CN114469237B

CN114469237B - End effector

Info

Publication number: CN114469237B
Application number: CN202111255732.1A
Authority: CN
Inventors: 奚京
Original assignee: Hangzhou Anjisi Medical Science And Technology Co ltd
Current assignee: Hangzhou Anjisi Medical Science And Technology Co ltd
Priority date: 2020-10-28
Filing date: 2021-10-27
Publication date: 2024-02-06
Anticipated expiration: 2041-10-27
Also published as: CN114469237A

Abstract

The present invention provides an end effector comprising: an end effector; a delivery device comprising a sheath and a mandrel; an operating device comprising a first handle and a second handle; and a positioning device disposed within the second channel and acting on the operating device, the positioning device configured to limit a range of motion of the second handle relative to the first handle.

Description

End effector

Priority claim

The present application claims priority to chinese application number CN2020111737093 filed on 28 th 10 th 2020, and chinese application number CN2021103309534 filed on 26 th 03 th 2021, the entire contents of which are incorporated herein by reference.

Technical Field

The invention belongs to the field of medical instruments, and particularly relates to an end effector.

Background

At present, in minimally invasive surgery, a hemostatic clamp and a ligature clamp are commonly used under an endoscope, and the clamp clamps human tissues so as to achieve the hemostatic and ligature effects.

The clip device disclosed in the publication CN111419327a opens the clip 110 in a natural state (with the handle unstressed); avoiding the flared clip 110 from damaging the endoscope channel while entering the endoscope channel often requires the operator to adjust the pulling force to secure the slider 320 to the proximal end of the handle 310; the operator releases the pulling force after the distal clip 110 of the clip device is successfully exposed from the access opening.

The clip device disclosed in the publication EP3714758A1 may further include a stopper 900, the stopper 900 being provided between the handle part 100 and the outer handle 600 such that the outer handle 600 and the outer sheath 500 connected thereto do not move rearward; when the clip device is advanced into the endoscopic channel, the outer handle 600 and the outer sheath 500 connected thereto are pushed distally so that the clip 800 disposed inside the outer sheath 500 is not exposed to the outside of the sheath, thereby enabling safer and easier access; this patent replaces the step of requiring the operator to manually adjust the pulling force during entry of the clip device into the channel with a stop, but also presents new technical problems.

The sheath is in a non-tortuous path prior to the clip device entering the endoscope channel, but the sheath is in a tortuous path after the clip device enters the endoscope channel; alternatively, the clip device is in a non-tortuous path when assembled, but the clip device is in a tortuous path during packaging; when the sheath tube is converted from a non-curved path to a curved path, the actual stroke of the inner core shaft of the sheath tube is larger than the stroke when the sheath tube body is not stretched; safety issues with the accidental release of the clip can occur when the handle portion is secured by a stop rather than manually adjusted, which can easily result in the clip entering a curved path.

Disclosure of Invention

Based on this, the present invention is directed to overcoming the drawbacks of the prior art by providing an end effector that uses a positioning device to replace the operator pulling force to hold the jaws closed while allowing the handle portion to be adjusted during the clip's entry into the curved path during a safety stroke to avoid inadvertent release of the clip.

The technical scheme of the invention is as follows:

an end effector comprising: an end effector; the conveying device comprises a sheath pipe and a mandrel, wherein the sheath pipe is provided with a first channel, the mandrel is arranged in the first channel, and the mandrel is connected with the end execution device; the operating device comprises a first handle and a second handle, the mandrel is connected with the second handle, the first handle is provided with a second channel, and the second handle can axially move in the second channel relative to the first handle; a positioning device disposed within the second channel and acting on the operating device, the positioning device configured to limit a range of motion of the second handle relative to the first handle; the positioning device comprises a first positioning device and a second positioning device, and the second positioning device has elasticity; the first positioning device moves in the second channel or withdraws from the second channel, so that the second positioning device generates elastic compression degree change or elastic recovery.

In one embodiment, the end effector comprises a clip comprising a first clip arm and a second clip arm; the mandrel is releasably connected with the end effector; the first positioning device is configured to hold the clip in a closed state, the second positioning device is compressed when the first positioning device directly or indirectly interacts with the second positioning device, and the clip is held in a closed state; the closed states include a first closed state and a second closed state; when the first closed state is converted to the second closed state, the second handle compresses the second positioning device to axially move.

In one embodiment, the second positioning device is compressed when the first positioning device and the second positioning device interact directly, and the clip is kept in a closed state; the first positioning device and the second positioning device are directly interacted to be released, and the axial movement of the second handle drives the clip to be in an open state or a closed state.

In one embodiment, the second positioning means is compressed when the first positioning means indirectly interacts with the second positioning means, the clip being held in a closed state; the indirect interaction between the first positioning device and the second positioning device is released, and the axial movement of the second handle drives the clip to be in an open state or a closed state.

In one embodiment, the second positioning device is compressed when the first positioning device and the second positioning device interact directly, and the clip is kept in a closed state; the direct interaction between the first positioning device and the second positioning device is weakened, and the axial movement of the second handle drives the clip to be in an open state or a closed state.

In one embodiment, the second positioning means is compressed when the first positioning means indirectly interacts with the second positioning means, the clip being held in a closed state; the indirect interaction between the first positioning device and the second positioning device is weakened, and the axial movement of the second handle drives the clip to be in an open state or a closed state.

In one embodiment, the open state comprises a first open state and a second open state; when the first open state is converted into the second open state, the second handle compresses the second positioning device to axially move; the clamp is in the first open state, and the open space between the first clamp arm and the second clamp arm is a first open space; the clamp is in the second open state, and the open space between the first clamp arm and the second clamp arm is a second open space; the second opening pitch is greater than the first opening pitch.

In one embodiment, the first positioning device and the second positioning device are formed separately.

In one embodiment, the second positioning device is a spring, and the spring is sleeved outside the mandrel.

In one embodiment, the second positioning device is a spring, and the distal or proximal end of the spring is fixed in the second channel.

In one embodiment, the first positioning device is a buckle, the first positioning device includes a blocking portion, the blocking portion directly interacts with the second positioning device, the blocking portion is disposed at a distal end of the second positioning device, the blocking portion is withdrawn from the first channel, and the second positioning device is elastically restored.

In one embodiment, the second positioning device is a spring, the spring is disposed in the second channel, and a distal end or a proximal end of the spring is abutted against the mandrel.

In one embodiment, the mandrel comprises a second positioning device, and the mandrel is fixedly connected or releasably connected with the second positioning device; the second positioning means is comprised of an elastic material including, but not limited to, a spring.

In one embodiment, the first positioning device comprises a blocking portion that interacts directly with the second positioning device, the blocking portion being provided at the proximal end of the second positioning device, the blocking portion being withdrawn from the first channel, the second positioning device being elastically restored.

In one embodiment, the first positioning device comprises a blocking portion which directly interacts with the second positioning device, the blocking portion is arranged at the distal end of the second positioning device, the blocking portion moves from the proximal end to the distal end in the first channel, and the second positioning device is elastically restored.

In one embodiment, the first positioning device comprises a blocking portion which directly interacts with the second positioning device, the blocking portion is arranged at the proximal end of the second positioning device, the blocking portion moves from the proximal end to the distal end in the first channel, and the second positioning device is elastically restored.

In one embodiment, the blocking portion comprises a first blocking portion and a second blocking portion, and a minimum radial distance between the first blocking portion and the second blocking portion is smaller than a radial distance of the second positioning device.

In one embodiment, the blocking portion includes a fixed end and a free end, the free end having elasticity.

In one embodiment, the free end is provided with a projection having a radial spacing greater than the radial spacing of the second channel in the elastically restored condition.

In one embodiment, the fixed end comprises a bevel, the free end is provided with an anti-falling part, and the anti-falling part and the bevel have the same inclination angle.

In one embodiment, the first positioning device further comprises a securing portion, the blocking portion interacting with the second positioning device, or the securing portion interacting with the second positioning device; the blocking portion axial dimension is greater than the fixing portion axial dimension.

In one embodiment, the blocking part of the first positioning device indirectly interacts with the second positioning device, the first positioning device further comprises a sliding block, the sliding block is arranged at the distal end of the second positioning device, and the blocking part moves to drive the axial movement of the sliding block to release or compress the second positioning device.

In one embodiment, the device further comprises a control part, the control part further comprises a knob and a gear, the rotation of the knob drives the gear to axially move, the blocking part is provided with a plurality of tooth-shaped combining parts matched with the gear, the blocking part is sleeved on the mandrel, and the rotation of the knob drives the blocking part to axially move in the first channel.

In one embodiment, the device further comprises a control part, the control part further comprises a control spring and a control key, the blocking part is driven to axially move in the second channel by pulling of the control key, and the control spring is used for locking the axial position of the blocking part.

In one embodiment, the first positioning device and the second positioning device are integrally formed.

In one embodiment, the second positioning device comprises a first elastic portion and a second elastic portion, the first elastic portion and the second elastic portion are arranged in the first channel, and the first elastic portion is compressed when the first elastic portion interacts with a first combining portion arranged at the first handle; the second elastic portion is compressed when the second elastic portion interacts with a second coupling portion provided at the second handle.

In one embodiment, the first elastic portion or the second elastic portion is sleeved outside the mandrel.

In one embodiment, the first elastic portion or the second elastic portion is formed by bending a metal or a polymer material.

Drawings

FIG. 1 is an overall block diagram of one embodiment of an end effector;

FIG. 2 is a cross-sectional view of one embodiment of an end effector (first closed state);

FIG. 3 is a cross-sectional view of one embodiment of an end effector (second closed state);

FIG. 4 is a view A-A of FIG. 1;

FIG. 5 is an enlarged view of B-B of FIG. 3;

FIG. 6 is a cross-sectional view of one embodiment of an end effector (first open state);

FIG. 7 is a cross-sectional view of one embodiment of an end effector (second open state);

FIG. 8 is a schematic view of a first positioning device according to one embodiment;

FIG. 9 is a schematic diagram of a second positioning device according to one embodiment;

FIG. 10 is a schematic view of a first positioning device according to one embodiment;

FIG. 11 is an enlarged schematic view of a portion of an end effector according to one embodiment;

FIG. 12 is a partial enlarged schematic view of an end effector of one embodiment;

FIG. 13 is an enlarged schematic view of a portion of an end effector of one embodiment;

FIG. 14 is a partial enlarged schematic view of an end effector of one embodiment;

FIG. 15 is an enlarged schematic view of a portion of an end effector of one embodiment;

FIG. 16 is a schematic, partially enlarged view of an end effector of one embodiment;

FIG. 17 is an enlarged schematic view of a portion of an end effector of one embodiment;

FIG. 18 is a schematic, partially enlarged view of an end effector of one embodiment;

FIG. 19 is a schematic view of one embodiment of a positioning device;

FIG. 20 is an enlarged schematic view of a portion of an end effector of one embodiment;

FIG. 21 is a partial enlarged schematic view of an end effector of one embodiment;

FIG. 22 is a schematic view of one embodiment of a positioning device;

FIG. 23 is an enlarged partial schematic view of an end effector of one embodiment;

FIG. 24 is an overall block diagram of one embodiment of an end effector;

FIG. 25 is a cross-sectional view of one embodiment of an end effector instrument (first closed state);

FIG. 26 is a cross-sectional view of one embodiment of an end effector instrument (second closed state);

FIG. 27 is a cross-sectional view of one embodiment of an end effector (first open state);

FIG. 28 is a cross-sectional view of one embodiment of an end effector (second open state);

FIG. 29 is a schematic view of a first positioning device according to one embodiment;

FIG. 30 is a C-C view of FIG. 24;

reference numerals illustrate:

100. A clip 110, a first clip arm 120, a second clip arm;

200. a delivery device 210, a sheath, 210A, a sheath compression end, 210B, a sheath tension end, 211, a first channel, 220, and a mandrel;

300. an operation device 310, a first handle 311, a second channel 312, a first abutting portion 320, a second handle 321, a second abutting portion 322, and a connecting portion;

400. the positioning device, 410, the first positioning device, 411, the blocking portion, 411A, the first blocking portion, 411B, the second blocking portion, 412, the fixed end, 413, the free end, 414, the slider, 415, the protruding portion, 416, the extension portion, 417, the inclined surface, 420, the second positioning device, 421, the first elastic portion, 422, the second elastic portion, 430, the control portion, 431, the knob, 432, the gear, 434, the tooth-shaped coupling portion, 435, the control spring, 436, the control key, 440, the engagement portion.

Detailed Description

The present invention will be described in further detail below, but embodiments of the present invention are not limited thereto. A first embodiment of the present invention is described with reference to fig. 1 to 9.

Referring to fig. 1-3, the end effector has a flexible sheath 210 for penetration into the endoscope channel and into the body cavity, the sheath 210 being comprised of a spring tube in this embodiment. A shaft 220 for operating the clip 100 is inserted into the first channel 211 of the sheath 210 to be freely retractable; an operation device 300 for advancing and retreating the manipulation shaft 220 is connected to the proximal end of the sheath 210. The operation device 300 has a first handle 310 having a second passage 311 therein, and the second handle 320 is disposed on the first handle 310 so as to be movable forward and backward. The proximal end of the shaft 220 is connected to the connection portion 322 of the first handle 310, and the distal end of the shaft 220 and the clip 100 are releasably connected, so that the shaft 220 can be advanced and retracted relative to the sheath 210 by advancing and retracting the second handle 320 relative to the first handle 310, thereby allowing the clip 100 to be opened, closed, and released.

The end effector of the present invention includes, but is not limited to, clips, but also includes medical devices for bioptomes, snares, etc. that pass through endoscopic passageways, the clips being illustrated in this embodiment only.

Next, the positioning device 400 will be described:

the positioning device 400 includes a first positioning device 410 and a second positioning device 420, where the first positioning device 410 and the second positioning device 420 in the first embodiment are formed separately, and the second positioning device 420 in the present embodiment is a spring 420; the distal end of the first positioning device 410 abuts against the first abutting portion 312 of the distal end side wall of the second channel 311 of the first handle 310, the proximal end of the spring 420 abuts against the second abutting portion 321 of the second handle 320, and the proximal end of the first positioning device 410 abuts against the distal end of the spring 420.

Next, the first positioning device 410 will be described:

referring to fig. 4, the first positioning device 410 of the present embodiment is a buckle, where the first positioning device 410 includes a blocking portion 411 and a control portion 430, and the control portion 430 controls the blocking portion 411 to be located in the second channel 311 or withdraw from the second channel 311; the blocking part 411 includes a first blocking part 411A and a second blocking part 411B, the first blocking part 411A and the second blocking part 411B further include a fixed end 412 and a free end 413, and the free end 413 has elasticity; when the free end 413 elastically compresses or expands, the radial distance between the first blocking portion 411A and the second blocking portion 411B changes.

Next, the second positioning device 420 will be described:

referring to fig. 2-4, the second positioning device 420 is a spring 420, and the spring 420 is arranged outside the mandrel 420 in a penetrating manner; spring 420 will resiliently compress when subjected to a force and spring return will occur when the force is released, with a radial spacing of K2 for spring 420.

Next, the interaction of the blocking portion 411 and the spring 420 will be described:

referring to fig. 2-4, the blocking portion 411 and the spring 420 directly interact, and the blocking portion 411 abuts against the distal end of the spring 420. The free ends 413 of the first blocking portion 411A and the second blocking portion 411B are provided with protruding portions 415, the radial spacing of the protruding portions 415 in the elastically restored state is K4, and the radial spacing of the second channel 311 is K1; when the blocking portion 411 and the spring 420 directly interact, the radial spacing K4 of the protruding portion 415 in the elastically restored state is greater than the radial spacing K1 of the second channel 311, so that the blocking portion 411 is clamped in the second channel 311; when the blocking portion 411 and the spring 420 directly interact, the minimum radial spacing K3 between the first blocking portion 411A and the second blocking portion 411B is less than the radial spacing K2 of the spring 420, so that the blocking portion 411 places the spring 420 in a compressed state, and the spring 420 in the compressed state prevents the second handle 322 from moving to the distal end of the first handle 322, thereby maintaining the clip 100 in a closed state.

Next, the interaction release of the blocking portion 411 and the spring 420 will be described:

the blocking portion 411 is withdrawn from the second passage 311, and the blocking portion 411 and the spring 420 are directly interacted with each other to be withdrawn when the radial interval K4' is smaller than the radial interval K1 of the second passage 311 in the elastically compressed state of the blocking portion 411A and the protruding portion 413 of the second blocking portion 411B.

The following describes a surgical procedure of the end effector:

first, referring to fig. 2, before the operator passes the clip 100 and the delivery device 200 through the endoscope channel, the distal end of the first positioning device 410 abuts against the first abutment 312 of the distal end side wall of the second channel 311 of the first handle 310, the proximal end of the first positioning device 410 abuts against the distal end of the spring 420, the proximal end of the spring 420 abuts against the second abutment 321 of the second handle 320, the spring 420 is compressed, and the first positioning device 410 is configured to keep the second handle 320 disposed at the proximal end of the first handle 310, i.e., to keep the clip 100 in a closed state. Since the first positioning device 410 is configured to hold the clip 100 in a closed state (the first and second arms 110, 120 of the clip 100 are closed), this avoids damaging the endoscope channel by the open first and second arms 110, 120, while also avoiding manual control of the operating device 300 by the operator.

Second, referring to fig. 3, during the penetration of the clip 100 and the delivery device 200 into the endoscope channel, since the endoscope channel is in a curved path, the spring tube constituting the sheath 210 may be partially stretched, but the mandrel 220 itself cannot be stretched within the sheath 210, so that the actual stroke of the mandrel 220 is greater than that when the body of the sheath 210 is not stretched, and thus the mandrel 220 drives the second handle 320 to move from the proximal end to the distal end with respect to the first handle 310, and a compensation stroke (compensation stroke=h2—h1) is obtained by compressing the second positioning device 420 (spring 420) disposed within the second channel. Given that during this period it is not ensured that the proximal to distal movement of the second handle 320 relative to the first handle 310 is compensated, i.e. that the proximal end of the mandrel 220 is not given a stroke compensation, the mandrel 220 will bring the distal mandrel 220 into distal to proximal movement, i.e. that the distal end of the mandrel 220 is subjected to a sufficient distal to proximal pulling force, the releasable connection between the distal end of the mandrel 220 and the clip 100 is broken, i.e. that the clip 100 is released accidentally in advance. Thus, this embodiment provides a compensation stroke by compressing the second positioning device 420 (spring 420) disposed within the second channel, thereby ensuring that the clip is held closed and not prematurely released while the end effector is in the curved endoscopic channel path.

Third, referring to fig. 6, the clip 100 is exposed from the distal end of the endoscope channel, enters the tissue accessory, withdraws the first positioning device 410 from the second channel 311, and the second positioning device 420 (spring 420) is elastically restored, i.e., the resistance force of the first positioning device 410 configured to keep the clip 100 in the closed state is released, and the clip 100 is opened due to the elasticity of the first clip arm 110 and the second clip arm 120 themselves, i.e., in the first opened state, with the first clip arm 110 and the second clip arm 120 being at the first opening distance D1.

Fourth, referring to fig. 7, if the tissue to be clamped is large, the second handle 320 is moved from the proximal end to the distal end with respect to the first handle 310 (H4 < H3), the second positioning means 420 (spring 420) is elastically compressed, the clip 100 is in the second open state, and the first clip arm 110 and the second clip arm 120 are open by a second open distance D2; the second splayed distance D2 is larger than the first splayed distance D1 so that larger tissue can be clamped.

Finally, the first clamp arm 110 and the second clamp arm 120 clamp to the appropriate tissue, the second handle 320 moves from the proximal end to the distal end relative to the first handle 310, and the first clamp arm 110 and the second clamp arm 120 return to the closed state from the open state; continuing the proximal to distal movement of the second handle 320 relative to the first handle 310 to complete the locking and release of the clip 100 (not shown); that is, the releasable connection of the mandrel 220 and the clip 100 is broken, the clip 100 is released from the distal end of the delivery device 200, the clip 100 remains in place in the clamped tissue for hemostatic ligation, and the sheath 210 withdraws the mandrel 220 relative to the endoscopic channel, to the end of which the surgical procedure for performing the instrument is completed.

A second embodiment of the present invention is described with reference to fig. 10 to 12. The same reference numerals are given to the structures having the same functions as those of the first embodiment, and the description thereof will be omitted.

As shown in fig. 10-12, the first positioning device 410 of the second embodiment includes a fixing portion 412, a blocking portion 411, an operating portion 430 and an engaging portion 440, wherein an axial dimension K6 of the fixing portion 412 is smaller than an axial dimension K5 of the blocking portion 411. In comparison with the first embodiment, by adjusting the displacement of the operation portion 430 (the blocking portion 411 is not completely withdrawn from the second passage 311), the transition between the state in which the blocking portion 411 and the spring 420 interact and the state in which the blocking portion 411 and the spring 420 interact are achieved.

As shown in fig. 11, when the blocking portion 411 abuts against the spring 420, the blocking portion 411 interacts with the spring 420, and the blocking portion 411 interacting with the spring 420 has an axial dimension K5; as shown in fig. 12, when the operation portion 430 is pressed in the direction D-D, the blocking portion 411 is displaced only (the blocking portion 411 is not completely withdrawn from the second passage 311), the fixing portion 412 abuts against the spring 420, the axial dimension of the fixing portion 412 which interacts with the spring 420 is K6, and the interaction between the blocking portion 411 and the spring 420 is released.

A third embodiment of the present invention is described with reference to fig. 13 to 14. The same reference numerals are given to the structures having the same functions as those of the first embodiment, and the description thereof will be omitted.

13-14, the clip 100 is in a closed state when the first positioning device 410 of the third embodiment interacts indirectly with the second positioning device 420 (the clip 100 is in a closed state when the first positioning device 410 of the first embodiment interacts directly with the second positioning device 420). The first positioning device 410 of the third embodiment further includes a slider 414, where the slider 414 is disposed at a distal end of the spring 420, and the blocking portion 411 of the first positioning device 410 moves axially to release or compress the spring 420.

As shown in fig. 13, in the third embodiment, the first positioning device 410 and the slider 414 are abutted with each other by inclined surfaces, and the control part 430 is controlled along the D-D direction, so that the first positioning device 410 and the release inclined surface of the slider 414 are mutually displaced, and the axial movement of the slider 414 is driven, and the proximal end of the slider 414 is abutted with the distal end of the spring 420, i.e. the blocking part 411 of the first positioning device 410 performs direct interaction between the first positioning device 410 and the second positioning device 420 through interaction with the slider 414; in this embodiment, and in a first comparative embodiment, the degree of indirect interaction between the first device 410 and the second positioning device 420 can be adjusted (i.e., the axial displacement position of the slider 414 is such that the degree of compression of the spring 420 is controllable).

A fourth embodiment of the present invention will be described with reference to fig. 15 to 16. The same reference numerals are given to the structures having the same functions as those of the first embodiment, and the description thereof will be omitted.

15-16, the first positioning device 410 of the fourth embodiment further includes a button 431 and a gear 432, and rotating the button 431 drives the gear 432 to move axially in the second channel 311; the blocking part 411 is provided with a tooth-shaped combining part 434 which interacts with the gear 432, the blocking part 411 is sleeved on the mandrel 220, and the proximal end of the blocking part 411 is abutted with the spring 420; that is, rotation of the knob 431 effects axial movement of the blocking portion 411 to control the state of the spring 420; in comparison with the first embodiment, the degree of direct interaction between the first device 410 and the second positioning device 420 can be adjusted (i.e., the compression degree of the spring 420 can be controlled).

A fifth embodiment of the present invention will be described with reference to fig. 17 to 18. The same reference numerals are given to the structures having the same functions as those of the first embodiment, and the description thereof will be omitted.

17-18, the first positioning device 410 of the fifth embodiment further includes a control key 436 and a control spring 435, wherein toggling of the control key 436 drives the blocking portion 411 to axially move in the second channel 311, and the control spring 435 is used for locking the axial position of the blocking portion 411; i.e. the degree of elastic compression or elastic recovery of the blocking portion 411 at the movement control spring 420 of the second channel 311, and the above state can be locked.

A sixth embodiment of the present invention will be described with reference to fig. 19 to 21. The same reference numerals are given to the structures having the same functions as those of the first embodiment, and the description thereof will be omitted.

19-21, the first positioning device 410 and the second positioning device 420 of the sixth embodiment are integrally formed; the second positioning device 420 includes a first elastic portion 421 and a second elastic portion 422; the first elastic portion 421 and the second elastic portion 422 are formed by bending a metal or polymer material, and have elastic contraction and recovery properties.

As shown in fig. 20, the first elastic portion 421 and the second elastic portion 422 are disposed in the second channel 311, the first elastic portion 421 and the second elastic portion 422 are sleeved outside the spindle 220, and the first elastic portion 421 is compressed when the first elastic portion 421 interacts with the first coupling portion 312 disposed at the first handle 310; the second elastic part 422 is compressed when the second elastic part 422 interacts with the second coupling part 321 provided at the second handle 320.

Referring to fig. 21, the positioning device 400 is withdrawn from the second channel 311, the first resilient portion 421 and the second resilient portion 422 resiliently return, and the first handle 310 is free to move relative to the second handle 320.

A seventh embodiment of the present invention will be described with reference to fig. 22 to 23. The same reference numerals are given to the structures having the same functions as those of the sixth embodiment, and the description thereof will be omitted.

22-23, the first positioning device 410 and the second positioning device 420 of the seventh embodiment and the sixth embodiment are all integrally formed; the first elastic portion 421 and the second elastic portion 422 are identical in function, and only differ in specific structure; as shown in fig. 23, the first elastic portion 421 and the second elastic portion 422 are disposed in the second channel 311, the first elastic portion 421 and the second elastic portion 422 are sleeved outside the spindle 220, and the first elastic portion 421 is compressed when the first elastic portion 421 interacts with the first coupling portion 312 disposed at the first handle 310; when the second elastic portion 422 interacts with the second coupling portion 321 provided at the second handle 320 (the second coupling portion 321 is that the second handle 320 is provided outside the second channel 311), the second elastic portion 422 is compressed; the positioning device 400 is withdrawn from the second channel 311, the first resilient portion 421 and the second resilient portion 422 resiliently return, and the first handle 310 is free to move relative to the second handle 320.

An eighth embodiment of the present invention is described with reference to fig. 24 to 30.

24-26, the end effector has a flexible sheath 210 for penetration into the endoscope channel and into the body cavity, the sheath 210 being comprised of a spring tube in this embodiment. A shaft 220 for operating the clip 100 is inserted into the first channel 211 of the sheath 210 to be freely retractable; an operation device 300 for advancing and retreating the manipulation shaft 220 is connected to the proximal end of the sheath 210. The operation device 300 has a first handle 310 having a second passage 311 therein, and the second handle 320 is disposed on the first handle 310 so as to be movable forward and backward. The proximal end of the shaft 220 is connected to the connection portion 322 of the first handle 310, and the distal end of the shaft 220 and the clip 100 are releasably connected, so that the shaft 220 can be advanced and retracted relative to the sheath 210 by advancing and retracting the second handle 320 relative to the first handle 310, thereby allowing the clip 100 to be opened, closed, and released.

Next, the positioning device 400 will be described:

the positioning device 400 includes a first positioning device 410 and a second positioning device 420, where the first positioning device 410 and the second positioning device 420 in the eighth embodiment are formed separately, and the second positioning device 420 in the present embodiment is a spring 420; the proximal end of the first positioning device 410 abuts against the second abutting portion 321 of the proximal end side wall of the second channel 311 of the first handle 310, the distal end of the spring 420 abuts against the second abutting portion 321 of the second handle 320, and the distal end of the first positioning device 410 abuts against the proximal end of the spring 420.

Next, the first positioning device 410 will be described:

referring to fig. 29, the first positioning device 410 of the present embodiment includes a blocking portion 411 and a control portion 430, the control portion 430 controlling the blocking portion 411 to be located in the second passage 311 or withdrawn from the second passage 311; the blocking part 411 includes a first blocking part 411A and a second blocking part 411B, the first blocking part 411A and the second blocking part 411B further include a fixed end 412 and a free end 413, and the free end 413 has elasticity; the fixed end 412 includes a slope 412 having an inclination angle; the free end 413 is provided with a protruding part 415, and the free end 413 is also provided with an anti-falling part 416 with an inclined angle; the drop-off prevention portion 416 and the inclined surface 417 have the same inclination angle, but the drop-off prevention portion 416 and the inclined surface 417 are inclined by the same or different specific angles with respect to the axial direction; when the free end 413 elastically compresses or expands, the radial distance between the first blocking portion 411A and the second blocking portion 411B changes.

Next, the second positioning device 420 will be described:

referring to fig. 24-30, the second positioning device 420 is a spring 420, and the spring 420 is arranged outside the mandrel 420 in a penetrating manner; spring 420 will resiliently compress when subjected to a force and spring return will occur when the force is released, with a radial spacing of K2 for spring 420. In this embodiment, unlike the first embodiment, the distal end of the spring 420 and the distal end sidewall of the second channel 311 are fixed in the second channel 311 by interference fit, or the distal end of the spring 420 and the second abutting portion 321 are fixed in the second channel 311 by welding, bonding, or the like; that is, the distal end of the spring 420 is fixed in the second channel 311 of the first handle 310, and there are two effects compared with the connection method of the first embodiment: first, the spring 420 is disposed outside the mandrel 420 and is disposed at the distal end of the second channel 311 relative to the first positioning device 410, so that space is effectively utilized, and the length of the handle 310 is smaller, which is convenient for operation; second, the distal end of the spring 420 is secured within the second channel 311, facilitating interaction of the first positioning device 410 with the second positioning device (spring 420), and elastic compression or recovery of the spring 420 is not affected.

referring to fig. 24-30, the blocking portion 411 and the spring 420 directly interact, and the blocking portion 411 abuts the proximal end of the spring 420. The free ends 413 of the first blocking portion 411A and the second blocking portion 411B are provided with protruding portions 415, the radial spacing of the protruding portions 415 in the elastically restored state is K4, and the radial spacing of the second channel 311 is K1; when the blocking portion 411 and the spring 420 directly interact, the radial spacing K4 of the protruding portion 415 in the elastically restored state is greater than the radial spacing K1 of the second channel 311, so that the blocking portion 411 is clamped in the second channel 311; when the blocking portion 411 and the spring 420 directly interact, the minimum radial spacing K3 between the first blocking portion 411A and the second blocking portion 411B is less than the radial spacing K2 of the spring 420, so that the blocking portion 411 places the spring 420 in a compressed state, and the spring 420 in the compressed state prevents the second handle 322 from moving to the distal end of the first handle 322, thereby maintaining the clip 100 in a closed state.

Unlike the first embodiment, the fixed end 412 of the present embodiment includes a slope 412 with an inclination angle, the free end 413 is further provided with an anti-falling portion 416 with an inclination angle, and the anti-falling portion 416 and the slope 417 have the same inclination angle; compared to the first embodiment, the arrangement of the inclined surface 412 and the anti-drop portion 416 of the present embodiment has two beneficial effects: first, in the process that the first positioning device 410 enters the second channel 311 from the outside of the second channel 311 and is mutually abutted with the second positioning device (the spring 420), as the inclined surface 412 and the anti-falling part 416 have the same inclination angle, the first positioning device 410 can conveniently incline into the second channel 311, so that the second positioning device (the spring 420) is gradually compressed, and the first positioning device 410 can conveniently enter the second channel 311 to interact with the second positioning device (the spring 420); second, if the first positioning device 410 and the second positioning device (spring 420) are kept in contact with each other during storage and transportation, but the control portion 430 of the first positioning device 410 exposed outside the second channel 311 receives an external force, the inclined surface 412 and the anti-falling portion 416 have the same inclination angle, so that the first positioning device 410 can deflect at a certain angle, but still keeps a safe buffer angle in contact with the second positioning device (spring 420).

The following describes a surgical procedure of the end effector:

first, referring to fig. 25, before the operator passes the clip 100 and the delivery device 200 through the endoscope channel, the distal end of the spring 420 abuts against the first abutment 312 of the distal end side wall of the second channel 311 of the first handle 310, the proximal end of the spring 420 abuts against the distal end of the first positioning device 410, the proximal end of the first positioning device 410 abuts against the second abutment 321 of the second handle 320, the spring 420 is compressed, and the first positioning device 410 is configured to keep the second handle 320 disposed at the proximal end of the first handle 310, i.e., to keep the clip 100 in a closed state. Since the first positioning device 410 is configured to hold the clip 100 in a closed state (the first and second arms 110, 120 of the clip 100 are closed), this avoids damaging the endoscope channel by the open first and second arms 110, 120, while also avoiding manual control of the operating device 300 by the operator.

Second, referring to fig. 26, during the penetration of the clip 100 and the delivery device 200 into the endoscope channel, since the endoscope channel is in a curved path, the spring tube constituting the sheath 210 may be partially stretched, but the mandrel 220 itself cannot be stretched within the sheath 210, so that the actual stroke of the mandrel 220 is greater than that when the sheath 210 body is not stretched, and thus the mandrel 220 drives the second handle 320 to move from the proximal end to the distal end with respect to the first handle 310, and a compensation stroke (compensation stroke=h2—h1) is obtained by compressing the second positioning device 420 (spring 420) disposed within the second channel. Given that during this period it is not ensured that the proximal to distal movement of the second handle 320 relative to the first handle 310 is compensated, i.e. that the proximal end of the mandrel 220 is not given a stroke compensation, the mandrel 220 will bring the distal mandrel 220 into distal to proximal movement, i.e. that the distal end of the mandrel 220 is subjected to a sufficient distal to proximal pulling force, the releasable connection between the distal end of the mandrel 220 and the clip 100 is broken, i.e. that the clip 100 is released accidentally in advance. Thus, this embodiment provides a compensation stroke by compressing the second positioning device 420 (spring 420) disposed within the second channel, thereby ensuring that the clip is held closed and not prematurely released while the end effector is in the curved endoscopic channel path.

Third, referring to fig. 27, the clip 100 is exposed from the distal end of the endoscope channel, enters the tissue accessory, withdraws the first positioning device 410 from the second channel 311, and the second positioning device 420 (spring 420) is elastically restored, i.e., the resistance force of the first positioning device 410 configured to keep the clip 100 in the closed state is released, and the clip 100 is opened due to the elasticity of the first clip arm 110 and the second clip arm 120 themselves, i.e., in the first opened state, with the first clip arm 110 and the second clip arm 120 being at the first opening distance D1.

Fourth, referring to fig. 28, if the tissue to be clamped is large, the second handle 320 is moved from the proximal end to the distal end with respect to the first handle 310 (H4 < H3), the second positioning means 420 (spring 420) is elastically compressed, the clip 100 is in the second open state, and the first clip arm 110 and the second clip arm 120 are open by a second open distance D2; the second splayed distance D2 is larger than the first splayed distance D1 so that larger tissue can be clamped.

The technical features of the above embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features in the above embodiments are not described, however, all of the combinations of the technical features should be considered as being within the scope of the description. The term "distal" as used herein refers to the end of the end effector that is distal to the operator during operation of the instrument, and the term "proximal" refers to the end of the end effector that is proximal to the operator during operation of the instrument.

The foregoing examples merely represent embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. An end effector comprising: an end effector; the conveying device comprises a sheath pipe and a mandrel, wherein the sheath pipe is provided with a first channel, the mandrel is arranged in the first channel, and the mandrel is connected with the end execution device; the operating device comprises a first handle and a second handle, the mandrel is connected with the second handle, the first handle is provided with a second channel, and the second handle can axially move in the second channel relative to the first handle; a positioning device disposed within the second channel and acting on the operating device, the positioning device configured to limit a range of motion of the second handle relative to the first handle; the positioning device comprises a first positioning device and a second positioning device, and the second positioning device has elasticity; the first positioning device moves in the second channel or withdraws from the second channel, so that the second positioning device generates elastic compression degree change or elastic recovery.

2. The end effector as set forth in claim 1 wherein: the end effector includes a clip including a first clip arm and a second clip arm; the mandrel is releasably connected with the end effector; the first positioning device is configured to hold the clip in a closed state, the second positioning device is compressed when the first positioning device directly or indirectly interacts with the second positioning device, and the clip is held in a closed state; the closed states include a first closed state and a second closed state; when the first closed state is converted to the second closed state, the second handle compresses the second positioning device to axially move.

3. The end effector as set forth in claim 2 wherein: when the first positioning device and the second positioning device directly or indirectly interact, the second positioning device is compressed, and the clamp is kept in a closed state; the interaction between the first positioning device and the second positioning device is released or weakened directly or indirectly, and the axial movement of the second handle drives the clip to be in an open state.

4. The end effector as set forth in claim 3 wherein: the open state includes a first open state and a second open state; when the first open state is converted into the second open state, the second handle compresses the second positioning device to axially move; the clamp is in the first open state, and the open space between the first clamp arm and the second clamp arm is a first open space; the clamp is in the second open state, and the open space between the first clamp arm and the second clamp arm is a second open space; the second opening pitch is greater than the first opening pitch.

5. The end effector as set forth in any one of claims 1-4 wherein: the first positioning device and the second positioning device are formed in a split mode; the first positioning device is a buckle, the second positioning device is a spring, the distal end or the proximal end of the spring is fixed in the second channel, and the spring is sleeved outside the mandrel.

6. The end effector as set forth in claim 5 wherein: the first positioning device comprises a blocking part, the blocking part is directly interacted with the second positioning device, the blocking part is arranged at the far end or the near end of the second positioning device, the blocking part is withdrawn from the first channel or moves from the near end to the far end in the first channel, and the second positioning device is elastically restored.

7. The end effector as set forth in claim 6 wherein: the blocking part comprises a first blocking part and a second blocking part, and the minimum radial distance K3 between the first blocking part and the second blocking part is smaller than the radial distance K2 of the second positioning device; the blocking portion includes a fixed end and a free end, the free end having elasticity.

8. The end effector as set forth in claim 7 wherein: the free end is provided with a protruding part, and the radial distance K4 of the protruding part in the elastic recovery state is larger than the radial distance K1 of the second channel.

9. The end effector as set forth in claim 7 wherein: the fixed end comprises an inclined surface, the free end is provided with an anti-falling part, and the anti-falling part and the inclined surface have the same inclination angle.

10. The end effector as set forth in claim 6 wherein: the first positioning device further comprises a fixed part, the blocking part interacts with the second positioning device, or the fixed part interacts with the second positioning device; the blocking portion axial dimension K5 is greater than the fixing portion axial dimension K6.

11. The end effector as set forth in claim 6 wherein: the blocking part of the first positioning device indirectly interacts with the second positioning device, the first positioning device further comprises a sliding block, the sliding block is arranged at the far end of the second positioning device, and the axial movement of the blocking part of the first positioning device drives the axial movement of the sliding block to release or compress the second positioning device.

12. The end effector as set forth in claim 6 wherein: the rotary knob is rotated to drive the gear to axially move, the blocking portion is provided with a plurality of tooth-shaped combining portions matched with the gear, the core shaft is sleeved with the blocking portion, and the blocking portion is driven by rotation of the knob to axially move in the first channel.

13. The end effector as set forth in claim 6 wherein: the control part also comprises a control spring and a control key, the blocking part is driven to axially move in the second channel by the toggle of the control key, and the control spring is used for locking the axial position of the blocking part.

14. The end effector as claimed in any one of claims 1-3, wherein: the first positioning device and the second positioning device are integrally formed; the second positioning device comprises a first elastic part and a second elastic part, the first elastic part and the second elastic part are arranged in the second channel, and when the first elastic part interacts with a first combining part arranged at the first handle, the first elastic part is compressed; the second elastic portion is compressed when the second elastic portion interacts with a second coupling portion provided at the second handle.

15. The end effector as set forth in claim 14 wherein: the first elastic part or the second elastic part is sleeved outside the mandrel; the first elastic part or the second elastic part is formed by bending metal or polymer materials.