WO2023125863A1 - Clip applicator - Google Patents

Abstract

A clip applicator, comprising a shaft assembly (2), an end effector (6), and a clip cartridge (7). The end effector (6) is pivotally connected to the shaft assembly (2) so as to enable the end effector (6) to rotate around a first pivot axis (21) relative to the shaft assembly (2). The clip cartridge (7) is arranged between the first pivot axis (21) and the end effector (6), so that after the end effector (6) rotates relative to the shaft assembly (2), clips (9) in the clip cartridge (7) can still smoothly enter the end effector (6). The independent clip cartridge (7) is used for accommodating the clips (9), and when the clips (9) in the clip cartridge (7) are exhausted, the clip applicator can continue to be used only by means of replacement with a new clip cartridge (7), thereby saving costs.

Description

Clip Applier

This application claims the priority of the patent application submitted to the State Intellectual Property Office of China on December 31, 2021, with the application number 202111670788.3, and the application name is "Clamp Applier", and all the contents of the priority document are incorporated into this document Applying.

technical field

The present application relates to the technical field of medical instruments, in particular to a clip applier.

Background technique

Clip applier is a medical device used to fix clips on tissues or blood vessels to ligate and stop bleeding. The clip applier includes a shaft assembly and an end effector arranged on the shaft assembly.

A clip applier in the prior art stores a plurality of clips in the shaft assembly. When clipping, the clip feeding assembly sequentially delivers the clips to the end effector, so that the clips can be sent to the end effector through the end effector Applied to the clamped object (tissue or blood vessel), the material and performance of the clip make the clip can only move in a straight line. Therefore, when the end effector rotates a certain angle relative to the shaft assembly, the clip cannot move in a curved line. Inability to move from the shaft assembly to the end effector for proper clamping.

Based on the above, it is necessary to improve the clip applier in the prior art.

application content

In view of the deficiencies in the prior art, the present application aims to provide a clip applier, which solves the technical problem that the clips of the clip magazine cannot be normally clipped after the end effector rotates relative to the shaft assembly.

The application is realized through the following technical solutions: a clip applier, comprising:

shaft assembly;

an end effector pivotally connected to the shaft assembly such that the end effector can rotate relative to the shaft assembly about a first pivot axis;

A clip cartridge is disposed between the first pivot axis and the end effector.

In one embodiment, the clip applier further includes a rotating member, the end effector and the shaft assembly are pivotally connected through the rotating member, one end of the rotating member is pivotally connected to the shaft assembly, and the other end of the rotating member is connected to the end actuator. device connection.

In one embodiment, the clip magazine is detachably arranged on the rotating member.

In one embodiment, the clip cartridge includes at least two clips, the clip cartridge has a clip cavity to accommodate the clips, and the clips form a stack within the clip cavity.

In one embodiment, the clip magazine includes at least two clips, the clip magazine has a clip cavity to accommodate the clips, and the clip applier further includes a clip feed assembly that moves to move the clips in response to a force applied to the clip feed assembly. The clip in the lumen pushes into the end effector.

In one embodiment, the clip applier further includes a cannula and a closure tube, the closure tube cooperates with the end effector, and in response to a force applied to the cannula, the cannula moves to drive the closure tube to move, thereby causing the end effector to move. switch open or close.

In one embodiment, the sleeve is pivotally connected to the closure tube such that the closure tube can rotate relative to the sleeve about a second pivot axis parallel to the first pivot axis.

In one embodiment, the sleeve and the closure tube are pivotally connected by a pivot member, the proximal end of the pivot member is pivotally connected to the sleeve tube, and the distal end of the pivot member is pivotally connected to the closure tube.

In one embodiment, the clip applier further includes a drive mechanism and an actuator, responsive to a force applied to the actuator, the actuator moves to drive the drive mechanism so that the drive mechanism drives the end effector relative to the shaft assembly rotate about a first pivot axis.

In one embodiment, the driving mechanism includes a steering rod assembly and a transmission assembly, the steering rod assembly includes a first link and a second link, and the first link is pivotally connected to the second link; the actuator acts on the transmission assembly , the transmission assembly is connected with the second link, and the first link can drive the end effector to rotate relative to the shaft assembly around the first pivot axis.

In one embodiment, the transmission assembly includes a first transmission member and a second transmission member, the first transmission member is connected to the second transmission member, the second transmission member is connected to the second connecting rod, and the actuating member can drive the first transmission member The movement makes the second transmission member move to the far end or the proximal end, thereby driving the second connecting rod to move to the distal end or the proximal end.

In one embodiment, the clamping assembly includes a flexible clamping rod that moves to push the clips within the clamping cavity into the end effector in response to a force applied to the clamping rod.

Compared with the prior art, the beneficial effects of the present application are:

In the present application, the clip bin is arranged between the first pivot axis and the end effector, so that the clip bin can rotate synchronously with the end effector, and the relative angle between the clip bin and the end effector does not change, so that when the end After the end effector rotates relative to the shaft assembly, the clip of the clip magazine can still enter the end effector smoothly.

Description of drawings

Fig. 1 is a schematic structural view of the first angle of the clip applier provided by the specific embodiment of the present application;

Fig. 2 is a schematic structural view of the second angle of the clip applier provided by the specific embodiment of the present application, wherein Fig. 2 is the bottom view angle of Fig. 1;

Fig. 3 is a schematic structural view of a clip provided in a specific embodiment of the present application;

Fig. 4 is a partial area view of the third angle of the clip applier provided by the specific embodiment of the present application, wherein the closure tube and the sleeve are not shown;

Fig. 5 is a partial area view of the fourth angle of the clip applier provided by the specific embodiment of the present application, wherein the closure tube and the sleeve are not shown;

Fig. 6 is a schematic structural view of the clip bin provided in the specific embodiment of the present application, wherein one side wall of the clip bin is not shown to show the internal structure of the clip bin;

Fig. 7 is a schematic structural view of the clip bin provided in a specific embodiment of the present application, wherein neither a side wall nor a clip of the clip bin is shown, so as to demonstrate the internal structure of the clip bin;

Fig. 8 is a cross-sectional view of a partial area at a first angle of a clip applier provided in a specific embodiment of the present application, wherein the closing tube and the sleeve are not shown;

Fig. 9 is a cross-sectional view of a partial region of the clip applier provided at a second angle according to a specific embodiment of the present application, wherein the clip feeding rod is not in contact with the clip;

Fig. 10 is a cross-sectional view of a partial region of the clip applier provided at a second angle according to a specific embodiment of the present application, wherein the clip feeding rod abuts against the clip and pushes the clip into the end effector;

Fig. 11 is a partial area view of the fifth angle of the clip applier provided in the specific embodiment of the present application, wherein Fig. 11 is the top view angle of Fig. 1;

12 is a partial area view of a fifth angle of the clip applier provided by a specific embodiment of the present application, wherein the third longitudinal axis of the end effector is at an angle to the first longitudinal axis of the shaft assembly;

Fig. 13 is a partial area view of the first angle of the clip applier provided by the specific embodiment of the present application, wherein the operating components are not shown;

Fig. 14 is a partial area view of the first angle of the clip applier provided by the specific embodiment of the present application, wherein the sleeve, closing tube, rotating member and operating assembly are not shown;

Fig. 15 is a partial area view of the sixth angle of the clip applier provided in the specific embodiment of the present application, wherein the main shaft is not shown;

Fig. 16 is a partial area view of the seventh angle of the clip applier provided by the specific embodiment of the present application;

Fig. 17 is a partial area view of the eighth angle of the clip applier provided by the specific embodiment of the present application;

Fig. 18 is a partial area view of the ninth angle of the clip applier provided by the specific embodiment of the present application, mainly to show the structure of the second transmission member;

Fig. 19 is a partial area view of the tenth angle of the clip applier provided by the specific embodiment of the present application;

Fig. 20 is a schematic diagram of the cooperation mode between the actuating part and the locking part of the clip applier provided by the specific embodiment of the present application, wherein the actuating part is in a locked state;

Fig. 21 is a schematic diagram of the cooperation mode between the actuating part and the locking part of the clip applier provided in the specific embodiment of the present application, wherein the actuating part is in an unlocked state;

Fig. 22 is a partial area view of the first angle of the clip applier provided by the specific embodiment of the present application, mainly to show the cooperation between the pivoting member and the main shaft;

Fig. 23 is a schematic structural view of the connecting sleeve of the clip applier provided in the specific embodiment of the present application;

Fig. 24 is a schematic structural diagram of a rotating member provided in a specific embodiment of the present application;

Fig. 25 is a cross-sectional view of the clip bin provided by a specific embodiment of the present application, wherein neither the clip nor the biasing assembly is shown;

Fig. 26 is a partial area view of the first angle of the clip applier provided in the specific embodiment of the present application, wherein the clip bin is not shown;

Fig. 27 is an area view of the operating component part of the first angle of the clip applier provided by the specific embodiment of the present application;

Fig. 28 is a partial area view of the eleventh angle of the clip applier provided by the specific embodiment of the present application;

Fig. 29 is a partial area view of the twelfth angle of the clip applier provided in the specific embodiment of the present application;

Reference signs of the above drawings:

1. Operation component; 101. Head shell; 102. Handle shell; 103. Wrench; 2. Shaft assembly; 201. Main shaft; 2011. First pivot shaft; 2012. Second plane; 202. Sleeve; 3, closing tube; 301, opening; 4, pivoting member; 401, second pivoting shaft; 402, third pivoting shaft; 403, first plane; 5, clamping rod; 6, end effector; 601, The first clamp arm; 602, the second clamp arm; 7, the clip bin; 701, the first cavity; 702, the second cavity; 703, the inlet; 704, the outlet; 705, the first male buckle; 706, the first Two male buckles; 8, offset components; 801, first torsion arm; 802, second torsion arm; 803, push plate; 9, clip; 901, clip; 902, clip; 903, clip; 904, first Clamp arm; 905, first fastening end; 906, ear; 907, second clamping arm; 908, second fastening end; 909, engaging part; 910, connecting part; 1101, pivot joint; 1102, channel; 1103, fifth pivot shaft; 1104, first female buckle; 1105, second female buckle; 12, actuator; 13, the first connecting rod; 14, the second connecting rod; 1401, the fourth pivot shaft; 15, the first transmission member; 1501, the first tooth part; 1502, the rod body; 1503, the shaft body; Transmission part; 1601, second tooth part; 17, locking part; 1701, concave part; 18, connecting sleeve; 1801, first stop part; 1802, second stop part; 19, Luer connector; 20, rotating part ; 21, the first pivot axis; 22, the first longitudinal axis; 23, the second longitudinal axis; 24, the third longitudinal axis; 25, the second pivot axis; 26, the base; 27, the first Socket portion; 28, second socket portion; 29, first waist-shaped hole; 30, second waist-shaped hole; 31, cylinder; 32, stopper; 33, clamping block; 34, guide column; 35, 36, the second guide surface; 37, the second elastic element; 38, the first push column; 39, the second push column; 40, the first driver; 41, the ring rib; 42, the seat body ; 4201, the first connecting part; 4202, the second connecting part; 43, the first rod body; 44, the second rod body; Circle; 48, the third elastic element; 49, the fourth elastic element; 50, the fifth elastic element.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, not to limit the present application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

It should be understood that the terms "proximal" and "distal" as used herein are relative to the clinician manipulating the handle assembly of the clip applier. The term "proximal" refers to the portion near the clinician and the term "distal" refers to the portion remote from the clinician. That is, the handle assembly is the proximal end, and the end effector is the distal end. For example, the proximal end of a component means the end relatively close to the handle assembly, and the distal end means the end relatively close to the end effector. However, the clip applier can be used in many orientations and positions, so these terms expressing relative positional relationships are not limiting and absolute.

In this application, unless otherwise specified and limited, terms such as "connected" and "connected" should be interpreted in a broad sense, for example, they can be fixedly connected, detachably connected, or movably connected , or integrated; it can be directly connected or indirectly connected through an intermediary, it can be the internal communication of two elements or the interaction relationship between two elements such as butting. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations. It should be noted that when there are qualifiers before "connected" and "connected", it has the meaning defined by the corresponding qualifiers, and only the situations that obviously need to be excluded are excluded, and other possible situations are not excluded, such as "detachably connected" Refers to the detachable connection, does not include integrated, but the movable connection is not excluded.

Referring to FIGS. 1-2 , the present application provides a clip applier, which includes an operating assembly 1 , a shaft assembly 2 extending from the operating assembly 1 , a clip feeding assembly, an end effector 6 and a clamping chamber 7 .

The operating assembly 1 includes a housing and a wrench 103 movably installed on the housing. The housing is divided into a head housing 101 and a handle housing 102 extending from the lower side of the head housing 101 according to the positional relationship. The housing 102 and the wrench 103 form a handle assembly, and the user can grasp the handle housing 102 with one hand, and pull the wrench 103 with fingers, so that the wrench 103 moves relative to the housing. Those skilled in the art will readily appreciate that although a wrench 103 is shown and described, the clip appliers disclosed herein may not need to include a wrench 103, for example, the clip appliers may be electric and may include an actuating motor to An actuation button to control the firing of the device.

The shaft assembly 2 includes a spindle 201 . The end effector 6 is disposed on the distal end of the shaft assembly 2 , and the end effector 6 is pivotally connected with the shaft assembly 2 , so that the end effector 6 can rotate relative to the shaft assembly 2 around the first pivot axis 21 . When using the clip applier, the angle and position of the end effector 6 can be adjusted by rotating it, so as to meet the clamping needs and facilitate use.

The clip bin 7 includes a clip 9 , and the clip bin 7 has a clip chamber for accommodating the clip 9 .

The clip delivery assembly is arranged on the shaft assembly 2, and in response to the force applied to the clip delivery assembly, the clip delivery assembly moves to push the clip 9 in the clip cavity into the end effector 6, and the end effector 6 can push the clip 9 Applied to the clamped object, such as tissue or blood vessel.

Referring to FIG. 3 , the clip 9 includes a first clip arm 904 , a second clip arm 907 , and a connecting portion 910 between the first clip arm 904 and the second clip arm 907 . The connection portion 910 is flexible such that the first clamp arm 904 and the second clamp arm 907 can pivot relative to each other.

One end of the first clamping arm 904 is connected to the connecting portion 910 , and the other end of the first clamping arm 904 is a first fastening end 905 . The first fastening end 905 is provided with two ear portions 906 , one ear portion 906 is disposed on one side of the first clamping arm 904 , and the other ear portion 906 is disposed on the opposite side of the first clamping arm 904 . One end of the second clamping arm 907 is connected to the connecting portion 910 , and the other end of the second clamping arm 907 is a second fastening end 908 . The second engaging end 908 is provided with an engaging portion 909 . Specifically, the engaging portion 909 is a curved C-shaped hook portion.

Both the first fastening end 905 and the second fastening end 908 are flexible and can be deformed, and the two ear parts 906 are also flexible. The engaging portion 909 can be engaged between the two ear portions 906 of the first clip arm 904 . Specifically, driven by an external force, the first clamping arm 904 and the second clamping arm 907 approach each other, and finally the engaging portion 909 is engaged between the two ear portions 906, so that the first clamping arm 904 and the second clamping arm 904 The clamping arm 907 is clamped sufficiently, so that the blood vessel or tissue placed between the first clamping arm 904 and the second clamping arm 907 can be clamped effectively and stop bleeding.

The first fastening end 905 is a region, except the region of the first fastening end 905 , other regions of the first clamping arm 904 are rigid, that is to say, the first clamping arm 904 is generally rigid. The second fastening end 908 is also an area, except the area of the second fastening end 908 , other areas of the second clamping arm 907 are rigid, that is to say, the second clamping arm 907 is also generally rigid. Thus, the area other than the first fastening end 905 of the first clamp arm 904 will not be deformed, and the area other than the second fastening end 908 of the second clamp arm 907 will not be deformed, so as to maintain the normal state of the clip 9. function and meet the needs of use. After the end effector 6 rotates a preset angle relative to the shaft assembly 2, if the clip bin 7 does not rotate, the clip bin 7 forms a preset angle relative to the end effector 6, and the clip 9 moves from the clip cavity to the end effector In the process of moving 6 , it is necessary to make a curved movement to rotate a corresponding angle to be able to move into the end effector 6 .

During the movement of the clip 9 from the clip chamber to the end effector 6, due to the limitation of the moving space of the clip 9 (see the description below for details), if the clip 9 performs a curved motion, the clip 9 will deform as a whole to adapt to the curved motion , while the first clamping arm 904 and the second clamping arm 907 of the clip 9 are generally rigid and cannot be deformed as a whole. The clip 9 cannot move in a curved line, but can only move in a substantially straight line. In this embodiment, the clip bin 7 is arranged between the first pivot axis 21 and the end effector 6. When the end effector 6 rotates, the clip bin 7 can rotate synchronously with the end effector 6. In other words, when the end effector 6 rotates, After the end effector 6 rotates a predetermined angle around the first pivot axis 21 relative to the shaft assembly 2, the clip bin 7 also pivots around the first pivot axis 21 by a preset angle, and the gap between the clip bin 7 and the end effector 6 The relative angle between them has not changed. Therefore, when the end effector 6 is rotated relative to the shaft assembly 2 , the clip 9 in the clip chamber can move substantially linearly to enter the end effector 6 .

In this embodiment, an independent clip chamber 7 is provided for accommodating the clip 9 . During the use of the clip applier, the clips 9 of the clip chamber 7 are continuously consumed. When the clips 9 of the clip chamber 7 are exhausted, only a new clip 7 needs to be replaced, and the clip applier can continue to be used, thereby saving costs . Specifically, in this embodiment, the clip bin 7 is detachably arranged between the first pivot axis 21 and the end effector 6 .

Referring to FIGS. 4-5 and 24 , the clip applier in this embodiment includes a rotating member 11 . The end effector 6 is pivotally connected to the shaft assembly 2 through a rotating member 11 . The proximal end of the rotating member 11 is pivotally connected with the shaft assembly 2, so that the rotating member 11 can rotate around the first pivot axis 21 relative to the shaft assembly 2. The distal end of the rotating member 11 is connected with the end effector 6 . Specifically, the end effector 6 includes a first pliers arm 601 and a second pliers arm 602 that are pivotally connected to the rotating member 11, so that the first pliers arm 601 and the second pliers arm 602 can approach each other and when the rotating member 11 rotates relative to the shaft assembly 2 around the first pivot axis 21, the end effector 6 can rotate with the rotating member 11, that is, the end effector 6 can be driven by the rotating member 11 to relatively The shaft assembly 2 rotates about a first pivot axis 21 .

The rotating member 11 is pivotally connected to the shaft assembly 2 through a first pivot shaft 2011 . The first pivot shaft 2011 is disposed on the shaft assembly 2 , and the rotating member 11 has a first pivot hole adapted to the first pivot shaft 2011 . The first pivot shaft 2011 passes through the first pivot hole, and the rotating member 11 can rotate around the first pivot shaft 2011 . The central axis of the first pivot shaft 2011 is the first pivot axis 21 . The first pivot shaft 2011 is disposed on the main shaft 201 of the shaft assembly 2 . The rotating member 11 is pivotally connected to the main shaft 201 through a first pivot shaft 2011 .

In this embodiment, the clip bin 7 is detachably disposed on the rotating member 11 . Referring to FIG. 24 , the distal end of the rotating member 11 is provided with a first female buckle 1104 , and the proximal end of the rotating member 11 is provided with a second female buckle 1105 . Referring to FIG. 25 , a first male buckle 705 adapted to the first female buckle 1104 is provided at the distal end of the clip magazine 7 . A second male buckle 706 adapted to the second female buckle 1105 is provided at the proximal end of the clip 7 . The first male buckle 705 is detachably engaged with the first female buckle 1104 . The second male buckle 706 is detachably engaged with the second female buckle 1105 , so that the clip bin 7 is detachably connected to the rotating member 11 . Therefore, when the clip 9 of the clip 7 is used up, it is only necessary to disassemble the clip 7 and the rotating member 11, remove the clip 7, and replace the new clip 7 with the clip 9, and then continue to use the clip applicator. In this way, the reuse of the clip applier can be realized, and the cost can be saved.

The clip magazine 7 comprises at least two clips 9 . The clip magazine 7 has a clip chamber for accommodating clips 9 which form a stack within the clip chamber. The number of clips 9 in the clip chamber 7 is adjustable, and the number of clips 9 will not affect the normal use of the clip applier, and the number of clips 9 can be adjusted according to the usage requirements during actual use. During the operation, a continuous clip application process generally applies three clips 9 to the clipped object, so the clip magazine 7 in this embodiment includes three clips 9 .

Referring to FIGS. 6-7 , the clip cavity of the clip cartridge 7 includes a first cavity 701 and a second cavity 702 . Taking the placement direction and angle of the clip applier in FIG. 2 as a reference, the first cavity 701 is disposed above the second cavity 702 , and the first cavity 701 communicates with the second cavity 702 . The proximal end of the second cavity 702 intersects the proximal end surface of the clip 7 to form the inlet 703 of the second cavity 702, and the distal end of the second cavity 702 intersects the distal end surface of the clip 7 to form a second cavity 702. The outlet 704 of the second cavity 702 . The three clips 9 of the clip bin 7 are clip 901 , clip 902 and clip 903 from top to bottom. The clip 901 and the clip 902 are disposed in the first cavity 701 , and the clip 903 is disposed in the second cavity 702 . The cartridge 7 also includes a biasing assembly 8 capable of applying a generally downward force to the upper end surface of the clip 901.

The clip applier in this embodiment includes a clip feeding assembly, and in response to a force applied to the clip feeding assembly, the clip feeding assembly moves to push the clip 9 in the clip cavity into the end effector 6 . Referring to FIG. 5 again, the clamping assembly includes a clamping rod 5 . The clamping rod 5 is made of elastic material, including but not limited to metal, so that the clamping rod 5 is flexible and can be bent and deformed to adapt to the rotation of the clamping chamber 7 .

The clamping rod 5 can move to the distal end or the proximal end (see the description below for details). The movement of the clamp rod 5 to the distal end can push the clip 9 of the clip magazine 7 to the end effector 6, and the movement of the clamp rod 5 to the proximal end makes the clamp rod 5 move after completing the clip feeding to realize reset. The main shaft 201 is provided with a first groove body, and the clamping rod 5 is arranged in the first groove body and moves in the first groove body. In the initial state (that is, the clamp feed rod does not push the clip 9 to the end effector), the distal end of the clamp feed rod 5 extends into the second cavity 702 from the entrance 703 of the second cavity 702 . Thus, when the clip bin 7 rotates relative to the shaft assembly 2 , under the action of the clip bin 7 , the clip feeding rod 5 is also bent accordingly, so as to adapt to the rotation of the clip bin 7 .

Referring to FIGS. 5 and 8 , the distal end of the rotating member 11 has a pivot portion 1101 . The first pliers arm 601 and the second pliers arm 602 of the end effector 6 are pivotably connected to the pivot joint 1101 . The pivotal part 1101 has a channel 1102, the distal end of the channel 1102 leads between the first pliers arm 601 and the second pliers arm 602, and the proximal end of the channel 1102 communicates with the outlet 704 of the second cavity 702 of the clip bin 7, thereby The clip 9 in the second cavity 702 can enter between the first pliers arm 601 and the second pliers arm 602 through the channel 1102 , and then be supported between the first pliers arm 601 and the second pliers arm 602 . Manipulate the wrench 103 of the operation assembly 1 so that the first clamp arm 601 and the second clamp arm 602 are closed, so that the first clamp arm 904 and the second clamp arm 904 of the clip 9 between the first clamp arm 601 and the second clamp arm 602 can be closed. The clamping arm 907 is fully clamped, so that the blood vessel or tissue placed between the first clamping arm 904 and the second clamping arm 907 can be effectively clamped and the bleeding stopped. During the movement of the clip 9 from the second cavity 702 to the end effector 6, the channel 1102 restricts the movement space of the clip 9, so that the clip 9 can move to the first pliers arm 601 and the second pliers arm along a predetermined track. 602, and will not deviate during the movement and cannot move between the first pliers arm 601 and the second pliers arm 602.

Referring to Figures 2, 6, 9-10, when the clamping rod 5 moves to the far end (ie forward) to push the clip 903 to the end effector 6, and after the clamping rod 5 moves to reset, the bias Under the action of the component 8, both the clip 901 and the clip 902 move downward, so that the clip 902 enters into the second cavity 702, so that the clip application can continue. It should be noted that the clip 903 is pushed by the clamp rod 5 to the back of the end effector 6 and before the clamp rod 5 moves to reset, the clamp rod 5 abuts against the bottom of the clip 902, so that both the clip 901 and the clip 902 It will not move downward, but when the clip feeding rod 5 moves to the proximal end (ie backward) to reset, the clip 901 and the clip 902 can move downward under the action of the biasing assembly 8 . The downward movement of the clip 901 and the clip 902 under the action of the bias assembly 8 is based on the placement angle and direction of the clip applier in FIG. 2 as a reference. When the placement direction and angle of the clip applier are changed, the clip 901 and the clip 902 can still move into the second cavity 702 under the action of the biasing assembly 8 .

Referring to Figure 6, the biasing assembly 8 includes a resilient member. The elastic piece abuts against the upper end of the clip 901 , and the elastic piece is in a state of being deformed and storing energy, so that the elastic piece can exert a substantially downward force on the clip 901 . Elastic member selects torsion spring for use in the present embodiment. The torsion spring has a first torsion arm 801 and a second torsion arm 802 . If there is no external force, the two torsion arms of the torsion spring will be in a state of natural extension. In the naturally stretched state, both the first torsion arm 801 and the second torsion arm 802 are arranged roughly along the up-down direction in FIG. 6 . In this embodiment, the first torsion arm 801 of the torsion spring is clamped on the clip 7, and the second torsion arm 802 of the torsion spring rotates a certain angle relative to its natural stretch state and acts on the clip 901, so that the clip 901 can be applied force.

In this embodiment, the bias assembly 8 further includes a push plate 803 . The second torsion arm 802 of the torsion spring is connected with the push plate 803 . The torsion spring exerts force on the clip 901 through the push plate 803 , thereby increasing the force receiving area, so that the torsion spring can act on the clip 901 more stably.

Referring to FIGS. 2 and 11 , the clip applier in this embodiment further includes a sleeve 202 and a closing tube 3 . The sleeve 202 is sheathed on the main shaft 201 , and the sleeve 202 also constitutes a part of the shaft assembly 2 . The closing tube 3 is disposed at the distal end of the sleeve 202 , and the closing tube 3 is sheathed on the rotating member 11 and the clipping chamber 7 . Referring to Figures 1 and 26, the closed tube 3 has an opening 301, and the clip bin 7 can be inserted into the closed tube 3 from the opening 301, and then the first male buckle 705 of the clip bin 7 and the first female clip of the rotating member 11 are connected. The buckle 1104 is engaged with each other, and the second male buckle 706 of the folder 7 is buckled with the second female buckle 1105 of the rotating member 11 , so that the folder 7 is detachably mounted on the rotating member 11 . When the clip bin 7 is disassembled, the clip bin 7 is disassembled from the opening 301 and taken out from the closed tube 3 through the opening 301 .

The sleeve 202 is able to act on the closure tube 3 , which cooperates with the end effector 6 . In response to the force applied to the cannula 202, the cannula 202 moves to drive the closure tube 3, which in turn causes the end effector 6 to open or close. The cannula 202 can move proximally or distally (see the description below for details).

The cannula 202 moves proximally or distally, so that the closing tube 3 can move proximally or distally, and then the end effector 6 is opened or closed. There is a first elastic element between the first pliers arm 601 and the second pliers arm 602 . When the closing tube 3 moves to the distal end, the end effector 6 is accommodated in the closing tube 3 from the distal end of the closing tube 3 , at this moment, the first elastic element is compressed to store energy, and the end effector 6 is closed. When the closing tube 3 moves proximally, the end effector 6 protrudes from the distal end of the closing tube 3 , and the first elastic element releases energy to make the end effector 6 open. In this embodiment, the first elastic element is a spring.

Referring to FIG. 13 , the sleeve 202 is pivotally connected to the closure tube 3 . The closure tube 3 is rotatable relative to the sleeve 202 about a second pivot axis 25 parallel to the first pivot axis 21 .

Referring to FIGS. 1 , 11-13 , the sleeve 202 is pivotally connected to the closing tube 3 through the pivoting member 4 . In this embodiment, two pivoting members 4 are provided in total. The proximal end of each pivoting member 4 is pivotally connected to the sleeve 202 , and the distal end of each pivoting member 4 is pivotally connected to the closing tube 3 .

Specifically, referring to FIG. 22 , the proximal end of each pivoting member 4 is provided with a second pivoting shaft 401 , and the distal end of each pivoting member 4 is provided with a third pivoting shaft 402 . The directions of the first pivot shaft 2011 , the second pivot shaft 401 and the third pivot shaft 402 are substantially the same, and are substantially perpendicular to the first longitudinal axis 22 of the shaft assembly 2 . The distal end of the sleeve 202 is provided with two second pivot holes. The second pivot hole is adapted to the second pivot shaft 401 . The second pivot shaft 401 of one pivot member 4 passes through one second pivot hole, and the second pivot shaft 401 of the other pivot member 4 passes through the other second pivot hole. The proximal end of the closure tube 3 is provided with two third pivot holes. The third pivot hole is adapted to the third pivot shaft 402 . The third pivot shaft 402 of one pivot member 4 passes through one third pivot hole, and the third pivot shaft 402 of the other pivot member 4 passes through another third pivot hole.

The central axis of the second pivot shaft 401 of one pivot member 4 coincides with the central axis of the second pivot shaft 401 of the other pivot member 4 . The central axis of the third pivot shaft 402 of one pivot member 4 coincides with the central axis of the third pivot shaft 402 of the other pivot member 4 .

Since the closing tube 3 is sleeved on the rotating part 11, and the closing tube 3 is pivotally connected to the sleeve 202, thus, when the rotating part 11 rotates, in response to the force applied by the rotating part 11 to the closing tube 3, the closing tube 3 is relatively The bushing 202 rotates about the second pivot axis 25 . The second pivot axis 25 is parallel to said first pivot axis 21 .

Referring to the placement angle and direction of the clip applier in FIG. 1 , when the end effector 6 is fully opened, the distance between the distal ends of the first pliers arm 601 and the second pliers arm 602 in the vertical direction is the largest. When the end effector 6 is in a fully closed state, the vertical distance between the distal ends of the first pliers arm 601 and the second pliers arm 602 is the smallest. The complete closing of the end effector 6 makes the clip 9 between the first forceps arm 601 and the second forceps arm 602 change from an open state to a fully closed state for clamping on tissues or blood vessels.

Referring to FIG. 22 , when the end effector 6 is fully opened, the central axis of the third pivot shaft 402 coincides with the central axis of the first pivot shaft 2011 . Rotate around the central axis of the third pivot shaft 402 . At this time, the second pivot axis 25 coincides with the central axis of the third pivot axis 402 .

When the end effector 6 is in a fully closed state, since both the sleeve tube and the closure tube move distally, the central axis of the second pivot shaft 401 coincides with the central axis of the first pivot shaft 2011, when the rotating member 11 rotates , the closure tube 3 can rotate around the central axis of the second pivot shaft 401 relative to the sleeve 202 . At this time, the second pivot axis 25 coincides with the central axis of the second pivot shaft 401 .

In actual use, when the end effector 6 is in a fully closed state, the clip 9 in the end effector 6 has been clamped with the blood vessel or tissue, and the end effector 6 is not separated from the blood vessel or tissue (end effector 6 is opened to separate from the blood vessel or tissue), at this time, the end effector 6 is generally not rotated, that is, when the end effector 6 is in the closed state, the rotation of the rotating member 11 is generally not triggered, thereby closing the tube 3 does not rotate.

After the closing tube 3 rotates a preset angle relative to the sleeve tube 202, since the pivoting member 4 is provided, when the sleeve tube 202 moves to the proximal end or the distal end, the sleeve tube 202 can still act on the closing tube 3 through the pivoting member 4 , to drive the closed tube 3 to move proximally or distally.

Referring to FIGS. 1 , 13-14 , in order to drive the rotation of the end effector 6 , the clip applier in this embodiment includes a driving mechanism and an actuator 12 . In response to a force applied to the actuator 12 , the actuator 12 moves to drive the drive mechanism so that the drive mechanism drives the end effector 6 relative to the shaft assembly 2 about the first pivot axis 21 . Specifically, the driving mechanism can act on the rotating member 11 to make the rotating member 11 rotate, thereby causing the end effector 6 to rotate.

The drive mechanism includes a steering rod assembly and a transmission assembly.

Referring to FIG. 15 , the steering rod assembly includes a first link 13 and a second link 14 . The first connecting rod 13 is pivotally connected with the second connecting rod 14. Specifically, the distal end of the second connecting rod 14 is provided with a fourth pivot shaft 1401, and the proximal end of the first connecting rod 13 is provided with a connection with the fourth pivot shaft 1401. The fourth pivot hole matches the fourth pivot hole, and the fourth pivot shaft 1401 passes through the fourth pivot hole, so that the first connecting rod 13 can rotate relative to the second connecting rod 14 . The main shaft 201 is provided with a second groove body, and the second connecting rod 14 is arranged in the second groove body and can move in the second groove body.

The distal end of the first link 13 acts on the rotating member 11 . Specifically, the distal end of the first link 13 is pivotally connected to the proximal end of the rotating member 11 . The proximal end of the rotating member 11 is provided with a fifth pivot shaft 1103, the distal end of the first connecting rod 13 is provided with a fifth pivot hole adapted to the fifth pivot shaft 1103, and the fifth pivot shaft 1103 passes through the fifth pivot shaft 1103. Pivot hole. Since the first connecting rod 13 is pivotally connected to the rotating member 11, the first connecting rod 13 can apply force to the rotating member 11 to drive it to rotate, and the mutual interference between the two when moving is reduced.

The second connecting rod 14 is connected with the transmission assembly, and the actuator 12 acts on the transmission assembly. Manipulating the actuator 12 causes the transmission assembly to move, and the transmission assembly drives the second link 14 to move distally or proximally. Under the action of the second connecting rod 14, the first connecting rod 13 rotates in the first direction or the second direction, thereby driving the rotating member 11 to rotate in the first direction or the second direction, thereby making the end effector 6 rotate along the first direction or the second direction. The first or second direction rotates about the first pivot axis 21 .

Referring to FIGS. 14-16 , the transmission assembly includes a first transmission member 15 and a second transmission member 16 in transmission connection. The second transmission member 16 is connected to the second connecting rod 14 , and the first transmission member 15 is operatively connected to the actuating member 12 . Manipulating the actuating member 12 makes the first transmission member 15 rotate, so that the second transmission member 16 moves distally or proximally, thereby driving the second connecting rod 14 to move distally or proximally. Specifically, referring to FIGS. 16-17 , the first transmission member 15 has a first tooth portion 1501 . The first tooth portion 1501 includes a plurality of first teeth arranged along a circumference such that the central axis of the first tooth portion 1501 is substantially perpendicular to the first longitudinal axis 22 of the shaft assembly 2 . Referring to FIG. 12 , the shaft assembly 2 defines a first longitudinal axis 22 . Referring to FIGS. 17-18 , the second transmission member 16 is sheathed on the main shaft 201 , and the second transmission member 16 has a second tooth portion 1601 . The second tooth part 1601 includes a plurality of second teeth, and the plurality of second teeth are generally arranged along the direction of the first longitudinal axis 22 of the shaft assembly 2 . The second tooth portion 1601 is disposed on one side of the second transmission member 16 . A plurality of second teeth are arranged in a row.

Referring to FIG. 17 again, the first tooth portion 1501 is engaged with the second tooth portion 1601 . Therefore, when the first tooth portion 1501 rotates, the first tooth portion 1501 is engaged with the second tooth portion 1601 for transmission, so that the second transmission member 16 is displaced toward the proximal end or the distal end.

16-17, 20-21, the first tooth portion 1501 of the first transmission member 15 is a gear. The first transmission member 15 also includes a rod body 1502 and a shaft body 1503 . The shaft 1502 defines a second longitudinal axis 23 that is generally perpendicular to the first longitudinal axis 22 . One end of the rod body 1502 is connected with the gear. The shaft body 1503 is connected to the rod body 1502 , and the shaft body 1503 generally extends along a direction parallel to the first longitudinal axis 22 . Referring to FIG. 19 , the actuating member 12 is sleeved on the shaft body 1503 , so that when the actuating member 12 is manipulated to rotate the actuating member 12 , the end effector 6 rotates relative to the shaft assembly 2 around the first pivot axis 21 .

Referring to the placement angle and direction of the clip applier in FIG. 1 , the rotation track of the end effector 6 is perpendicular to the paper surface of FIG. 1 . In FIG. 1 , the first direction is clockwise, and the second direction is counterclockwise.

Manipulate the actuator 12 so that the actuator 12 rotates in the clockwise direction to drive the first tooth portion 1501 of the first transmission member 15 to rotate in the clockwise direction, and the first tooth portion 1501 is engaged with the second tooth portion 1601 for transmission, so that The second transmission member 16 produces a displacement to the distal end, so that the second connecting rod 14 moves to the distal end, so that the first connecting rod 13 rotates along the first direction and drives the rotating member 11 to rotate along the first direction, so that the end portion The actuator 6 and the cartridge 7 rotate in a first direction.

Manipulate the actuator 12, so that the actuator 12 rotates in the counterclockwise direction to drive the first tooth part 1501 of the first transmission part 15 to rotate in the counterclockwise direction, and the first tooth part 1501 is engaged with the second tooth part 1601 for transmission, so that The second transmission member 16 generates a displacement to the proximal end, so that the second connecting rod 14 moves to the proximal end, so that the first connecting rod 13 rotates in the second direction and drives the rotating member 11 to rotate in the second direction, so that the end The actuator 6 and the cartridge 7 rotate in the second direction. The actuator 12 has a locked state and an unlocked state. In the locked state, the actuator 12 can and can only perform a first movement to switch to the unlocked state. In the unlocked state, the actuator 12 can perform a second movement to drive The drive mechanism rotates, thereby rotating the end effector 6 relative to the shaft assembly 2 about the first pivot axis 21 . In the unlocked state, the actuator 12 can perform a third movement to switch to the locked state.

The second movement is rotation. Both the first motion and the third motion are linear motions. Specifically, referring to FIGS. 19-21 , the actuating member 12 is sleeved on the shaft body 1503 of the first transmission member 15 and can slide along the shaft body 1503 . The actuator 12 slides on the shaft 1503 along the direction toward the rod body 1502 as the first movement, the rotation of the actuator 12 around the second longitudinal axis 23 of the rod 1502 is the second movement, and the actuator 12 moves along the direction away from the rod. Sliding on the shaft 1503 in the direction of 1502 is the third movement. The actuator 12 slides on the shaft 1503 in the direction toward the rod body 1502 so that the actuator 12 can be switched to the unlocked state, and the actuator 12 slides on the shaft 1503 in the direction away from the rod 1502 so that the actuator 12 can be switched to the unlocked state. Switch to locked state.

Referring to FIGS. 15 , 20-21 , the clip applier also includes a locking member 17 . The locking member 17 is disposed on the head shell 101 of the shell. The locking part 17 has a plurality of concave parts 1701, the actuator 12 has a convex part 1202, the convex part 1202 is adapted to the concave part 1701, each concave part 1701 can accommodate the convex part 1202, and the convex part 1202 can be selectively accommodated in One of the recesses 1701. The protrusion 1202 of the actuator 12 is disposed between the rod body 1502 and the locking member 17 , and the protrusion 1202 of the actuator 12 can move between the rod 1502 and the locking member 17 .

Referring to FIG. 20 , in the locked state, the protrusion 1202 of the actuator 12 is operatively held within one of the recesses 1701 of the locking member 17 . Due to the limitation of the concave portion 1701, the actuating member 12 cannot rotate. That is, when the actuator 12 is in the locked state, the end effector 6 cannot rotate, which can avoid injury to the patient caused by misoperation during the operation, and improve the reliability and stability of the clip applier.

Referring to FIG. 21 , when the actuator 12 is in the locked state, the actuator 12 is manipulated to make the actuator 12 make a first movement so that the convex portion 1202 is separated from the concave portion 1701 where it is located, so that the actuator 12 is switched to the unlocked state, Since the limiting effect of the concave portion 1701 on the convex portion 1202 of the actuating member 12 is released, the actuating member 12 can rotate at this time to drive the first transmission member 15 to rotate, thereby allowing the end effector 6 to rotate. 1, 19-21, the actuator 12 has a force application part 1201, the force application part 1201 is located outside the head housing 101, by applying force to the force application part 1201, the actuator 12 can make the first movement or second movement.

20-21, the locking member 17 is an arc-shaped member, and a plurality of recesses 1701 are disposed inside the arc-shaped member, and each recess 1701 extends along the radial direction of the arc-shaped member. The plurality of recesses 1701 are arranged substantially along the circumference and the plurality of recesses 1701 are arranged along the movement track of the second movement of the actuator 12 . Thus, when the actuator 12 rotates through the preset angle, the actuator 12 can make a third movement at the preset angle, so that the convex portion 1202 of the actuator 12 is accommodated at a position corresponding to the preset angle. In the corresponding concave portion 1701 , the actuator 12 is switched to the locked state while maintaining the preset angle, so that the end effector 6 can be stably maintained at a certain rotation angle. The arrangement of the plurality of recesses 1701 of the locking member 17 enables the end effector 6 to rotate at different angles and to be stably maintained at the angle of rotation.

Specifically, the actuator 12 can drive the end effector 6 to rotate around the first pivot axis 21 relative to the shaft assembly 2 along the first direction, and can also drive the end effector 6 to rotate around the first pivot axis 21 relative to the shaft assembly 2 along the second direction. The first pivot axis 21 rotates. The rotation of the end effector 6 in the first direction includes a fully rotated state where the end effector 6 is in the first position. The rotation of the end effector 6 along the second direction also includes a state of turning to the bottom, at which time the end effector 6 is in the second position. The actuator 12 can drive the end effector 6 to rotate to the first position, can also drive the end effector 6 to rotate to the second position, and can drive the end effector 6 to rotate between the first position and the second position . Since the plurality of recesses 1701 of the locking member 17 are arranged along the rotation track of the actuating member 12, the actuating member 12 can perform a third movement after being rotated by a preset angle so as to be selectively accommodated in a position corresponding to the preset angle. In one of the recesses 1701, the actuator 12 is switched to the locked state, so that the end effector 6 is stably maintained at the first position or the second position or a position between the first position and the second position, In other words, the end effector 6 can rotate multiple angles relative to the shaft assembly 2 and can be stably maintained at the rotation angle, thereby making the use of the clip applier more flexible. Both the first position and the second position take the shaft assembly 2 as a reference, and are the positions of the end effector 6 relative to the shaft assembly 2 .

The second tooth portion 1601 of the second transmission member 16 has opposite first end and second end along the second longitudinal axis 23 of the shaft assembly 2, the first end has a limit tooth, and the second end also has a limit tooth . That is, the multiple second teeth of the second tooth portion 1601 are located between the two limiting teeth. The width of the limit tooth is larger than that of the second tooth, and the limit tooth does not match the first tooth portion 1501 of the first transmission member 15. Therefore, the first transmission member 15 cannot mesh with the limit tooth, so that the first transmission member 15 only Can move between the limit teeth at both ends of the second transmission member 16, thus, when the first transmission member 15 moves to the limit teeth at the first end of the second tooth portion 1601, the first transmission member 15 cannot continue At this time, the driving mechanism drives the end effector 6 to rotate to the first position. When the first transmission member 15 moves to the limit tooth at the second end of the second tooth portion 1601 , the first transmission member 15 cannot continue to move, and the driving mechanism drives the end effector 6 to rotate to the second position.

It should be noted that, for the movement of the transmission assembly, it is equivalent to the movement of the first transmission member 15 along the second tooth portion of the second transmission member 16, but in actual movement, the first transmission member 14 is on the second tooth portion of the shaft assembly 2. There is no displacement in the direction of the longitudinal axis 23, and the second transmission member 16 has a displacement to the distal end or the proximal end in the direction of the second longitudinal axis 23 of the shaft assembly 2, so as to drive the steering rod assembly to move, thereby The end effector 6 is caused to rotate.

The clip applier also includes a reset member 10 . The reset member 10 can drive the actuating member 12 to perform a third movement, so that the actuating member 12 switches from the unlocked state to the locked state and remains in the locked state. Specifically, the reset member 10 can apply a force to the actuating member 12 generally facing away from the rod body 1502, so that the actuating member 12 slides on the shaft body 1503 in a direction facing away from the rod body 1502, so that the convex portion 1202 of the actuating member 12 It is accommodated in the concave portion 1701 of the locking member 17, so that the actuator 12 is switched from the unlocked state to the locked state. The reset member 10 includes an elastic member. Referring to Figures 19-21 , in this embodiment, the reset member 10 is a spring, and the reset member 10 is arranged between the actuator 12 and the rod body 1502 of the first element. The reset member 10 is sheathed on the shaft body 1503 of the first element.

Referring to FIGS. 1 and 13 , the clip applier further includes a rotating member 20 , which is sleeved on the sleeve 202 and fixedly connected with the sleeve 202 . Thus, by rotating the rotating member 20 , the bushing 202 can be driven to rotate around the first longitudinal axis 22 of the shaft assembly 2 . When the sleeve 202 moves forward or backward, the rotating member 20 also moves forward or backward along with the sleeve 202 .

In this embodiment, the sleeve 202 is pivotally connected to the closing tube 3 through two pivoting members 4, so that when the sleeve 202 rotates around the first longitudinal axis 22 of the shaft assembly 2 driven by the rotating member 20, the sleeve The tube 202 is capable of driving the closed tube 3 in rotation. That is, by turning the rotating member 20, the sleeve 202, the two pivoting members 4 and the closing tube 3 are all rotated. Specifically, referring to FIGS. 11-13 and 22 , each pivoting member 4 has a first plane 403 adapted to the main shaft 201 , and the distal end of the main shaft 201 has a second plane 2012 adapted to the first plane 403 . Thus, when the rotation of the rotating member 20 drives the sleeve 202 to rotate to make each pivoting member 4 rotate, each first plane 403 forms a fit with its corresponding second plane 2012, so that the main shaft 201 follows the rotation of the pivoting member 4 . That is, when the rotating member 20 rotates to make each pivoting member 4 rotate, the pivoting member 4 can generate a force on the main shaft 201 to drive the main shaft 201 to rotate around the first longitudinal axis 22 of the shaft assembly 2, thus, The main shaft 201 drives the rotating member 11 to rotate, so that the closed tube 3 and the end effector 6 rotate, so that it is convenient for the doctor to adjust the end effector 6 to a suitable angle and clamp the blood vessel or tissue.

Referring to FIG. 12 , the end effector 6 defines a third longitudinal axis 24, and rotation of the end effector 6 relative to the shaft assembly 2 about a first pivot axis 21 enables the third longitudinal axis 24 of the end effector 6 to Parallel or at an angle to the first longitudinal axis 22 of the shaft assembly 2 . When the third longitudinal axis 24 of the end effector 6 is parallel to or at an angle to the first longitudinal axis 22 of the shaft assembly 2, the pivoting member 4 can be rotated by rotating the rotating member 20 to drive the main shaft 201 to rotate, Thus, the closing tube 3, the rotating member 11, and the end effector 6 are all rotated.

In this embodiment, due to the limitation of the first transmission member 15, the second transmission member 16 cannot rotate around the first longitudinal axis 22 of the shaft assembly 2. In order to adapt to the rotation of the main shaft 201, the second transmission member 16 of this embodiment passes The connecting sleeve 18 is connected with the main shaft 201 . Specifically, referring to FIGS. 13-16 , the connecting sleeve 18 is sleeved on the main shaft 201 , and the second transmission member 16 is sleeved on the connecting sleeve 18 . The proximal end of the second connecting rod 14 is fixedly connected with the connecting sleeve 18 . The second connecting rod 14 is disposed in the second groove of the main shaft 201, and when the main shaft 201 rotates around the first longitudinal axis 22 of the shaft assembly 2, it drives the second connecting rod 14 around the first longitudinal axis of the shaft assembly 2 22 to rotate, so that the second connecting rod 14 drives the connecting sleeve 18 to rotate synchronously with the main shaft 201 around the first longitudinal axis 22 of the shaft assembly 2 , during the process of the connecting sleeve 18 rotating around the first longitudinal axis 22 of the shaft assembly 2 In this case, the second transmission member 16 does not rotate, that is, there is relative rotation between the connecting sleeve 18 and the second transmission member 16 .

Referring to FIG. 23 , the distal end of the connection sleeve 18 is provided with a first stop portion 1801 , and the proximal end of the connection sleeve 18 is provided with a second stop portion 1802 . Both the first stop portion 1801 and the second stop portion 1802 extend in the circumferential direction. The second transmission member 16 is arranged between the first stopper 1801 and the second stopper 1802, thus, when the second transmission member 16 is displaced to the distal end or the proximal end, the second transmission member 16 can act At the first stop portion 1801 or the second stop portion 1802 , the connecting sleeve 18 is moved to the distal end or the proximal end, so that the second link 14 is moved to the distal end or the proximal end.

In FIG. 1 , the clip chamber 7 is located at the upper end of the rotating member 11 . The opening 301 of the closed tube 3 faces upwards. When using the clip applier, the doctor can regard the angle of the clip applier in FIG. 1 as the initial state of the clip applier, so that the doctor can identify and be familiar with the law of adjusting the angle of the end effector 6 .

During actual use, by rotating the rotating member 20, the relative position between the end effector 6 and the operating assembly 1 is continuously changed, so that the end effector 6 rotates relative to the shaft assembly 2 around the first pivot axis 21 The direction of will also change accordingly, so that in other angles of the clip applicator, the first direction may not be clockwise, and the second direction may not be counterclockwise.

Referring to FIGS. 1 and 13 , the clip applier also includes a Luer connector 19 connected to a rotating member 20 . The Luer connector 19 in this embodiment is a common Luer connector in the prior art, the purpose is to connect the inside of the clip applier with the outside so as to clean the inside of the clip applier, and the structure of the Luer connector 19 will not be repeated here.

The cannula 202 has a flushing hole that communicates with the inside of the cannula 202 . Luer connector 19 has a flushing channel. The flushing channel has a liquid inlet and a liquid outlet. The liquid outlet of the flushing channel is communicated with the flushing hole of the sleeve 202, and the flushing liquid is injected into the liquid inlet of the Luer connector 19, and the flushing liquid can enter the inside of the clip applier through the flushing channel and the flushing hole so as to facilitate the clamp applicator. The interior is cleaned to remove contamination, allowing the clip applier to be reused. When the cannula 202 moves forward or backward, the rotating member 20 also moves forward or backward with the cannula 202, so the Luer connector 19 also moves forward or backward, thereby avoiding the luer connector 19 restricts the forward and backward movement of the cannula 202 and enables the Luer connector 19 to always communicate with the irrigation hole of the cannula 202 . In this embodiment, the flushing hole of the sleeve 202 is disposed inside the rotating member 20 . The liquid inlet of the flushing channel of the luer connector 19 is located outside the rotating member 20 , and the liquid outlet of the flushing channel is located inside the rotating member 20 and communicates with the flushing hole of the sleeve 202 .

Referring to FIGS. 27-29 , in order to drive the sleeve 202 and the clamping rod 5 to move distally, the clip applicator of this embodiment further includes a transmission mechanism, which is accommodated in the head housing 101 . The transmission alternatively has a first state and a second state. In the first state, the transmission mechanism drives the clamping rod 5 to move distally, and in the second state, the transmission mechanism drives the sleeve 202 to move distally.

Specifically, the transmission mechanism includes a switching mechanism, a first driving member 40 and a second driving member. The first driving member 40 is used to drive the clamp feeding rod 5 to move to the distal end, and the second driving member is used to drive the sleeve 202 to move to the distal end.

The wrench 103 abuts against the switching mechanism to provide power to the switching mechanism, and the switching mechanism transmits the power to the first driving member 40 or the second driving member alternatively. The wrench 103 can drive the switching mechanism to move to the distal end. In the first state, the switching mechanism moves distally to drive the first driving member 40 to move distally. After the switching mechanism moves to the preset distance, the transmission mechanism switches from the first state to the second state. When the transmission mechanism is switched to the second state, the switching mechanism continues to move distally to drive the second driving member to move distally.

The first driving member 40 is an annular component, which is sleeved on the main shaft 201 and can move along the main shaft 201 . The outer peripheral surface of the first driving member 40 is provided with an annular rib 41 . The proximal end of the clip feeding rod 5 is connected with the first driving member 40, and the far end of the clip feeding rod 5 can push the clip.

The second driving member includes a seat body 42 , a first rod body 43 and a second rod body 44 . The seat body 42 is sheathed on the main shaft 201 , and the distal end of the seat body 42 is connected to the proximal end of the sleeve 202 . The seat body 42 has a first side and a second side opposite to the first side, a first connecting portion 4201 extends outward from the first side, and a second connecting portion 4202 extends outward from the second side. The first connecting portion 4201 is connected to the distal end of the first rod body 43 , and the second connecting portion 4202 is connected to the distal end of the second rod body 44 . Each rod body is provided with a sliding groove 45, which is a closed groove, and the far end of each sliding groove 45 is provided with a thrust portion 46.

The switching mechanism includes a base 26, a first clutch mechanism and a second clutch mechanism. The wrench 103 abuts against the base 26 to provide power to the switching mechanism to move the switching mechanism to the distal end.

When the transmission mechanism is in the first state, the base 26 is sleeved on the first driving member 40 . The base 26 has a first side and a second side opposite the first side. A first socket portion 27 is provided on a first side of the base 26 , and a second socket portion 28 is provided on a second side of the base 26 . The first sleeve part 27 is sleeved on the first rod body 43 and can move along the first rod body 43 , and the second sleeve part 28 is sleeved on the second rod body 44 and can move along the second rod body 44 . The first side of the base 26 is also provided with a first waist hole 29 , and the second side is also provided with a second waist hole 30 . The first waist-shaped hole 29 is disposed above the first sleeve portion 27 , and the second waist-shaped hole 30 is disposed above the second sleeve portion 28 . Each waist-shaped hole extends up and down.

The first clutch mechanism includes a first clutch member and a clutch switching mechanism. The first clutch part is connected with the clutch switching mechanism. The second clutch mechanism includes a second clutch member.

The head housing 101 of the clip applier includes a first head housing 1011 and a second head housing. The first head shell 1011 and the second head shell are arranged symmetrically along the axis of the main shaft 201 .

The clutch switching mechanism includes a guide column 34 and a guide rail. The guide rail is arranged in the head housing 101 , the guide post 34 can move on the guide rail, and the guide post 34 is connected with the first clutch member.

The guide rail is alternatively disposed on the inner wall of the first head shell 1011 or the inner wall of the second head shell. In order to make the movement of the guide column 34 on the guide rails more stable, the guide rails are symmetrically arranged on the inner walls of the first head housing 1011 and the second head housing. That is to say, the inner wall of the first head housing 1011 is provided with guide rails, and the inner wall of the second head housing is also provided with guide rails.

The guide post 34 has a first end and a second end. The guide post 34 is accommodated in the base 26 , and the first end of the guide post 34 protrudes from the first waist-shaped hole 29 and is positioned on the guide rail on the inner wall of the first head housing 1011 . The second end of the guide post 34 protrudes from the second waist-shaped hole 30 and is located on the guide rail on the inner wall of the second head housing. Since each waist-shaped hole extends up and down, the guide column 34 can move up and down,

The guide rail comprises a first guide surface 35 and a second guide surface 36 . The second guide surface 36 is higher than the first guide surface 35 . The guide post 34 is movable on the first guide surface 35 and the second guide surface 36 .

The first clutch is housed in the base 26 . The first clutch member includes a cylinder 31 , a block 32 and a block 33 . The upper end of the cylinder 31 is connected with the guide column 34, so that the cylinder 31 can drive the guide column 34 to move far or near, and the guide column 34 can drive the cylinder 31 to move up and down. The blocking block 32 is disposed at the bottom of the cylinder 31 . The locking block 33 is disposed on the bottom of the blocking block 32 . The bottom end of the block 33 is detachably connected to the first driving member 40 . The bottom end surface of the clamping block 33 is an arc-shaped surface conforming to the surface of the first driving member 40 , so that the connection between the clamping block 33 and the first driving member 40 is more stable.

In the first state, the clamping block 33 is located at the proximal end of the annular baffle, the distal end surface of the clamping block 33 abuts against the proximal end surface of the annular rib 41, and the clamping block 33 can push the annular rib 41 far away, This causes the first driving member 40 to move distally. In the second state, the locking block 33 moves upwards and disengages from the annular rib 41 .

The proximal end surface of the clamping block 33 is an inclined surface, thus, when the first driver 40 and the first clutch are reset, the proximal end surface of the clamping block 33 can pass through the distal end of the annular rib 41, so that the clamping block 33 Return to the proximal end of the ring baffle.

The first clutch part also includes a second elastic element 37, and the second elastic element 37 is a spring. The second elastic element 37 is sleeved on the cylinder 31 , the upper end of the second elastic element 37 abuts against the guide column 34 , and the lower end of the second elastic element 37 abuts against the stopper 32 . In the first state, the second elastic element 37 is in a compressed state, and the second elastic element 37 exerts a downward force on the block 32, so that the block 33 and the first driving member 40 are more stably abutted to improve the first driving force. The stability of the movement of the member 40 to the distal end.

The second clutch includes a first push column 38 and a second push column 39 . The first push post 38 is located in the sliding groove 45 of the first rod body 43 and can move in the sliding groove 45 of the first rod body 43 .

The second push post 39 is located in the sliding slot 45 of the second rod body 44 and can move in the sliding slot 45 of the second rod body 44 . The upper and lower ends of the second push post 39 are connected to the second sleeve portion 28 .

For the first driving member 40, when the transmission mechanism is in the first state, under the pushing action of the wrench 103, the base 26 moves to the distal end, so that the first clutch member moves to the distal end, thereby pushing the first driving member 40 to the distal end. The distal end moves to drive the clamping rod 5 to move distally. The guide post 34 moves distally along the first guide surface 35 under the action of the first clutch. When the guide column 34 moves from the first guide surface 35 to the second guide surface 36, the guide column 34 drives the first clutch part to move upward, so that the block 33 of the first clutch part breaks away from the annular rib 41 of the first drive part 40 , so that the first clutch part is separated from the first driving part 40, at this time, the transmission mechanism is switched to the second state, and the first driving part 40 no longer moves distally. In the second state, the base 26 continues to move distally and passes through the first driving member 40 .

For the second driving member, when the transmission mechanism is in the first state, the first push column 38 is separated from the thrust portion 46 of the first rod body 43, and the second push column 39 is separated from the push portion 46 of the second rod body 44. At this time The second driving member is not driven and is in a static state. Under the pushing action of the wrench 103, the base 26 moves distally, so that the first push column 38 moves distally in the sliding groove 45 of the first rod body 43 and gradually approaches the resisting portion 46 of the first rod body 43, The second push post 39 moves distally in the sliding groove 45 of the second rod body 44 and gradually approaches the resisting portion 46 of the second rod body 44 . When the first push column 38 abuts against the thrust portion 46 of the first rod body 43 and the second push column 39 abuts against the push portion 46 of the second rod body 44, the transmission mechanism switches to the second state, and the second clutch member Driving the second driver to move distally causes the cannula 202 to move distally to close the end effector.

To sum up, when the first driving member 40 is separated from the first clutch member, the resisting portion 46 of the second driving member just abuts against the second clutch member.

The clip applier also includes two third elastic elements 48 . The third elastic element 48 is a spring. One of the third elastic elements 48 is sleeved on the first rod body 43 , its proximal end abuts against the first sleeve portion 27 , and its distal end abuts against the first connecting portion 4201 . Another third elastic element 48 is sheathed on the second rod body 44 , its proximal end abuts against the second sleeve portion 28 , and its distal end abuts against the second connecting portion 4202 . During the movement of the switching mechanism to the distal end, the first socket part 27 gradually approaches the first connecting part 4201, and at the same time the second socket part 28 gradually approaches the second connecting part 4202, and the two third elastic elements 48 can be Compress to store the first energy, release the first energy, and the switching mechanism can move to the proximal end to reset.

The clip applier also includes a fourth elastic element 49, and the fourth elastic element 49 is a spring. The fourth elastic element 49 is sleeved on the main shaft 201 . The proximal end of the fourth elastic element 49 abuts against the annular rib 41 of the first driver 40 , the distal end of the fourth elastic element 49 abuts against the retaining ring 47 outside the main shaft 201 , and the retaining ring 47 is along the circumferential direction of the main shaft 201 Extending, the retaining ring 47 is disposed on the proximal side of the second transmission member 16 . In the process that the switching mechanism drives the first driver 40 to move to the distal end, the annular rib 41 of the first driver 40 gradually approaches the retaining ring 47, so that the fourth elastic element 49 is compressed to store the second energy and release the second energy. energy, the first driving member 40 can move to the proximal end to reset, so that the clamping rod 5 can move to the proximal end to reset.

The clip applier also includes a fifth elastic element 50, and the fifth elastic element 50 is a spring. The fifth elastic element 50 is sleeved on the sleeve 202 . The proximal end of the fifth elastic element 50 abuts against the distal end surface of the base body 42 , and the distal end of the fifth elastic element 50 abuts against the inner wall of the head housing 101 . When the switching mechanism drives the second driving member to move distally, the fifth elastic element 50 is compressed to store the third energy and release the third energy. end move reset.

To sum up, in this embodiment, the clip bin 7 is arranged between the first pivot axis 21 and the end effector 6, and the clip bin 7 can rotate synchronously with the end effector 6, so that the clip bin 7 and the end effector The relative angle between the clips 6 does not change, so that when the end effector 6 is rotated relative to the shaft assembly 2, the clip 9 of the clip magazine 7 can enter the end effector 6 smoothly.

In this embodiment, an independent clip bin 7 is provided for accommodating the clip 9. When the clip 9 of the clip bin 7 is exhausted, only a new clip bin 7 needs to be replaced, and the clip applicator can continue to be used, thereby saving energy. cost.

In this embodiment, when the actuator 12 is in the locked state, the end effector 6 will not rotate, which can avoid the injury to the patient caused by misoperation during the operation, and improve the reliability and stability of the clip applier .

In this embodiment, the end effector 6 can rotate multiple angles relative to the shaft assembly 2 and can be stably maintained at the rotation angle, thereby making the use of the clip applier more flexible and convenient.

It should be understood that although this description is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the description is only for clarity, and those skilled in the art should take the description as a whole, and each The technical solutions in the embodiments can also be properly combined to form other embodiments that can be understood by those skilled in the art.

The series of detailed descriptions listed above are only specific descriptions of the feasible implementation modes of the application, and they are not intended to limit the protection scope of the application. Any equivalent implementation mode or All changes should be included within the scope of protection of this application.

Claims (12)

A clamp applicator, characterized in that it comprises: shaft assembly; an end effector pivotally connected to the shaft assembly to enable rotation of the end effector relative to the shaft assembly about a first pivot axis; A clip cartridge disposed between the first pivot axis and the end effector. The clip applier according to claim 1, further comprising a rotating member, the end effector and the shaft assembly are pivotally connected through the rotating member, and the rotating member One end of the rotating member is pivotally connected with the shaft assembly, and the other end of the rotating member is connected with the end effector. The clip applier according to claim 2, wherein the clip bin is detachably arranged on the rotating member. The clip applier of claim 1, wherein the clip cartridge includes at least two clips, the clip cartridge has a clip cavity to receive the clips, and the clips form a stack within the clip cavity . The clip applier according to claim 1, wherein the clip applier includes at least two clips, the clip applier has a clip cavity to accommodate the clips, and the clip applier also includes a clip feeding assembly, In response to a force applied to the clip feed assembly, the clip feed assembly moves to push the clip within the clip cavity into the end effector. The clip applier of claim 1, further comprising a cannula and a closure tube, the closure tube cooperating with the end effector responsive to The force of the cannula moves to drive the closure tube to move, which in turn causes the end effector to open or close. The clip applier of claim 6, wherein the sleeve is pivotally connected to the closure tube so that the closure tube can rotate relative to the sleeve around a second pivot axis, and the first The second pivot axis is parallel to the first pivot axis. The clip applier according to claim 7, wherein the sleeve is pivotally connected to the closing tube through a pivot member, the proximal end of the pivot member is pivotally connected to the sleeve, and the The distal end of the pivot member is pivotally connected to the closure tube. The clip applier of claim 1, further comprising a drive mechanism and an actuator, responsive to a force applied to the actuator, the actuator moves to drive the The drive mechanism is moved such that the drive mechanism drives the end effector to rotate relative to the shaft assembly about the first pivot axis. The clip applier according to claim 9, wherein the driving mechanism comprises a steering rod assembly and a transmission assembly, the steering rod assembly includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod The second link is pivotally connected; the actuating member acts on the transmission assembly, the transmission assembly is connected with the second link, and the first link can drive the end effector relative to The shaft assembly rotates about the first pivot axis. The clip applier according to claim 10, wherein the transmission assembly comprises a first transmission member and a second transmission member, the first transmission member is connected to the second transmission member, and the second transmission member The actuator is connected to the second connecting rod, and the actuating member can drive the first transmission member to move the second transmission member to the far end or the proximal end, thereby driving the second connecting rod to the far end. End or proximal movement. The clamp applier of claim 5, wherein the clamping assembly includes a flexible clamping rod that moves to move the clamps in response to a force applied to the clamping rod. The clip in the lumen is pushed into the end effector.

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