

[0082] In some embodiments, the clamp device 300 further includes a blocking device 327, which is radially intersected with the pin 314. After the pin 314 passes over the locking portion 322, it continues to move until the blocking device 327 abuts against the blocking structure 326. The blocking structure 326 restricts the movement of the clamping portion 310 from the distal end to the proximal end. In some embodiments, the blocking device 327 includes but is not limited to structures such as a limiting rod and a limiting plate. In some embodiments, the blocking device 327 includes a limiting plate 327-1, on which a mounting hole is formed. The limiting plate 327-1 is disposed between the first clamp arm 311 and the second clamp arm 312 and is aligned with the pin hole. The pin 314 is passed through the pin hole and the mounting hole, thereby connecting the first clamp arm 311, the second clamp arm 312, and the limiting plate 327-1.

[0083] In some embodiments, after the blocking structure 326 restricts the movement of the clamping portion 310 from the distal end to the proximal end, the distal end of the connecting piece 221 is deformed or broken by the force, and the connection with the pin 314 is released. In some embodiments, after the blocking structure 326 restricts the movement of the clamping portion 310 from the distal end to the proximal end, the core shaft 220 continues to move from the distal end to the proximal end, and the tension between the connecting piece 221 of the core shaft 220 and the pin 314 gradually increases. When the tension reaches a certain threshold, the distal end of the connecting piece 221 deforms or breaks, causing the core shaft 220 to release the connection with the clamping portion 310.

[0084] In some embodiments, other parts of the clamping portion 310 (such as the proximal ends or proximal protrusions of the first clamping arm 311 and the second clamping arm 312 ) can also cooperate with the blocking structure 326 to limit the movement of the clamping portion 310 from the distal end to the proximal end.

[0085] In some embodiments of the present specification, a clip device 300 includes a receiving tube 320, a clamping portion 310 is partially disposed within the receiving tube 320, the receiving tube 320 includes a locking portion 322, and the clamping portion 310 includes a locked portion 313. The locking portion 322 cooperates with the locked portion 313, allowing the clip device 300 to be locked when needed. Furthermore, the locking of the locked portion 313 and the locking portion 322 is controlled by axial force, eliminating the need for additional force or motion in other directions. This simplifies the structure and operation of the clip device 300 and reduces the probability of failure during the locking process.

[0086] The delivery device 200 can be used to deliver the clamp device 300 to the location of the target area. The target area can be an area within the clamping target 400 where a specified operation needs to be performed (for example, a wound 410). In some embodiments, the specified operation can be a medical operation performed during surgery, such as hemostasis, ligation, etc. In some embodiments, the clamping target 400 can be an object undergoing a medical operation. In some embodiments, the clamping target 400 can include a biological object or a non-biological object, wherein a biological object can include a human (for example, a patient), an animal or a plant, etc., and a non-biological object can include an experimental model (for example, an organ model, etc.). In some embodiments, the delivery device 200 can also be used to operate the clamp device 300 to perform a specified operation in the target area.

[0087] In some embodiments, the delivery device 200 may include a sheath 230 and a core shaft 220. In some embodiments, the sheath 230 may be a tubular structure that provides an internal channel for other components (e.g., the core shaft 220). In some embodiments, the core shaft 220 may be a long shaft-like structure disposed in the internal channel of the sheath 230 for driving the clamp device 300 to move. In some embodiments, the core shaft 220 may be a flexible material, that is, the core shaft 220 may have the ability to deform. In some embodiments, the distal end of the core shaft 220 may be releasably connected to the clamping portion 310; the proximal end of the core shaft 220 may be connected to the handle 120, and the doctor may control the core shaft 220 to move proximally or distally in the sheath 230 to control the clamping portion 310. In some embodiments, the delivery device 200 may be connected to the clamp device 300 via the sheath 230 and the core shaft 220.

[0088] In some embodiments, the clip instrument 10 may further include a control device 100 for terminating operations such as opening, closing, deflection, rotation, and release of the clip instrument 10. In some embodiments, the control device 100 includes a handle 120, which is connected to the core shaft 220, and the handle 120 can drive the clip device 300 to perform specified operations. The handle 120 may include a fixed portion and a sliding portion, the sliding portion being movable relative to the fixed portion, and the fixed portion being provided at the proximal end of the sheath 230. The proximal end of the core shaft 220 is connected to the sliding portion, the sliding portion slides relative to the fixed portion, and the core shaft 220 moves relative to the sheath 230, thereby driving the clamping portion 310 to move. Specifically, the operator (for example, a doctor) can perform operations such as hemostasis and ligation on the clip device 300 through the sliding portion 420.

[0089] Figure 5 is a schematic diagram of the distal end of a clip device according to some embodiments of the present disclosure. Figure 6 is a schematic diagram of the deflection of a clip device according to some embodiments of the present disclosure. The distal end of the clip device 10 may include a clip assembly 300, a deflection assembly 210, and a portion of a sheath 230.

[0090] The deflection assembly 210 can be used to provide the clamping portion 310 with the freedom to deflect relative to the sheath 230. Providing the clamping portion 310 with the freedom to deflect relative to the sheath 230 means that the deflection assembly 210 can cause the axis of the clamp device 300 and the axis of the distal end of the sheath 230 to assume a deflection angle within a predetermined range. As shown in FIG6 , the deflection angle refers to the angle α between the axis MM of the clamping portion 310 and the axis NN of the distal end of the sheath 230 after deflection. For more information on the structure and predetermined range of the deflection assembly 210, please refer to FIG1 , FIG5 - FIG6 , and the related description.

[0091] In some embodiments, the clamping portion 310 is deflected by the force applied by the clamping target 400, causing the mandrel 220 to bend toward the clamping target 400. The axis of the clamping portion 310 is deflected at an angle relative to the axis of the distal end of the sheath tube 230. In some cases, the mandrel 220 may extend distally as it bends toward the clamping target 400.

[0092] The force applied to the clamping target 400 refers to the reaction force exerted by the clamping target 400 on the clamping arms of the clamping portion 310 when the clamping portion 310 squeezes the clamping target 400. Deflection refers to the movement of a component away from a predetermined axis. The predetermined axis refers to, for example, the axis of the distal end of the sheath 230.

[0093] As can be understood, as shown in FIG13 , when the clamping portion 310 is not in contact with the clamping target 400, it is not affected by the clamping target 400, the axis of the clamping portion 310 is aligned with the axis of the distal end of the sheath tube 230, and the clamping portion 310 does not deflect. When the clamping portion 310 contacts the clamping target 400, one clamping arm is affected by the force of the clamping target 400 and deflects in the direction of the force, causing the core shaft 220 to bend toward the clamping target 400, and the axis of the clamping portion 310 and the axis of the distal end of the sheath tube 230 form a deflection angle.

[0094] In some embodiments, the deflection assembly 210 is connected to the distal end of the sheath 230, and the clip device 300 is releasably connected to the distal end of the deflection assembly 210. In some embodiments, the deflection assembly 210 and the clip device 300 are releasably connected via a resilient pin 240.

[0095] In some embodiments, the proximal end of the elastic pin 240 is inserted into the distal end of the sheath tube 230. The distal end of the elastic pin 240 is a protruding structure, which is inserted into the proximal end of the receiving tube 320. The connection method includes but is not limited to bonding, welding, interference fit, etc. In some embodiments, the center of the elastic pin 240 has a hole structure, which allows the core shaft 220 to pass through.

[0096] In some embodiments, the distal end of the core shaft 220 is provided with a limiting portion. The limiting portion is used to cooperate with the elastic pin 240 to achieve a releasable connection between the deflection assembly 210 and the clamp device 300. In some embodiments, the distal end of the limiting portion is connected to the pin 314, and the proximal end of the limiting portion is connected to the core shaft 220. In some embodiments, the distal end of the limiting portion and the pin 314 can be connected in various ways. For example, the distal end of the limiting portion can be provided with a hook structure, which connects to the portion of the pin 314 protruding from the first clamp arm 311 and the second clamp arm 312. In some embodiments, the proximal end of the limiting portion and the core shaft 220 can be connected in various ways. For example, bonding, welding, interference fit, etc. In some embodiments, the limiting portion may include a connecting piece 221. For more information about the connecting piece 221, please refer to Figure 4 and its related description.

[0097] In some embodiments, the core shaft 220 moves from the distal end to the proximal end, applying a force to the distal end of the limiting portion, causing the distal end of the limiting portion to break, deform or displace, thereby releasing the connection between the core shaft 220 and the pin shaft 314.

[0098] In some embodiments, after the core shaft 220 is released from the pin shaft 314, the core shaft 220 continues to move from the distal end to the proximal end, and when it passes over the elastic pin 240, a force is applied to the elastic pin 240 through the limiting portion, so that when the force on the distal end of the elastic pin 240 reaches a certain threshold, the core shaft 220 is released from the storage tube 320 by breaking, deforming or displacing, thereby realizing a releasable connection between the deflection assembly 210 and the clamp device 300.

[0099] In some embodiments, the deflection assembly 210 includes an upper connecting end 211 and a lower connecting end 212 .

[0100] The upper connecting end 211 can be used to cooperate with the lower connecting end 212 to realize the deflection process of the deflection assembly 210. In some embodiments, the upper connecting end 211 can be provided at the distal end of the deflection assembly 210.

[0101] The lower connecting end 212 can be used to cooperate with the upper connecting end 211 to realize the deflection process of the deflection assembly 210. In some embodiments, the lower connecting end 212 can be disposed at the proximal end of the deflection assembly 210.

[0102] In some embodiments, the upper connecting end 211 and the lower connecting end 212 are rotatably connected. A deflectable connection refers to a connection method in which the axes of multiple components can be deflected. It can be understood that after the two clamping arms of the clamping portion 310 are controlled to open and contact the clamping target 400, the deflection device can be made to deflect the upper connecting end 211 relative to the lower connecting end 212 under the force applied by the clamping target 400, further causing the clamping portion 310 to deflect in the same direction to the direction facing the clamping target 400, which is conducive to achieving effective clamping of the wound 410 of the clamping target 400 and ensuring the clamping effect.

[0103] In some embodiments, the upper connecting end 211 and the lower connecting end 212 can have various shapes and structures that fit together. For example, the upper connecting end 211 can be recessed, while the lower connecting end 212 can be protruding. Another example is that the upper connecting end 211 and the lower connecting end 212 can be mating pin-shaped structures. In some embodiments, the connection method between the upper connecting end 211 and the lower connecting end 212 can include, but is not limited to, nailing, pinning, and interference fit.

[0104] In some embodiments of the present specification, by providing a deflection assembly 210 including an upper connecting end 211 and a lower connecting end 212 that can be deflected, the deflection assembly 210 can more flexibly adjust the deflection angle when facing different clamping targets, thereby improving the adaptability of the clamp instrument 10 to different clamping targets.

[0105] FIG7A is a cross-sectional schematic diagram of a deflection assembly according to some embodiments of the present specification; FIG7B is a schematic diagram of a deflection assembly according to some embodiments of the present specification.

[0106] In some embodiments, as shown in FIG. 7A-FIG . 9B , the upper connecting end 211 may include a ball socket 213 , and the lower connecting end 212 may include a spherical end 214 .

[0107] Figure 9A is a schematic diagram of an upper connection terminal according to some embodiments of this specification. Ball socket 213 can be used to accommodate spherical terminal 214. In some embodiments, ball socket 213 can have a variety of shapes that match spherical terminal 214. For example, as shown in Figure 9A, it can be hollow and tubular. In some embodiments, ball socket 213 includes an inner cavity that can accommodate spherical terminal 214.

[0108] Figure 8 is a schematic diagram of lower connecting end 212 according to some embodiments of the present disclosure. A spherical end 214 can be configured to mate with a ball socket 213 to achieve a deflectable connection therebetween. In some embodiments, as shown in Figure 9A , spherical end 214 can be positioned within the inner cavity of ball socket 213. In some embodiments, spherical end 214 can have a variety of shapes that mate with ball socket 213. For example, spherical end 214 can be a solid sphere, a hollow hemisphere, or the like.

[0109] In some embodiments, the lower connecting end 212 may include a guide post 215. In some embodiments, the guide post 215 may be used to support the spherical end 214. In some embodiments, the distal end of the guide post 215 may be connected to the proximal end of the spherical end 214, and the proximal end of the guide post 215 may be connected to the distal end of the sheath 230. In some embodiments, the guide post 215 may have various shapes and structures. For example, the guide post 215 may be a hollow cylindrical structure.

[0110] In some embodiments, the spherical end 214 may include a slit 214-1. The slit 214-1 can be used to install the spherical end 214 into the inner cavity of the ball sleeve 213. It is understood that when the spherical end 214 and the ball sleeve 213 are assembled, the spherical end 214 can be subjected to the force of the ball sleeve 213, causing the spherical end 214 to deform at the slit 214-1, reducing its outer diameter, and then enter the inner cavity of the ball sleeve 213. After the force is removed, the deformation of the spherical end 214 at the slit 214-1 is restored, and the outer diameter is restored, completing the assembly of the spherical end 214 and the ball sleeve 213.

[0111] In some embodiments of the present specification, by providing the spherical end 214 with a slit 214-1, the assembly process of the spherical end 214 and the ball sleeve 213 can be made smoother and more convenient, avoiding assembly difficulties caused by the mismatch between the outer diameter of the spherical end 214 and the inner diameter of the ball sleeve 213 required by the interference fit.

[0112] FIG9B is a partial cross-sectional schematic diagram of a deflection assembly according to some embodiments of the present specification.

[0113] In some embodiments, the spherical end 214 can be connected to the ball sleeve 213 through an interference fit. For example, as shown in Figures 9A and 9B, the ball sleeve 213 includes a sealed edge 213-1 and a slot 213-2. The sealed edge 213-1 of the ball sleeve 213 forms an interference fit with the spherical end 214, while the inner diameter of the ball sleeve 213 forms a clearance fit with the spherical end 214.

[0114] Interference fit refers to compressing one component into another mating component through the elasticity of the material to achieve a tight fit. The edge seal 213-1 refers to a closed structure at the end edge of the ball sleeve 213. For example, as shown in Figure 9B, the proximal edge of the ball sleeve 213 has a circle of closed strip structure. In some embodiments, the edge seal 213-1 of the ball sleeve 213 can be interference fit with the spherical end 214. For example, the inner diameter of the edge seal 213-1 of the ball sleeve 213 is larger than the outer diameter of the spherical end 214, thereby achieving an interference fit. It can be understood that when the edge seal 213-1 of the ball sleeve 213 is interference fit with the spherical end 214, the spherical end 214 can be confined in the inner cavity of the ball sleeve 213 by the edge seal 213-1 and is not easy to fall out.

[0115] In some embodiments, the inner diameter of the ball sleeve 213 can have a clearance fit with the spherical end 214. A clearance fit refers to the presence of a gap between mating components. For example, the inner diameter of the ball sleeve 213 can be larger than the outer diameter of the spherical end 214, i.e., there is a gap between the two. It is understood that when the inner diameter of the ball sleeve 213 has a clearance fit with the spherical end 214, the gap between the spherical end 214 and the ball sleeve 213 creates a gap, which reduces friction when the spherical end 214 and the ball sleeve 213 rotate relative to each other. It can be understood that the deflection of the deflection assembly 210 requires a certain degree of force to be applied, that is, the friction between the ball sleeve 213 and the spherical end 214 cannot be too small, otherwise the clamping portion 310 may have deflected under the action of gravity when it has not abutted the clamping target 400; or, after the clamping portion 310 has deflected, during the process of the core shaft 220 moving from the distal end to the proximal end, before the clamping portion 310 closes, the force generated by the movement of the core shaft 220 from the distal end to the proximal end has acted on the receiving tube 320, causing the clamping portion 310 to deflect back prematurely, thereby affecting the clamping of the clamping target 400.

[0116] In some embodiments of the present specification, by providing the slot 213 - 2 with an interference fit with the spherical end 214 , the deflection and / or rotation of the spherical end 214 can be made smoother, avoiding deflection stagnation caused by the influence of friction.

[0117] Figure 10A is a schematic diagram illustrating deflection of a clamp device according to some embodiments of this specification. Deflection refers to the movement of a component away from its original axis about a deflection axis BB. In some embodiments, as shown in Figure 10A , the clamping arm of the clamping portion 310 is subjected to a force applied by the clamping target 400, causing the ball sleeve 213 to deflect about the deflection axis BB relative to the spherical end 214 via the slot 213-2, thereby driving the clamping portion 310 to deflect. It is understood that during the deflection of the clamping portion 310, the distal end of the core shaft 220 bends toward the clamping target 400.

[0118] In some embodiments, the ball sleeve 213 may include a slot 213-2, with the deflection axis BB perpendicular to the longitudinal section S of the slot 213-2. The slot 213-2 is an open, groove-like structure. In some embodiments, the ball sleeve 213 may include at least one slot 213-2. For example, when there is one slot 213-2, the ball sleeve 213 can be deflected toward one side relative to the spherical end 214 about the deflection axis BB via this slot 213-2. For another example, when there are two slots 213-2, the ball sleeve 213 can be deflected toward both sides relative to the spherical end 214 about the deflection axis BB via this slot 213-2. In this case, the centers of the two slots 213-2 may be spaced 180° or substantially 180° apart relative to the circumference of the ball sleeve 213. Substantially 180° may mean that the angular spacing between the centers of the two slots 213-2 is between 170° and 190°, such as 175°.

[0119] For more information about deflection, please refer to Figures 1, 5 and 6 and their related descriptions.

[0120] The deflection axis BB refers to the axis about which the deflection assembly 210 deflects. In some embodiments, the deflection axis BB may be perpendicular to the longitudinal section S of the slot 213 - 2 .

[0121] Figure 10B is a schematic diagram illustrating the rotation of a clip device according to some embodiments of the present disclosure. Rotation refers to the movement of a component rotating about the rotation axis AA. In some embodiments, as shown in Figure 10B , since the ball sleeve 213 in the deflection component can rotate about the axis of the ball sleeve 213 relative to the spherical end 214, the handle 120 controls the rotation of the mandrel 220 about its axis. The rotation of the mandrel 220 acts on the clip device 300 (e.g., the receiving tube 320), driving the clip device 300 (e.g., the receiving tube 320) to rotate about its axis (e.g., the axis of the receiving tube 320) relative to the spherical end 214. This rotation can align the closing direction of the two clamp arms with the closing direction of the wound 410 of the clamped target 400, thereby effectively clamping the wound 410 of the clamped target 400.

[0122] The rotation axis AA refers to the axis about which the clamp device 300 rotates. It is understood that in the above embodiment, the axis of the ball sleeve 213, the axis of the clamp device 300, and the axis of the receiving tube 320 coincide with each other and can all serve as the rotation axis AA.

[0123] In some embodiments of the present specification, the upper connecting end 211 includes a ball sleeve 213, the lower connecting end 212 includes a spherical end 214, and the ball sleeve 213 includes an inner cavity for installing the spherical end 214. The two form an interference fit through components such as the slot 213-2 and the slit 214-1, which can effectively realize the deflection and rotation process of the deflection device, ensure the accurate clamping of the clamping target 400, and the installation and disassembly of this structure is relatively simple.

[0124] Figure 11A is a schematic diagram of a deflection assembly according to other embodiments of the present specification; Figure 11B is a cross-sectional schematic diagram of a lower connecting end according to other embodiments of the present specification; Figure 11C is a schematic diagram of a lower connecting end according to other embodiments of the present specification.

[0125] 11A-11C , the upper connecting end 211 may include a spherical end 214, and the lower connecting end 212 may include a ball sleeve 213. The ball sleeve 213 may include an inner cavity for mounting the spherical end 214. In some embodiments, the spherical end 214 may be connected to the receiving tube 320.

[0126] For more information about the spherical end 214 and the ball sleeve 213, please refer to the relevant contents of Figures 7A-10B. It can be understood that the difference between this embodiment and the embodiment described in Figures 7A-10B is that the structures of the upper connecting end 211 and the lower connecting end 212 are interchanged (i.e., the upper connecting end 211 includes the ball sleeve 213 and the lower connecting end 212 includes the spherical end 214, and the upper connecting end 211 includes the spherical end 214 and the lower connecting end 212 includes the ball sleeve 213). The remaining components (e.g., the slit 214-1 of the spherical end 214, the slot 213-2 of the ball sleeve 213, etc.) and the principles of the deflection and rotation process are the same. For details, please refer to the relevant contents above and will not be repeated here.

[0127] In some embodiments of the present specification, the upper connecting end 211 may include a spherical end 214, the lower connecting end 212 may include a ball sleeve 213, and the ball sleeve 213 may include an inner cavity for installing the spherical end 214, thereby effectively realizing the deflection and rotation process of the deflection assembly 210 and ensuring accurate clamping of the clamping target 400.

[0128] FIG12 is a schematic diagram of a deflection assembly 210 according to some other embodiments of the present specification; FIG13 is a schematic diagram of a lower connecting end according to some other embodiments of the present specification; and FIG14 is a schematic diagram of an upper connecting end according to some other embodiments of the present specification.

[0129] In some embodiments, as shown in FIG. 12-FIG . 14 , the upper connecting end 211 may include a first side wing 216 , and the lower connecting end 212 may include a second side wing 217 .

[0130] In some embodiments, the first wing 216 can be used to cooperate with the second wing 217 to achieve deflection of the deflection assembly 210. In some embodiments, the first wing 216 can be disposed at the proximal end of the upper connecting end 211. In some embodiments, the first wing 216 can include a first pin hole 216-1. In some embodiments, as shown in FIG14 , the upper connecting end 211 can include two first wings 216, each of which is spaced 180° or substantially 180° apart circumferentially relative to the upper connecting end 211. Substantially 180° can mean that the angle between the two wings is between 170° and 190°, such as 175°. Each of the two first wings 216 includes a first pin hole 216-1, and the first pin holes 216-1 are aligned. In some embodiments, the upper connecting end 211 may include three or more first side wings 216 , each of the first side wings 216 includes a first pin hole 216 - 1 , and the first pin holes 216 - 1 are in a straight line.

[0131] In some embodiments, the first pin hole 216-1 can be used to cooperate with the second pin hole 217-1 and the pin 218 to achieve a pinned connection between the first wing 216 and the second wing 217. In some embodiments, the first pin hole 216-1 can be provided on the first wing 216. For example, the first pin hole 216-1 can be provided at the geometric center of the first wing 216. It will be appreciated that to achieve a deflectable connection between the upper connecting end 211 and the lower connecting end 212, the first pin holes 216-1 need to be arranged in a straight line.

[0132] In some embodiments, the second wing 217 can cooperate with the first wing 216 to achieve deflection of the deflection assembly 210. In some embodiments, the second wing 217 can be disposed at the distal end of the lower connecting end 212. In some embodiments, the second wing 217 can include a second pin hole 217-1. The number and positional relationship between the second wing 217 and the second pin hole 217-1 are similar to the number and positional relationship between the first wing 216 and the first pin hole 216-1, and are not further described here.

[0133] In some embodiments, the first wing 216 and the second wing 217 may be connected by a pin 218 passing through the first pin hole 216 - 1 and the second pin hole 217 - 1 .

[0134] The pin 218 may be used to connect the first pin hole 216 - 1 and the second pin hole 217 - 1 to achieve a deflectable connection between the first wing 216 and the second wing 217 .

[0135] In some embodiments, the pin 218 can be integrally formed with the first wing 216. For example, a protruding pin structure can be provided on the inner side of the first wing 216 to directly connect with the second pin hole 217-1 of the second wing 217. In some embodiments, the pin 218 can be integrally formed with the second wing 217. For example, a protruding pin structure can be provided on the outer side of the second wing 217 to directly connect with the first pin hole 216-1 of the first wing 216.

[0136] FIG. 15 is a schematic diagram illustrating deflection and / or rotation of a clip instrument according to some embodiments of the present specification.

[0137] In some embodiments, as shown in FIG15 , the clamping arm of the clamping portion 310 is subjected to the force of the clamping target 400 , and the relative positions of the first wing 216 and the second wing 217 are deflected along the deflection axis BB through the pin 218 , driving the clamp device 300 to deflect.

[0138] In some embodiments, the deflection axis BB may be a straight line (perpendicular to the paper) along which the pin 218 lies.

[0139] In some embodiments, as shown in FIG15 , the control handle 120 rotates, the core shaft 220 rotates and transmits torque to the receiving tube 320 , driving the receiving tube 320 to rotate around the axis of the receiving tube 320 relative to the upper connecting end 211 , thereby driving the clamp device 300 to rotate.

[0140] It can be understood that in the above embodiment, the axis of the clamp device 300 and the axis of the receiving tube 320 coincide with each other and can both serve as the rotation axis AA.

[0141] In some embodiments, the clamp device 300 includes a receiving tube 320, with the clamping portion 310 partially disposed within the receiving tube 320. The receiving tube 320 is rotatable about the axis of the sheath tube 230. For example, as shown in FIG15 , the receiving tube 320 includes an annular groove 321, and the upper connecting end 211 includes an annular protrusion 219. The annular groove 321 rotatably engages with the annular protrusion 219. The core shaft 220 rotates about its axis, driving the receiving tube 320 to rotate about its axis relative to the upper connecting end 211.

[0142] In some embodiments, the annular groove 321 and the annular protrusion 219 can cooperate to achieve a rotational connection between the upper connecting end 211 and the receiving tube 320. In some embodiments, the annular groove 321 can be provided at the proximal end of the receiving tube 320. In some embodiments, the annular protrusion 219 can be provided at the distal end of the upper connecting end 211. Rotatable cooperation can refer to a connection method that allows rotation between multiple components. It will be understood that when the annular groove 321 and the annular protrusion 219 abut, the receiving tube 320 can rotate relative to the deflection assembly 210 under the torque applied by the core shaft 220.

[0143] In some embodiments of the present specification, the receiving tube 320 includes an annular groove 321, and the upper connecting end 211 includes an annular protrusion 219. The annular groove 321 and the annular protrusion 219 are rotatably engaged with each other, thereby further enabling the rotation of the receiving tube 320, so that the closing direction of the two clamping arms is consistent with the closing direction of the wound 410 of the clamping target 400, thereby effectively clamping the wound 410 of the clamping target 400. Furthermore, the receiving tube 320 can be rotated while the sheath tube 230 is stationary, ensuring that the clamping portion 310 can rotate based on the position of the wound 410 of the clamping target 400, while also ensuring the relative stability of the entire delivery device 200.

[0144] In some embodiments of the present specification, the upper connecting end 211 includes a first side wing 216, the lower connecting end 212 includes a second side wing 217, the first side wing 216 includes a first pin hole 216-1, the second side wing 217 includes a second pin hole 217-1, and the first side wing 216 and the second side wing 217 are connected by a pin 218 passing through the first pin hole 216-1 and the second pin hole 217-1, thereby effectively realizing the deflection and rotation process of the deflection assembly 210 and ensuring accurate clamping of the clamping target 400.

[0145] In some embodiments of the present specification, the above-mentioned clamp instrument 10 can ensure the stability of the clamp instrument 10 while enabling the clamp to achieve the function of deflection and / or rotation after opening. It can accurately and efficiently adjust the position of the clamp when the clamping target 400 is not directly facing the clamp device 300. It can reduce the difficulty of surgical operation under clinical conditions, better clamp the clamping target 400, and provide convenience for doctors / nurses.

[0146] Figures 16 through 21B are schematic diagrams illustrating the motion of a clip device 10 according to some embodiments of this specification. The following description of the steps for opening, overall deflection, closing, locking, and releasing the clip device 10 will be described in conjunction with Figures 16 through 21B. However, the following steps are merely illustrative and are not limited to the following steps.

[0147] In step 1, as shown in FIG16 , after the clamping portion 310 is delivered to the target location (e.g., near the wound 410 of the clamping target 400 ) via the delivery device 200 , the first clamping arm 311 and the second clamping arm 312 are opened. In some embodiments, the mandrel 220 is connected to the corresponding pins 314 of the first clamping arm 311 and the second clamping arm 312 . The mandrel 220 moves from the proximal end to the distal end, applying a force to the pins 314, which drives the first clamping arm 311 and the second clamping arm 312 to move away from each other and into the open state. A clamping space is formed between the first clamping arm 311 and the second clamping arm 312, capable of clamping the clamping target 400 .

[0148] In step 2, after the clamping portion 310 is opened, the clamping portion 310 deflects as a whole under the force of the clamping target 400, and / or the operator (for example, a doctor) controls the clamping portion 310 to rotate to a position facing the clamping target 400 through the handle 120 in combination with the endoscope, and the closing direction of the clamping portion 310 is consistent with the closing direction of the wound 410 of the clamping target 400.

[0149] In some embodiments, as shown in FIG17 , one of the clamping arms of the clamping portion 310 is deflected in the direction of the force applied by the clamping target 400, causing the core shaft 220 to move from the proximal end to the distal end, causing the upper connecting end 211 to deflect relative to the lower connecting end 212, thereby driving the clamping device 300 to deflect. In some embodiments, an operator (e.g., a physician) can control the core shaft 220 to rotate about its axis via the handle 120, driving the clamping device 300 to rotate about its axis relative to the deflection assembly 210. After the overall deflection and / or rotation, the clamping direction of the clamping portion 310 can be aligned with the clamping target 400, and the closing direction of the two clamping arms is aligned with the closing direction of the wound 410 of the clamping target 400, thereby achieving effective clamping.

[0150] In step three, as shown in FIG. 18 , the clamping portion 310 is transformed from an open state to a closed state to clamp the target tissue.

[0151] In some embodiments, the core shaft 220 can be controlled by the handle 120 to move from the distal end to the proximal end, so that the first clamping arm 311 and the second clamping arm 312 both move toward the proximal end until the first clamping arm 311 and the second clamping arm 312 are closed.

[0152] When the first clamping arm 311 and the second clamping arm 312 are closed, the distal ends of the first clamping arm 311 and the second clamping arm 312 can accommodate a portion of the clamping object 400 into the clamping space.

[0153] In some embodiments, before the locking portion 322 engages with the locked portion 313, the force generated by the distal-to-proximal movement of the core shaft 220 acts on the clamping portion 310, driving the clamping portion 310 to close. It can be understood that, as shown in FIG19A , the distal-to-proximal movement of the core shaft 220 drives the proximal ends of the first and second clamping arms 311, 312 of the clamping assembly to retract into the receiving tube 320, and the clamping portion 310 closes under the action of the receiving tube 320. In some embodiments, the first and second clamping arms 311, 312 are elastic. When the proximal ends of the first and second clamping arms 311, 312 are retracted into the receiving tube 320, the distal end of the receiving tube 320 exerts a squeezing force on the first and second clamping arms 311, 312, causing them to elastically deform and close.

[0154] In some embodiments, after the clamping portion 310 is closed, the core shaft 220 continues to move from the distal end to the proximal end, so that the locked portion 313 of the clamping portion 310 cooperates axially with the locking portion 322 of the receiving tube 320, and the clamping portion 310 is in a locked state.

[0155] In some embodiments of the present specification, before the locking portion 322 cooperates with the locked portion 313, the force generated by the movement of the core shaft 220 from the distal end to the proximal end acts on the clamping portion 310 to drive the clamping portion 310 to close, so that the clamping portion 310 can be effectively closed with the cooperation of the force of the storage tube 320 and the core shaft 220.

[0156] In step 4, as shown in FIG. 19A and FIG. 19B , after the clamping portion 310 is locked, the core shaft 220 continues to move from the distal end to the proximal end, driving the clamp device 300 to deflect until the axis of the clamp device 300 coincides with the axis of the distal end of the sheath tube 230 .

[0157] In some embodiments, after the clamping portion 310 is closed, the mandrel 220 can be controlled to continue to move from the distal end to the proximal end, driving the clamping portion 310 to deflect until the axis of the clamping portion 310 coincides with the axis of the distal end of the sheath tube 230. It can be understood that after the clamping portion 310 is deflected by the force of the clamping target 400, while the mandrel 220 can move from the distal end to the proximal end, the clamping portion 310 is closed and the mandrel 220 is controlled to continue to move from the distal end to the proximal end, driving the clamping portion 310, which was previously deflected by the force of the clamping target 400, to deflect back to the initial position until the axis of the clamping portion 310 coincides with the axis of the distal end of the sheath tube 230.

[0158] In some embodiments, after the locking portion 322 engages with the locked portion 313, the force generated by the movement of the core shaft 220 from the distal end to the proximal end can act on the receiving tube 320, thereby driving the clamping portion 310 to deflect relative to the sheath tube 230. It can be understood that after the locked portion 313 of the clamping portion 310 passes over the locking portion 322, the core shaft 220 continues to move from the distal end to the proximal end, driving the clamping portion 310 to engage with the blocking structure 326 of the receiving tube 320, thereby limiting the movement of the clamping portion 310 from the distal end to the proximal end. Since the clamping portion 310 is locked and engaged with the blocking structure 326 at this time, the force generated by the movement of the core shaft 220 from the distal end to the proximal end can further act on the receiving tube 320. As the core shaft 220 continues to move from the distal end to the proximal end, the clamping portion 310 is driven to deflect relative to the sheath tube 230.

[0159] By setting the locking part 322 to cooperate with the locked part 313, the force generated by the movement of the core shaft 220 from the distal end to the proximal end acts on the storage tube 320, so as to drive the clamping part 310 to deflect relative to the sheath tube 230. In the locked state, the force of the core shaft 220 can act on the storage tube 320, so as to realize the return of the clamping part 310 after deflection. The operation is simple and the success rate is high.

[0160] In step five, as shown in Figures 20A and 20B, after the clamping portion 310 is locked, the mandrel 220 continues to move from the distal end to the proximal end, thereby releasing the connection between the mandrel 220 and the clamping portion 310. In some embodiments, the movement of the mandrel 220 from the distal end to the proximal end causes the distal end of the stopper to deform, displace, or break, thereby releasing the connection between the distal end of the stopper and the pin 314, and releasing the connection between the mandrel 220 and the clamping portion 310.

[0161] In some embodiments, after the axis of the clamping portion 310 coincides with the axis of the distal end of the sheath tube 230, the core shaft 220 can be moved from the distal end to the proximal end, driving the core shaft 220 to release the connection with the clamping portion 310. For example, the core shaft 220 can be controlled to move from the distal end to the proximal end, applying a force to the distal end of the limiter connected to the pin 314 of the clamping portion 310 until the distal end of the limiter breaks, deforms, or displaces, thereby releasing the connection between the core shaft 220 and the pin 314, thereby achieving the release connection between the core shaft 220 and the clamping portion 310.

[0162] In some embodiments of the present specification, by setting the axis of the clamping portion 310 to coincide with the axis of the distal end of the sheath tube 230, the core shaft 220 moves from the distal end to the proximal end, driving the core shaft 220 to release the connection with the clamping portion 310, so that the core shaft 220 and the clamping portion 310 can be effectively released, providing a prerequisite for the separation of the clamp device 300 and the deflection assembly 210.

[0163] Step six, as shown in Figures 21A and 21B, after the connection between the core shaft 220 and the clamping part 310 is released, the core shaft 220 continues to move from the distal end to the proximal end, so that the proximal end of the limiting part abuts against the elastic pin 240, and then a force is applied to the elastic pin 240 until the protruding structure of the elastic pin 240 is broken, deformed or displaced, so that the storage tube 320 is released from the elastic pin 240, thereby realizing the release connection between the clamp device 300 and the deflection assembly 210.

[0164] In some embodiments, the core shaft 220 can continue to move from the distal end to the proximal end, driving the clamp device 300 to release the connection with the deflection assembly 210. For example, the core shaft 220 can be controlled to continue to move from the distal end to the proximal end, so that the proximal end of the limiter abuts the elastic pin 240, and then a force is applied to the elastic pin 240 until the protrusion structure of the elastic pin 240 breaks, deforms, or moves, thereby releasing the connection between the receiving tube 320 and the elastic pin 240, thereby achieving the release of the connection between the clamp device 300 and the deflection assembly 210.

[0165] By setting the core shaft 220 to continue to move from the distal end to the proximal end, the clamp device 300 and the deflection assembly 210 are driven to release the connection. The clamp device 300 and the deflection assembly 210 can be separated with the cooperation of the elastic pin 240. The operation is simple and effective with a low failure rate.

[0166] Some embodiments of this specification also provide a method for controlling a clip instrument, which is applied to the clip instrument 10 described in any of the above embodiments. The control method is executed by a control device 100, and the operations of the process described below are for illustrative purposes only. In some embodiments, the process can be completed using one or more additional operations not described above and / or without one or more of the operations discussed. Furthermore, the order of the operations of the process described below is not intended to be limiting.

[0167] 22 is a flow chart of a method for controlling a clip instrument according to some embodiments of the present disclosure. In some embodiments, the control method flow 2200 includes the following steps.

[0168] In step 2210 , the clamping portion 310 is controlled to abut against the clamping target 400 , so that the clamping portion 310 is deflected by the force of the clamping target 400 , and the axis of the clamp device 300 and the axis of the distal end of the sheath tube 230 form a deflection angle.

[0169] In some embodiments, the handle 120 in the control device 100 can be used to control the clamping portion 310 to abut against the clamping target 400 , and the first clamping arm 311 and / or the second clamping arm 312 of the clamping portion 310 can be subjected to the force of the clamping target 400 .

[0170] In some embodiments, when the clamping target 400 is not located in the axial direction of the clamping device 300, one of the clamping arms (e.g., the first clamping arm 311 or the second clamping arm 312) in the clamping portion 310 will first contact the clamping target 400, thereby applying force to one of the clamping arms of the clamping portion 310, driving the clamping device 300 to deflect relative to the sheath 230. In some embodiments, under the force applied by the clamping target 400, the first clamping arm 311 or the second clamping arm 312 of the clamping portion 310 drives the upper connecting end 211 of the deflection assembly 210 to deflect relative to the lower connecting end 212, causing the distal end of the core shaft 220 to bend toward the clamping target 400, and the axis of the clamping device 300 and the axis of the distal end of the sheath 230 to form a deflection angle.

[0171] For example, when the upper connecting end 211 includes a ball sleeve 213 and the lower connecting end 212 includes a spherical end 214, under the force of the clamping target 400, the ball sleeve 213 can deflect along the deflection axis BB relative to the spherical end 214 at the slot 213-2 position, driving the clamp device 300 to deflect.

[0172] For another example, when the upper connecting end 211 includes a spherical end 214 and the lower connecting end 212 includes a ball sleeve 213, under the force of the clamping target 400, the spherical end 214 can deflect relative to the ball sleeve 213 at the slot 213-2 position along the deflection axis BB, driving the clamp device 300 to deflect.

[0173] For another example, when the upper connecting end 211 includes the first wing 216 and the lower connecting end 212 includes the second wing 217 , under the force of the clamping target 400 , the first wing 216 deflects relative to the second wing 217 along the deflection axis BB, driving the clamp device 300 to deflect.

[0174] For more information about the deflection of the clip device 300, please refer to Figures 6-15, 17 and their related descriptions.

[0175] When the clamp device 300 deflects until the first clamp arm 311 and the second clamp arm 312 both abut against the clamping target 400, the forces on the two clamp arms of the clamp device 300 are balanced. At this time, the clamp device 300 no longer deflects and is now near the clamping target 400.

[0176] In some embodiments, before the clamping portion 310 closes, the control device 100 can control the core shaft 220 to rotate around the axis of the core shaft 220, driving the clamp device 300 to rotate around the axis of the clamp device 300 relative to the deflection assembly 210, and the clamping position and clamping angle of the clamping portion 310 to the clamping target 400 can be further adjusted.

[0177] In some embodiments, the handle 120 can be used to control the core shaft 220 to rotate around the axis of the core shaft 220, transmit torque to the storage tube 320, and drive the storage tube 320 to rotate around the axis of the storage tube 320, so as to realize the rotation of the clamp device 300 around the axis of the clamp device 300 relative to the deflection assembly 210.

[0178] For example, when the upper connecting end 211 of the deflection assembly 210 includes a ball sleeve 213 and the lower connecting end 212 includes a spherical end 214, under the force of the rotation of the core shaft 220, the ball sleeve 213 rotates around the spherical end 214, making a circumferential motion around the central axis of the ball sleeve 213, driving the clamp device 300 to rotate.

[0179] For another example, when the upper connecting end 211 of the deflection assembly 210 includes a spherical end 214 and the lower connecting end 212 includes a ball sleeve 213, under the force of the rotation of the core shaft 220, the spherical end 214 rotates in the ball sleeve 213, making a circumferential motion around the central axis of the spherical end 214, driving the clamp device 300 to rotate.

[0180] For another example, when the upper connecting end 211 includes a first side wing 216 and the lower connecting end 212 includes a second side wing 217, under the force of the rotation of the core shaft 220, the storage tube 320 rotates along the rotation axis AA through the annular groove 321 at the abutment with the annular protrusion 219 of the upper connecting end 211, thereby driving the clamp device 300 to rotate.

[0181] For more details about the rotation of the clamp device 300 , please refer to FIG. 10B , FIG. 15 and their related descriptions.

[0182] In step 2220 , the core shaft 220 is controlled to move from the distal end to the proximal end, driving the clamping portion 310 to close to clamp the clamping target 400 .

[0183] In some embodiments, after the position of the clamp device 300 is adjusted, the handle 120 in the control device 100 can be used to control the mandrel 220 to move from the distal end to the proximal end. The distal end of the mandrel 220 connects to the proximal end of the clamping arm of the clamping portion 310, transmitting a force to the clamping arm of the clamping portion 310, causing the two clamping arms to move toward each other along the direction of the pin 314, driving the clamping portion 310 to close and clamp the clamping object 400. For more information about the closing of the clamping portion 310, please refer to Figure 18 and the related description.

[0184] In some embodiments, after the clamping portion 310 is closed, the mandrel 220 is controlled to continue moving from the distal end to the proximal end. When the proximal movement of the clamping portion 310 is restricted by the receiving tube 320 (e.g., a limiting structure), the force exerted by the mandrel 220 on the clamping portion 310 is transmitted to the receiving tube 320. Because the mandrel 220 generates a straightening force during its movement from the distal end to the proximal end, this force can drive the clip device 300 to deflect until the axis of the clip device 300 coincides with the axis of the distal end of the sheath tube 230.

[0185] In some embodiments, after the clamping portion 310 is deflected by the force of the clamping target 400, the clamping portion 310 closes under the force of the mandrel 220 moving from the distal end to the proximal end. The mandrel 220 is controlled to continue moving from the distal end to the proximal end. Through the force of the mandrel 220 retracting, the clamping portion 310, which was previously deflected by the force of the clamping target 400, is driven to deflect back to the initial position until the axis of the clamp device 300 coincides with the axis of the distal end of the sheath tube 230. For more information about the deflection of the clamp device 300 until the axis of the clamp device 300 coincides with the axis of the distal end of the sheath tube 230, see Figures 19A-19B and the related description.

[0186] In some embodiments, after the axis of the clamp device 300 coincides with the axis of the distal end of the sheath tube 230, the core shaft 220 is controlled to move from the distal end to the proximal end, driving the core shaft 220 to release the connection with the clamping portion 310; and the core shaft 220 is controlled to continue to move from the distal end to the proximal end, driving the clamp device 300 to release the connection with the deflection assembly 210.

[0187] In some embodiments, after the axis of the clip device 300 coincides with the axis of the distal end of the sheath tube 230, the handle 120 can be used to control the core shaft 220 to move from the distal end to the proximal end, applying force to the distal end of the limiter connected to the pin 314 of the clamping portion 310 until the distal end of the limiter breaks, deforms, or displaces, thereby releasing the connection between the core shaft 220 and the pin 314, thereby achieving the release connection between the core shaft 220 and the clamping portion 310. For more information about the release connection between the core shaft 220 and the clamping portion 310, please refer to Figures 20A-20B and the related description.

[0188] In some embodiments, the handle 120 can be used to continue controlling the core shaft 220 to move from the distal end to the proximal end, so that the proximal end of the stopper contacts the elastic pin 240, and then a force is applied to the elastic pin 240 until the protruding structure of the elastic pin 240 breaks, deforms, or shifts, thereby releasing the connection between the receiving tube 320 and the elastic pin 240, thereby releasing the connection between the clip device 300 and the deflection assembly 210. For more information about the release connection between the clip device 300 and the deflection assembly 210, please refer to Figures 21A and 21B and the related description.

[0189] In some embodiments of the present specification, by setting the control clamping portion 310 to abut the clamping target 400, the clamping portion 310 is deflected by the force of the clamping target 400, and the axis of the clamp device 300 and the axis of the distal end of the sheath tube 230 present a deflection angle. The force directly acting on the clamping portion 310 through the clamping target 400 can drive the rack device to deflect through the deflection component 210 structure, without the need for manual application of force, which is more in line with the actual clamping situation of the clamping target 400 and realizes accurate position adjustment; the control core shaft 220 moves from the distal end to the proximal end, driving the clamping portion 310 to close to clamp the clamping target 400, which can effectively control the closing of the clamping portion 310 to ensure that the clamping portion 310 accurately clamps the clamping target 400, which is conducive to the normal progress of the surgical process.

[0190] The beneficial effects that may be brought about by the embodiments of the present application include but are not limited to:

[0191] (1) During clinical operation, after the two clamp arms are opened, they are deflected by the force exerted by the clamping target on the clamp arms without manual application, making the deflection more consistent with the actual situation of the clamping target and the position more accurate;

[0192] (2) By providing a deflection assembly including an upper connection end and a lower connection end that can be deflected, the deflection assembly can more flexibly adjust the connection angle when facing different working conditions or clamping targets, thereby improving the adaptability of the clamping device in diverse working environments;

[0193] (3) By arranging the upper connecting end to include a ball sleeve, the lower connecting end to include a spherical end, and the ball sleeve to include an inner cavity in which the spherical end can be installed, the two are formed into an interference fit through components such as slots and slits, which can effectively realize the deflection and rotation process of the deflection device, ensure accurate clamping of the clamping target, and the installation and disassembly of the structure are relatively simple;

[0194] (4) By setting the upper connecting end to include a first side wing, the lower connecting end to include a second side wing, the first side wing to include a first pin hole, the second side wing to include a second pin hole, and the first side wing and the second side wing to be connected by a pin passing through the first pin hole and the second pin hole, the deflection and rotation process of the deflection assembly can be effectively realized, ensuring accurate clamping of the clamping target.

[0195] While the basic concepts have been described above, it will be apparent to those skilled in the art that the detailed disclosure is merely illustrative and does not limit this specification. Although not explicitly stated herein, various modifications, improvements, and revisions to this specification may be made by those skilled in the art. Such modifications, improvements, and revisions are suggested in this specification and remain within the spirit and scope of the exemplary embodiments of this specification.

[0196] This specification also uses specific terms to describe the embodiments of this specification. For example, "one embodiment," "an embodiment," and / or "some embodiments" refer to a feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "one embodiment," "an embodiment," or "an alternative embodiment" two or more times in different locations in this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of this specification may be appropriately combined.

[0197] In addition, unless expressly stated in the claims, the order of the processing elements and sequences, the use of alphanumeric characters, or the use of other names described in this specification are not intended to limit the order of the processes and methods of this specification. Although the above disclosure discusses some of the invention embodiments currently considered useful through various examples, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the spirit and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0198] Similarly, it should be noted that, in order to simplify the presentation of this specification and thus facilitate understanding of one or more embodiments of the invention, the foregoing descriptions of the embodiments of this specification sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not imply that the subject matter of this specification requires more features than those recited in the claims. In fact, an embodiment may have fewer features than all of the features of a single disclosed embodiment.

[0199] In some embodiments, numbers are used to describe the quantity of components and attributes. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise stated, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the description and claims are approximate values, which may change according to the required characteristics of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the settings of such numerical values ​​are as accurate as possible within the feasible range.

[0200] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, and documents, cited in this specification is hereby incorporated by reference in its entirety. This includes application history documents that are inconsistent with or conflict with the content of this specification, as well as documents (currently or subsequently attached to this specification) that limit the broadest scope of the claims of this specification. It should be noted that if the descriptions, definitions, and / or terminology used in the accompanying materials are inconsistent or conflicting with the content of this specification, the descriptions, definitions, and / or terminology used in this specification will control.

[0201] Finally, it should be understood that the embodiments described in this specification are intended only to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, by way of example and not limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly described and illustrated in this specification.

Claims

1. A clamp device, characterized in that: It comprises a clamp device and a delivery device, wherein the clamp device is releasably arranged at the distal end of the delivery device, and the clamp device comprises a clamping portion; The delivery device includes a sheath and a deflection assembly, the deflection assembly is connected to the distal end of the sheath, and the clamp device is releasably connected to the distal end of the deflection assembly; and The deflection assembly provides the clamping portion with freedom to deflect relative to the sheath.

2. The clip device according to claim 1, wherein: The delivery device comprises a core shaft, a distal end of the core shaft being releasably connected to the clamping portion; and The clamping portion is deflected by the force of the clamping target, driving the core shaft to bend toward the clamping target; the axis of the clamp device and the axis of the distal end of the sheath tube present a deflection angle.

3. The clip device according to claim 2, wherein: The core shaft moves from the distal end to the proximal end, driving the clamping portion to close; and After the clamping portion is closed, the core shaft continues to move from the distal end to the proximal end, driving the clamp device to deflect until the axis of the clamp device coincides with the axis of the distal end of the sheath tube.

4. The clip device according to claim 3, wherein: The clip device includes a receiving tube, the clamping portion is partially disposed in the receiving tube, the receiving tube includes a locking portion, the clamping portion includes a locked portion, and when the locking portion cooperates with the locked portion, the clip device is locked; Before the locking portion engages with the locked portion, the force generated by the movement of the core shaft from the distal end to the proximal end acts on the clamping portion to drive the clamping portion to close; and After the locking portion is engaged with the locked portion, the force generated by the movement of the core shaft from the distal end to the proximal end acts on the receiving tube to drive the clamping portion to deflect relative to the sheath tube.

5. The clip device according to claim 3, wherein: After the axis of the clamp device coincides with the axis of the distal end of the sheath tube, the core shaft moves from the distal end to the proximal end, driving the core shaft to release the connection with the clamping portion; and The core shaft continues to move from the distal end to the proximal end, driving the clamp device to release the connection with the deflection assembly.

6. The clip device according to any one of claims 1 to 5, characterized in that The deflection assembly includes an upper connecting end and a lower connecting end. The upper connecting end is arranged at the distal end of the deflection assembly, and the lower connecting end is arranged at the proximal end of the deflection assembly. The upper connecting end and the lower connecting end are deflectably connected.

7. The clip device according to claim 6, wherein: The upper connecting end includes a ball sleeve, the lower connecting end includes a spherical end, and the ball sleeve includes an inner cavity for mounting the spherical end; or The upper connecting end includes a spherical end, the lower connecting end includes a ball sleeve, and the ball sleeve includes an inner cavity in which the spherical end can be installed.

8. The clip device according to claim 7, wherein: The ball-shaped end includes a slit.

9. The clip device according to claim 7, wherein: The spherical end is connected to the ball sleeve through interference fit.

10. The clip device according to claim 9, wherein: The ball sleeve includes a sealing edge, the sealing edge of the ball sleeve is interference-fitted with the spherical end, and the inner diameter of the ball sleeve is clearance-fitted with the spherical end; and The ball sleeve includes a slot, and the deflection axis is perpendicular to the longitudinal section of the slot.

11. The clip device according to claim 6, wherein: The upper connecting end includes a first side wing, the lower connecting end includes a second side wing, the first side wing includes a first pin hole, the second side wing includes a second pin hole, the first side wing and the second side wing are connected by a pin passing through the first pin hole and the second pin hole, and the deflection axis is the straight line where the pin is located.

12. The clip device according to claim 11, wherein The clamp device includes a receiving tube, the clamping portion is partially disposed within the receiving tube, and the receiving tube is rotatable around an axis of the receiving tube; The receiving tube includes an annular groove, the upper connecting end includes an annular protrusion, and the annular groove and the annular protrusion are rotatably matched; and The core shaft rotates around the axis of the core shaft, driving the receiving tube to rotate around the axis of the receiving tube relative to the upper connecting end.

13. A method for controlling a clamp device, characterized in that: The control method is applied to the clip device according to any one of claims 1 to 12, and the control method includes: Controlling the clamping portion to abut against a clamping target, so that the clamping portion is deflected by the force of the clamping target, and the axis of the clamping portion and the axis of the distal end of the sheath tube form a deflection angle; The core shaft is controlled to move from the distal end to the proximal end, driving the clamping portion to close so as to clamp the clamping target.

14. The control method of the clamp device according to claim 13, characterized in that: The control method further includes: Before the clamping portion is closed, the core shaft is controlled to rotate around the axis of the core shaft, thereby driving the clamp device to rotate around the axis of the clamp device relative to the deflection assembly.

15. The control method of the clamp device according to any one of claims 13 or 14, characterized in that: The control method further includes: After the clamping portion is closed, the core shaft is controlled to continue to move from the distal end to the proximal end, driving the clamp device to deflect until the axis of the clamp device coincides with the axis of the distal end of the sheath tube.

16. The method for controlling a clamp device according to claim 15, wherein: The control method further includes: After the axis of the clamp device coincides with the axis of the distal end of the sheath tube, the core shaft is controlled to move from the distal end to the proximal end, driving the core shaft to release the connection with the clamping portion; and The core shaft is controlled to continue to move from the distal end to the proximal end, driving the clamp device to release the connection with the deflection assembly.

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