CN112790812A

CN112790812A - End effector, fitting cartridge and fitting method

Info

Publication number: CN112790812A
Application number: CN201911107241.5A
Authority: CN
Inventors: 时百明
Original assignee: Hangzhou Anjisi Medical Science And Technology Co ltd
Current assignee: Hangzhou Anjisi Medical Science And Technology Co ltd
Priority date: 2019-11-13
Filing date: 2019-11-13
Publication date: 2021-05-14

Abstract

The invention relates to and provides an end effector, an assembly box and an assembly method, wherein the end effector comprises: the end part executing device comprises a clamp and a containing pipe, the containing pipe comprises an inner pipe and an outer pipe, and the outer wall of the inner pipe is provided with a limiting protrusion; the conveying device comprises a sheath tube and a mandrel, the mandrel is arranged in a channel of the sheath tube, a connecting end is arranged at the far end of the mandrel, and a limiting recess is formed in the inner wall of the sheath tube; when the sheath pipe sleeve is arranged outside the limiting protrusion, the connecting end can stretch into or withdraw from the inner pipe: when the connecting end head extends into the inner tube, the limiting protrusion is extruded by the connecting end head and extends into the limiting recess; when the connecting end head is withdrawn from the inner tube, the limiting protrusion is withdrawn from the limiting recess. The lifting structure is simple and convenient to produce.

Description

End effector, fitting cartridge and fitting method

Technical Field

The invention belongs to the field of medical instruments, and particularly relates to an end part execution instrument, an assembly box and an assembly method.

Background

At present, in minimally invasive surgery, an end executing device such as a hemostatic clamp and a ligation clamp is often used under an endoscope, and the end executing device clamps human tissues so as to achieve the effects of hemostasis and ligation. However, the conventional hemostatic and ligature clip has a complex structure after being closed and high production cost.

Disclosure of Invention

Based on the technical scheme, the invention provides the end part execution instrument, the assembly box and the assembly method which are simple in structure and convenient to produce.

The technical scheme is as follows:

an end effector instrument, comprising: the end part executing device comprises a clamp and a containing pipe, the containing pipe comprises an inner pipe and an outer pipe, and the outer wall of the inner pipe is provided with a limiting protrusion; the conveying device comprises a sheath tube and a mandrel, the mandrel is arranged in a channel of the sheath tube, a connecting end is arranged at the far end of the mandrel, and a limiting recess is formed in the inner wall of the sheath tube; when the sheath pipe sleeve is arranged outside the limiting protrusion, the connecting end can stretch into or withdraw from the inner pipe: when the connecting end head extends into the inner tube, the limiting protrusion is extruded by the connecting end head and extends into the limiting recess; when the connecting end head is withdrawn from the inner tube, the limiting protrusion is withdrawn from the limiting recess.

In one embodiment, the clip is provided with a locking protrusion, the outer tube is provided with an elastic sheet, the inner tube and the outer tube are both provided with channels, the channels of the inner tube and the outer tube are communicated to form a channel of the accommodating tube, at least part of the elastic sheet extends into the channel of the accommodating tube, and the part of the elastic sheet extending into the channel of the accommodating tube forms a locking part; when the locking part is positioned at the far end of the locking protrusion, the locking part is positioned on the path of the locking protrusion moving towards the far end and blocks the locking protrusion from moving towards the far end.

In one embodiment, the inner tube is provided with a guide rail groove, and the locking protrusion is slidable in the guide rail groove.

In one embodiment, the guide rail groove is provided with a positioning projection at a proximal end of the locking portion, and the locking projection is positioned between the positioning projection and the locking portion when the locking portion blocks the locking projection from moving distally.

In one embodiment, the clip comprises a first clamping piece, a second clamping piece and a connecting pin, wherein the first clamping piece and the second clamping piece are connected through the connecting pin, and one end of the connecting pin forms the locking protrusion or two ends of the connecting pin form the locking protrusion.

In one embodiment, the clip further comprises an elastic ring, the elastic ring is sleeved outside the connecting pin, and the elastic ring is positioned between the first clamping piece and the second clamping piece.

In one embodiment, a first bending part bent towards the second clamping piece is arranged at the near end of the first clamping piece, a first hole is formed in the first bending part, a second bending part bent towards the first clamping piece is arranged at the near end of the second clamping piece, and a second hole is formed in the second bending part; at least part of the first hole and the second hole are in overlapped communication, and the overlapped communicated part of the first hole and the second hole forms a sleeving hole; the distal end of the mandrel is provided with a large diameter part and a small diameter part, the large diameter part is positioned at the distal end of the small diameter part, and the diameter of the large diameter part is larger than that of the small diameter part.

In one embodiment, a propping window is arranged on the side wall of the accommodating pipe and is communicated with the channel of the accommodating pipe.

The assembly box is used for assembling any end part execution device with a conveying device and comprises a shell, wherein the shell is provided with an execution device cavity and an assembly groove, a groove opening is formed in the side face of the assembly groove, the far end of the assembly groove is communicated with the execution device cavity, a limit bayonet is formed in the near end of the assembly groove, the limit bayonet is communicated with the groove opening, and the width of the limit bayonet is smaller than that of the assembly groove.

In one embodiment, the cross section of the limiting bayonet comprises a narrow section and a wide section in sequence from the groove opening to the groove bottom of the assembling groove, and the width of the narrow section is smaller than that of the wide section.

In one embodiment, the housing is further provided with an operation window, and the operation window is communicated with the execution device cavity.

In one embodiment, the assembly box further comprises a propping part, and the propping part extends into the execution device cavity through the operation window.

In one embodiment, the head of the expanding portion is provided with a recess, and the width of the recess is gradually reduced from the opening of the recess to the bottom of the recess.

In one embodiment, the slot opening is located in the clip opening plane.

In one embodiment, the actuator lumen is provided with a fitting protrusion.

An assembling method adopts the assembling box to assemble, the sheath tube is placed into the assembling groove from the groove opening, and the sheath tube is clamped into the limiting bayonet.

In one embodiment, the sheath tube is clamped between the narrow section and the wide section of the limiting bayonet after passing over the narrow section of the limiting bayonet.

In one embodiment, the end executing device in the executing device cavity is operated through the operating window, the diameter of the sleeving hole of the clamp is enlarged, the mandrel of the conveying device in the assembling groove is moved, and the connecting part of the mandrel extends into the sleeving hole.

In one embodiment, the operating part extends into the executing device cavity through the operating window, the operating part extends into the opening window of the clamp, the operating part is moved to enable the first clamping piece and the second clamping piece of the clamp to be clamped in the concave part of the operating part, the first clamping piece and the second clamping piece move towards the bottom of the operating part, and the inner wall of the concave part of the operating part presses the first clamping piece and the second clamping piece to enable the first clamping piece and the second clamping piece to be close to each other.

The technical features in the above embodiments are used in any cross combination across the embodiments.

The invention has the beneficial effects that:

1. an end effector instrument, comprising: end effector and conveyor, wherein:

the end part executing device comprises a clamp and an accommodating pipe, wherein the accommodating pipe is provided with a channel, the inner pipe is provided with a channel, the outer pipe is provided with a channel, the inner pipe is communicated with the channel of the outer pipe to form the channel of the accommodating pipe, and the clamp can be accommodated into the channel of the accommodating pipe from the far end. The outer wall of the inner pipe is provided with a limiting bulge; the limiting protrusion is used for being matched with the limiting groove to complete connection and release of the sheath tube and the inner tube. The containing pipe is divided into an inner pipe and an outer pipe, after the inner pipe and the outer pipe are respectively provided with a fine structure, the outer pipe is sleeved outside the inner pipe, so that the inner pipe and the outer pipe form the containing pipe, the production and the manufacture are convenient, and the production and the manufacture of fine washing equipment operated under an endoscope such as an end execution instrument are particularly facilitated. Wherein, the inner tube is equipped with the passageway, the outer tube also is equipped with the passageway, inner tube and outer tube as long as link together can, the degree of depth that the inner tube inserted the outer tube can be set for wantonly according to actual need, the passageway of inner tube and the passageway intercommunication of outer tube, the passageway of inner tube and the passageway of outer tube constitute the motion passageway of clip jointly, the clip can be followed the distal end and taken in the motion passageway.

The conveying device comprises a sheath tube and a mandrel, the mandrel is arranged in a channel of the sheath tube, a connecting end is arranged at the far end of the mandrel, and a limiting concave is arranged on the inner wall of the sheath tube; the limiting concave is used for being matched with the limiting convex to complete connection and release of the sheath tube and the inner tube.

When the sheath pipe box was located spacing protruding outsidely, the connection end can stretch into or withdraw from the inner tube: when the connecting end head extends into the inner tube, the limiting protrusion is extruded by the connecting end head to extend into the limiting recess, the inner tube and the sheath tube are connected with each other, the sheath tube is pushed to move towards the far end, the accommodating tube is also pushed to move towards the far end, the sheath tube is pulled to move towards the near end, and the accommodating tube is also driven to move towards the near end; when the connecting end head is withdrawn from the inner tube, the limiting protrusion is withdrawn from the limiting recess, and the connection relationship between the accommodating tube and the sheath tube is released.

Herein, the term "proximal end" and "distal end" refer to directions along the length direction of the end effector (the delivery device is usually in a long line shape because the end effector is delivered into the human body for ligation by the delivery device), or the direction along the direction in which the end effector enters the human body, and refer to the side toward which the operator is located as "proximal end" and the side toward which the operator is extended into the human body for treatment as "distal end", which cannot be understood as merely indicating the end.

2. The clip is provided with a locking protrusion for locking the positional relationship between the clip and the accommodating tube to prevent the clip from moving from the distal end of the accommodating tube to open; the outer pipe is provided with an elastic sheet, the inner pipe and the outer pipe are both provided with channels, the channels of the inner pipe and the outer pipe are communicated to form a channel of the accommodating pipe, at least part of the elastic sheet extends into the channel of the accommodating pipe, and the part of the elastic sheet extending into the channel of the accommodating pipe forms a locking part; the clip can be received in the channel of the containing tube from the far end of the containing tube, when the locking protrusion is positioned at the far end of the locking part, the clip can move towards the far end of the containing tube, when the clip is moved from the far end to the near end, the clip can be gradually closed under the extrusion of the containing tube, when the clip moves to the locking part or the vicinity of the locking part, the locking protrusion outwards presses the locking part, the elastic sheet can deform to enable the locking part to outwards avoid the locking protrusion, the locking protrusion moves to the near end of the locking part through the locking part, at the moment, the clip is closed, the locking part is positioned at the far end of the locking protrusion, when the locking protrusion crosses the locking part, the locking part rebounds, the locking part extends into the containing tube, the locking part is positioned on the path of the movement of the locking protrusion towards the far end to block the movement of the locking protrusion towards the far end, so the clip is locked by the locking protrusion and the locking part, and the structure of the elastic sheet and the locking part is simple.

Wherein, the resilience of the elastic sheet satisfies the following conditions: the fingers can avoid the locking part when the locking protrusion extrudes, the locking protrusion can rebound after crossing the locking part to block the locking part, the elastic sheet is not required to be elastic material, the elastic sheet can be made of any material, the optimization is realized, the material of the elastic sheet is the same as the material of the accommodating pipe, the elastic sheet is a part of the cut-open side wall of the accommodating pipe, one end of the elastic sheet is connected with the side wall of the accommodating pipe, and the other end of the elastic sheet extends into the channel of the accommodating pipe.

3. The inner tube is provided with a guide rail groove, and the locking protrusion can slide in the guide rail groove. The guide rail groove guides the locking protrusion to move to the position of the locking part, and the locking is favorably completed. Preferably, the locking portion extends into the guide rail groove.

4. The guide rail groove is provided with a positioning protrusion, the positioning protrusion is positioned at the near end of the locking part, and when the locking part blocks the locking protrusion from moving towards the far end, the locking protrusion is positioned between the positioning protrusion and the locking part. The locking part limits the locking protrusion from moving towards the far end, and the positioning protrusion limits the locking protrusion from moving towards the near end, so that the position of the clip is simultaneously restricted by the locking part and the positioning protrusion, the clip cannot move towards the near end or the far end, the closing state of the clip is positioned, and the closing state of the clip is kept stable.

5. The clamp comprises a first clamping piece, a second clamping piece and a connecting pin, wherein the first clamping piece and the second clamping piece are connected through the connecting pin, one end of the connecting pin forms a locking protrusion or the two ends of the connecting pin form the locking protrusion, the connecting pin plays a role in connecting the first clamping piece and the second clamping piece and also plays a role in locking the clamp, and the structure is simple. When the two ends of the connecting pin form locking protrusions, the number of the elastic sheets is two, and the two elastic sheets correspond to the two ends of the connecting pin respectively.

6. The clip further comprises an elastic ring, the elastic ring is sleeved outside the connecting pin and is located between the first clamping piece and the second clamping piece, the elastic ring is compressed by the first clamping piece and the second clamping piece, the elastic ring provides elastic force, and the elastic direction of the elastic ring is the direction in which the first clamping piece and the second clamping piece are far away from each other at the position where the elastic ring is abutted. Preferably, the elastic ring is a coil spring, and the coil spring is sleeved outside the connecting pin through the coil of the coil spring.

7. The near end of the first clamping piece is provided with a first bending part bent towards the second clamping piece, the first bending part is provided with a first hole, the near end of the second clamping piece is provided with a second bending part bent towards the first clamping piece, and the second bending part is provided with a second hole; at least part of the first hole and the second hole are in overlapped communication, and the overlapped communication part of the first hole and the second hole forms a sleeving hole. The term "at least partially" overlapping includes partially overlapping communication, completely overlapping communication, where partially overlapping communication means that the first hole and the second hole are slightly staggered and do not completely overlap, and completely overlapping communication means that the first hole completely overlaps within the range of the second hole or the second hole completely overlaps within the range of the first hole. After the first hole and the second hole are communicated, the parts of the first hole and the second hole are communicated to form the sleeving holes, and the large-diameter part can be connected only by penetrating through the first hole and the second hole. The elasticity of the elastic ring enables the first clamping piece and the second elastic piece to have a trend of being away from each other, so that the first hole and the second hole have a trend of being staggered with each other, and the aperture of the sleeving hole tends to be reduced. The remote end of dabber is equipped with major diameter portion and minor diameter portion, major diameter portion is located the remote end of minor diameter portion, the diameter of major diameter portion is greater than the diameter of minor diameter portion, the remote end of connecting the end is equipped with major diameter portion and minor diameter portion, and the minor diameter portion is located between major diameter portion and the connection end, and the diameter of major diameter portion is greater than the diameter of minor diameter portion. The minor diameter may be the same or different than the diameter of the connection tip. Alternatively, the minor diameter is a portion of the distal end of the connecting tip.

8. The side wall of the containing pipe is provided with a spreading window, the spreading window is communicated with the channel of the containing pipe, and the first clamping piece and the second clamping piece are spread through the spreading window, so that the aperture of the sleeved hole is increased, and the large-diameter part of the mandrel is conveniently inserted. Wherein, the outer tube is provided with a spreading window, or the inner tube and the appearance are both provided with mutually communicated spreading windows.

9. The assembly box is used for assembling the end part execution device with the conveying device, comprises a sheath tube, a connection part for accommodating the tube, a mandrel and a clamp, and comprises a shell, wherein the shell is provided with an execution device cavity and an assembly groove, the side surface of the assembly groove is provided with a groove opening, and the sheath tube is placed into the assembly groove through the groove opening, so that the operation is convenient. Preferably, the slot opening of the mounting slot is located in the plane of the opening of the clip. The far end of the assembly groove is communicated with the execution device cavity, the near end of the assembly groove is provided with a limiting bayonet, the limiting bayonet is communicated with the groove opening, and the width of the limiting bayonet is smaller than that of the assembly groove. In spacing bayonet socket was gone into to the sheath pipe card, the width of spacing bayonet socket and the interference fit of sheath pipe, the sheath pipe was difficult to deviate from spacing bayonet socket when there was not external force, conveniently fixes a position the sheath pipe to the assembly is not accomplished to the light ground more.

10. The cross section of the limiting bayonet comprises a narrow section and a wide section in sequence from the groove opening to the groove bottom of the assembling groove, and the width of the narrow section is smaller than that of the wide section. During the assembly, the sheath pipe is crossed and is blocked into behind the narrow section of spacing bayonet socket between the narrow section of spacing bayonet socket and the wide section, vibrations or sound when can feel the sheath pipe and cross the narrow section remind operating personnel sheath pipe to install in place, and the operation is felt well.

11. The shell is also provided with an operation window which is communicated with the execution device cavity. The execution device cavity is used for placing the end execution device, and preferably, the end execution device is sterilized and sealed in the assembly box when leaving a factory, so that the cleanness and the sanitation of the end execution device are guaranteed. The end part executing device or the conveying device can be operated during assembly through the operation window, so that the end part executing device and the conveying device can be conveniently connected. For example, the diameter of the sleeving hole can be maintained by opening the first clamping piece and the second clamping piece through the operating part, so that the far end of the mandrel can be conveniently inserted into the sleeving hole to complete the connection of the mandrel and the clamp.

12. The assembly box further comprises an opening portion, the opening portion extends into the execution device cavity through the operation window, and the assembly box is provided with the opening portion and is convenient to open the sleeving hole.

13. The head that struts the portion is equipped with the concave part, and the width of concave part reduces to the bottom width of concave part from the opening of concave part gradually, and the inner wall of concave part forms the compression face, and when first clamping piece and second clamping piece moved to the bottom of concave part from the opening of concave part, first clamping piece and second clamping piece were close to each other by the inner wall extrusion of concave part, and first hole and second hole overlap area increase, cup joint the aperture increase in hole promptly, make things convenient for the insertion of major diameter portion.

14. The execution device cavity is provided with an assembly bulge. The assembly is protruding to be used for leaning on and to receive the pipe, and during the assembly, it supports to lean on the assembly protruding to receive the pipe, and the assembly groove is put into to the sheath pipe, promotes the sheath pipe from the near-end to distal end motion, makes the sheath pipe suit outside the inner tube, promotes the dabber this moment from the near-end to distal end motion, is during the passageway that the connection end of dabber inserted the inner tube, with inner tube and sheath union coupling, continues to make the dabber move to the distal end, makes the dabber insert and cup joints the hole, connects dabber and clip. In the process, the assembling bulge props against the accommodating pipe, so that the accommodating pipe is prevented from moving to the far end when the sheath pipe or the mandrel moves from the near end to the far end, and the assembling is facilitated.

Drawings

FIG. 1 is a general block diagram of an end effector of an embodiment of the present invention;

FIG. 2 is a cross-sectional view of an end effector of an embodiment of the present invention;

FIG. 3 is a block diagram of a clip according to an embodiment of the present invention;

FIG. 4 is a cross-sectional view of a clip according to an embodiment of the present invention;

FIG. 5 is a top view of an end effector of an embodiment of the present invention;

FIG. 6 is a structural diagram of an outer tube according to an embodiment of the present invention;

FIG. 7 is a block diagram of an inner tube according to an embodiment of the present invention;

FIG. 8 is a cross-sectional view of the distal end of a delivery device according to one embodiment of the present invention;

FIG. 9 is a disassembled view of an assembled cassette according to an embodiment of the present invention;

FIG. 10 is a block diagram of a first housing of a mounting box according to an embodiment of the invention;

FIG. 11 is a block diagram of an assembly kit according to an embodiment of the present invention;

FIG. 12 is a first cross-sectional view of a first retaining bayonet according to an embodiment of the present invention;

FIG. 13 is a second cross-sectional view of a first limiting bayonet according to an embodiment of the present invention;

FIG. 14 is a first assembly view of the first embodiment of the present invention;

FIG. 15 is a second assembly view of the first embodiment of the present invention;

FIG. 16 is a third assembly view of the first embodiment of the present invention;

FIG. 17 is an enlarged view of a portion of FIG. 14;

FIG. 18 is a fourth illustration of the first assembly of the present invention;

FIG. 19 is an enlarged view of a portion of FIG. 16;

FIG. 20 is a fifth assembled view of the first embodiment of the present invention;

FIG. 21 is a sixth schematic assembly view of an embodiment of the present invention;

FIG. 22 is a first schematic diagram illustrating a binding according to an embodiment of the present invention;

FIG. 23 is a second drawing illustrating a ligation according to an embodiment of the present invention;

FIG. 24 is a third schematic view of a ligation operation according to an embodiment of the present invention;

FIG. 25 is a block diagram of a two-port actuator according to an embodiment of the present invention;

FIG. 26 is a structural view of a second set-up box according to the embodiment of the present invention;

FIG. 27 is a front view of a second mounting box according to an embodiment of the present invention;

FIG. 28 is a cross-sectional view A-A of FIG. 27;

FIG. 29 is a sectional view taken along line B-B of FIG. 27;

FIG. 30 is a schematic view of the structure of the clip and the distracting portion according to the second embodiment of the present invention.

Description of reference numerals:

110. the device comprises a handle, 120, a sliding part, 200, a sheath tube, 201, an end cover, 202, a limiting concave part, 210, a mandrel, 211, a connecting end head, 212, a large-diameter part, 213 and a small-diameter part;

400. the clip comprises a clip 402, an elastic ring 410, a first clamping piece 411, a first bending part 412, a first hole 420, a second clamping piece 421, a second bending part 422, a second hole 432 and a sleeving hole;

500. the device comprises a containing pipe 501, an outer pipe 502, an inner pipe 503, a guide rail groove 505, a positioning protrusion 510, a spring plate 511, a locking part 513, a blocking part 520, a limiting protrusion 550 and a spreading window;

601. a connecting pin 602, a locking protrusion;

700. an assembly box 701, a first half box 702, a second half box 705, an operation window 710, an execution device cavity 720, an assembly groove 721, a limit bayonet 722, a groove opening 730 and an assembly protrusion;

800. human tissue;

900. a spreader portion, 910, a recess.

Detailed Description

The present invention will be described in further detail below, but the embodiments of the present invention are not limited thereto.

Example one

As shown in fig. 1, the end effector includes: an end effector and a delivery device.

As shown in fig. 1 to 8, the end effector includes a clip 400 and a storage tube 500, the storage tube 500 is provided with a channel, the inner tube 502 and the outer tube 501 are provided with a channel, the channels of the inner tube 502 and the outer tube 501 are communicated to form a channel for storing the tube 500, and the clip 400 can be stored into the channel for storing the tube 500 from the far end. The outer wall of the inner tube 502 is provided with a limiting protrusion 520; the limiting protrusion 520 is used for matching with the limiting recess 202 to complete the connection and release of the sheath 200 and the inner tube 502. The storage tube 500 is divided into an inner tube 502 and an outer tube 501, after the inner tube 502 and the outer tube 501 are respectively provided with a fine structure, the outer tube 501 is sleeved outside the inner tube 502, so that the inner tube 502 and the outer tube 501 form the storage tube 500, the production and the manufacture are convenient, and the production and the manufacture of small washing equipment operated under an endoscope of an end execution instrument are particularly facilitated. The inner tube 502 is provided with a channel, the outer tube 501 is also provided with a channel, the inner tube 502 and the outer tube 501 only need to be connected together, the depth of the inner tube 502 inserted into the outer tube 501 can be set arbitrarily according to actual needs, the channel of the inner tube 502 is communicated with the channel of the outer tube 501, the channel of the inner tube 502 and the channel of the outer tube 501 jointly form a movement channel of the clip 400, and the clip 400 can be retracted into the movement channel from a far end.

The clip 400 includes a first clip piece 410, a second clip piece 420 and a connecting pin 601, the first clip piece 410 and the second clip piece 420 are connected by the connecting pin 601, both ends of the connecting pin 601 in this embodiment form a locking protrusion 602, but not limited thereto, one end of the connecting pin 601 may form the locking protrusion 602, the connecting pin 601 not only plays a role of connecting the first clip piece 410 and the second clip piece 420, but also plays a role of locking the clip 400, and the structure is simple. When the two ends of the connecting pin 601 form the locking protrusions 602, the number of the resilient pieces 510 is two, and the two resilient pieces correspond to the two ends of the connecting pin 601 respectively. The clip 400 further includes an elastic ring 402, the elastic ring 402 is sleeved outside the connecting pin 601, the elastic ring 402 is located between the first clip piece 410 and the second clip piece 420, the elastic ring 402 is compressed by the first clip piece 410 and the second clip piece 420, the elastic ring 402 provides elastic force, and the elastic direction of the elastic ring 402 is a direction in which the first clip piece 410 and the second clip piece 420 are away from each other at a position where the elastic ring 402 abuts against. Preferably, the elastic ring 402 is a coil spring, and the coil spring is sleeved outside the connecting pin 601 through the coil thereof. A first bending part 411 bent toward the second clamping piece 420 is arranged at the proximal end of the first clamping piece 410, a first hole 412 is arranged on the first bending part 411, a second bending part 421 bent toward the first clamping piece 410 is arranged at the proximal end of the second clamping piece, and a second hole 422 is arranged on the second bending part 421; at least a part of the first hole 412 and the second hole 422 overlap and communicate, and a part of the first hole 412 and the second hole 422 overlap and communicate constitutes a socket hole 432. Herein, "at least partially" overlapping includes partially overlapping communication, completely overlapping communication, where partially overlapping communication means that the first hole 412 and the second hole 422 are slightly staggered and do not completely overlap, and completely overlapping communication means that the first hole 412 completely overlaps within the range of the second hole 422 or the second hole 422 completely overlaps within the range of the first hole 412. After the first hole 412 and the second hole 422 communicate with each other, a portion where the first hole 412 and the second hole 422 communicate with each other constitutes a socket hole 432.

The delivery device comprises a handle 110, a sliding part 120, a sheath 200 and a mandrel 210, wherein the mandrel 210 is arranged in a channel of the sheath 200, the proximal end of the mandrel 210 is connected with the sliding part 120, and the proximal end of the sheath 200 is connected with the handle 110. The sliding portion 120 can slide on the handle 110 to move the mandrel 210 proximally or distally.

The far end of the mandrel 210 is provided with a connecting end 211, the far end of the sheath tube 200 is provided with an end cover 201, and the inner wall of the end cover 201 is provided with a limiting recess 202; the limiting concave 202 is used for matching with the limiting convex 520 to complete the connection and the release of the sheath 200 and the inner tube 502. When the sheath 200 is sleeved outside the limiting protrusion 520, the connecting end 211 can extend into or withdraw from the inner tube 502: when the connecting end 211 extends into the inner tube 502, the limiting protrusion 520 is extruded by the connecting end 211 to extend into the limiting recess 202, the inner tube 502 and the sheath tube 200 are connected with each other, the sheath tube 200 is pushed to move towards the distal end, the accommodating tube 500 is also pushed to move towards the distal end, the sheath tube 200 is pulled to move towards the proximal end, and the accommodating tube 500 is also driven to move towards the proximal end; when the connection tip 211 is withdrawn from the inner tube 502, the stopper protrusion 520 is withdrawn from the stopper recess 202, and the connection relationship between the storage tube 500 and the sheath 200 is released, for example, when the clip 400 is tied, the sheath 200 can be taken out alone, and the clip 400 is left at the lesion to keep the ligation.

The distal end of the mandrel 210 is provided with a large diameter part 212 and a small diameter part 213, the large diameter part 212 is positioned at the distal end of the small diameter part 213, the small diameter part 213 is positioned at the distal end of the connecting end 211, the diameter of the large diameter part 212 is larger than that of the small diameter part 213, the distal end of the connecting end 211 is provided with the large diameter part 212 and the small diameter part 213, the small diameter part 213 is positioned between the large diameter part 212 and the connecting end 211, and the diameter of the large diameter part 212 is larger than that of the small diameter. The small diameter portion 213 may be the same or different in diameter from the connection tip 211. Alternatively, minor diameter 213 is a portion of the distal end of connecting tip 211. The communicating portion between the first hole 412 and the second hole 422 of the clip 400 forms a sleeve hole 432, and the large-diameter portion 212 needs to pass through the first hole 412 and the second hole 422 to complete the connection. The elastic force of the elastic ring 402 makes the first clip 410 and the second clip 510 tend to be away from each other, so that the first hole 412 and the second hole 422 tend to be staggered, and the aperture of the engaging hole 432 tends to be reduced.

The distal end of the outer tube 501 is provided with a stopper 513, the stopper 513 extends into the passage of the receiving tube 500, and the stopper 513 is located at the distal end of the connecting pin 601, so that the clip 400 can be prevented from being released from the distal end of the receiving tube 500 due to the stopper of the stopper 513.

The outer tube 501 is further provided with a spring plate 510, the inner tube 502 and the outer tube 501 are both provided with channels, the channels of the inner tube 502 and the outer tube 501 are communicated to form a channel for accommodating the tube 500, at least part of the spring plate 510 extends into the channel for accommodating the tube 500, and the part of the spring plate 510 extending into the channel for accommodating the tube 500 forms a locking part 511; in this embodiment, the clip 400 is provided with locking protrusions 602, that is, both ends of the connecting pin 601 constitute locking protrusions 602 corresponding to the locking portions 511 of the two resilient sheets 510, respectively, and the locking protrusions 602 are used to lock the positional relationship between the clip 400 and the accommodating tube 500 and prevent the clip 400 from moving from the distal end of the accommodating tube 500 to be opened.

The clip 400 can be received in the passage of the receiving tube 500 from the distal end of the receiving tube 500, the clip 400 can move toward the distal end of the receiving tube 500 when the locking protrusion 602 is located at the distal end of the locking portion 511, the clip 400 can be gradually closed by the pressing of the receiving tube 500 when the clip 400 is moved to the locking portion 511 or the vicinity of the locking portion 511, the locking protrusion 602 presses the locking portion 511 outward, the resilient piece 510 can be deformed to make the locking portion 511 escape from the locking protrusion 602 outward, the locking protrusion 602 moves to the proximal end of the locking portion 511 through the locking portion 511, at this time, the clip 400 is closed, the locking portion 511 is located at the distal end of the locking protrusion 602, when the locking protrusion 602 passes over the locking portion 511, the locking portion 511 springs back, the locking portion 511 extends into the receiving tube 500, the locking portion 511 is located on the path of the distal end movement of the locking protrusion 602 to block the distal end movement of the locking protrusion 602, and thus, the clip 400 is locked by the locking, the clip 400 cannot move toward the distal end of the receiving tube 500, so that the clip 400 is prevented from being re-opened after being closed, and the spring 510 and the locking portion 511 have simple structures. Wherein, the resilience of the elastic sheet 510 satisfies: the locking portion 511 can be retracted when the locking protrusion 602 is pressed, the locking portion 511 can rebound after the locking protrusion 602 passes over the locking portion 511 to block the locking portion 511, it does not mean that the elastic sheet 510 is made of an elastic material, actually, the elastic sheet 510 can be made of any material, preferably, the material of the elastic sheet 510 is the same as that of the accommodating tube 500, the elastic sheet 510 is a part of the cut-open side wall of the accommodating tube 500, one end of the elastic sheet 510 is connected with the side wall of the accommodating tube 500, and the other end of the elastic sheet extends into the channel of the accommodating tube 500.

The inner tube 502 is provided with a guide groove 503, and the locking protrusion 602 is slidable in the guide groove 503. The guide rail groove 503 guides the locking protrusion 602 to move to the position of the locking portion 511, which is beneficial for completing the locking. Preferably, the locking part 511 is extended into the rail groove 503. The rail groove 503 is provided with a positioning projection 505, the positioning projection 505 is located at the proximal end of the locking portion 511, and the locking projection 602 is located between the positioning projection 505 and the locking portion 511 when the locking portion 511 blocks the locking projection 602 from moving distally. The locking portion 511 restricts the locking protrusion 602 from moving distally of the locking protrusion 602 and the positioning protrusion 505 restricts the locking protrusion 602 from moving proximally, so that the position of the clip 400 is restricted by the locking portion 511 and the positioning protrusion 505 at the same time, and can not move proximally or distally, the closed state of the clip 400 is positioned, and the closed state of the clip 400 is kept stable.

As shown in fig. 9-11, this embodiment further includes a mounting box 700, where mounting box 700 is used to mount the end effector to the delivery device, including the connection of sheath 200 and the containment tube, and the connection of mandrel 210 and clip 400.

The assembly box 700 comprises a shell, the shell is provided with an execution device cavity 710 and an assembly groove 720 which are communicated, the shell comprises a first half box 701 and a second half box 702 in the embodiment, the first half box 701 and the second half box 702 surround to form the execution device cavity 710 and the assembly groove 720, the assembly groove 720 is used for placing a conveying device, the execution device cavity 710 is used for placing an end execution device, and preferably, the end execution device is sterilized and sealed in the assembly box 700 when leaving a factory, so that sanitation and hygiene of the end execution device are ensured.

The fitting box 700 is provided with a fitting groove 720 provided with a groove opening 722 through which the sheath tube 200 is put into the fitting groove 720, and the operation is convenient. Preferably, the slot opening 722 of the mounting slot is located in the plane of the opening of the clip 400. The proximal end of assembly groove 720 is equipped with spacing bayonet 721, and the width of spacing bayonet 721 is less than the width of assembly groove 720, and in spacing bayonet 721 was blocked to sheath 200, the width of spacing bayonet 721 and sheath 200's interference fit, sheath 200 was difficult to deviate from spacing bayonet 721 when there was not external force, conveniently fixes a position sheath 200 to accomplish the assembly more easily.

The effector lumen 710 is provided with a mounting boss 730. The assembling protrusion 730 is used for abutting against the accommodating tube 500, during assembling, the accommodating tube 500 abuts against the assembling protrusion 730, the sheath tube 200 is placed into the assembling groove 720, the sheath tube 200 is pushed to move from the proximal end to the distal end, the sheath tube 200 is sleeved outside the inner tube 502, at this time, the mandrel 210 is pushed to move from the proximal end to the distal end, the connecting end 211 of the mandrel 210 is inserted into the channel of the inner tube 502, the inner tube 502 is connected with the sheath tube 200, the mandrel 210 is continuously moved to the distal end, the mandrel 210 is inserted into the sleeving hole 432, and the mandrel 210 is connected with the clip 400. In this process, since the fitting protrusion 730 abuts against the receiving tube 500, the receiving tube 500 is prevented from moving to the distal end when the sheath 200 or the core 210 moves from the proximal end to the distal end, and the fitting is facilitated.

The assembly process is as follows:

as shown in fig. 14, the end effector is pre-loaded in the effector lumen 710, the distal end of the outer tube 501 of the clip 400 abuts against the mounting boss, the clip 400 is in an open state, and the clip 400 cannot fall out of the effector lumen 710;

as shown in fig. 15, the delivery device is placed into the delivery device groove from the groove opening 722 on the side surface, the distal end of the sheath 200 is butted against the proximal end of the receiving tube 500, the proximal end of the sheath 200 is embedded into the limit bayonet 721 as shown in fig. 16 and 17, and finally, the end cap 201 of the sheath 200 is sleeved outside the inner tube 502; in this embodiment, as shown in fig. 12, the cross section of the limiting bayonet 721 is gradually reduced from the groove opening 722 of the assembling groove 720 to the groove bottom, and when the sheath 200 is placed into the assembling groove 720 from the groove opening 722, the sheath 200 is gradually clamped by the limiting bayonet 721; but not limited to this embodiment, it may also be that, as shown in fig. 13, the cross section of the limiting bayonet 721 includes a narrow section and a wide section in sequence from the groove opening 722 of the assembling groove to the groove bottom, the width of the narrow section is smaller than that of the wide section, and in the process of placing the sheath 200 into the assembling groove 720 from the groove opening 722, the sheath 200 is clamped between the narrow section and the wide section after passing through the narrow section.

As shown in fig. 18 and 19, the mandrel 210 is pushed to move distally, so that the connection end 211 is inserted into the channel of the inner tube 502 and the large diameter portion 212 passes through the socket hole 432. After the connecting end 211 is inserted into the channel of the inner tube 502, the limiting protrusion 520 is extruded by the connecting end 211 and extends into the limiting recess 202, the inner tube 502 and the sheath tube 200 are connected with each other, the sheath tube 200 is pushed to move towards the distal end, the accommodating tube 500 is also pushed to move towards the distal end, the sheath tube 200 is pulled to move towards the proximal end, and the accommodating tube 500 is also driven to move towards the proximal end; after the large-diameter part 212 passes through the sleeve hole 432, the sleeve hole 432 is clamped on the small-diameter part 213, the clip 400 is connected with the mandrel 210, and the movement of the mandrel 210 can drive the clip 400 to move together. At this time, the clip 400 and the mandrel 210 are connected, and the sheath tube 200 and the storage tube 500 are connected;

as shown in FIG. 20, the mandrel 210 is pulled to move proximally, which in turn moves the clip 400 proximally, and the clip 400 is squeezed closed by the receiving tube 500, and after the clip 400 is closed, the clip 400 can be removed from the actuator lumen 710 as shown in FIG. 21.

In this manner, the assembly of the conveyor and the end effector is completed.

The assembled end effector can be used for ligation and other operations:

as shown in fig. 22, the end effector is delivered to the lesion under the endoscope and picks up the body tissue 800 ready for ligation;

as shown in fig. 23, the mandrel 210 is pulled to move proximally, the clip 400 is also moved proximally, the clip 400 is gradually closed to ligate, when clip 400 moves to locking portion 511 or near locking portion 511, locking protrusion 602 presses locking portion 511 outward, spring 510 may deform, causing locking portion 511 to recede outward from locking protrusion 602, allowing locking protrusion 602 to move through locking portion 511 to the proximal end of locking portion 511, at which time, clip 400 closes and locking portion 511 is located at the distal end of locking protrusion 602, after the locking protrusion 602 passes over the locking part 511, the locking part 511 is rebounded, the locking part 511 is extended into the receiving tube 500, the locking part 511 is located on the path of the distal movement of the locking protrusion 602, blocks the distal movement of the locking protrusion 602, thus, the clip 400 is locked by the locking protrusion 602 and the locking portion 511, and the clip 400 cannot move toward the distal end of the receiving tube 500, thereby preventing the clip 400 from being reopened after being closed, and ensuring the stability of ligation.

As shown in fig. 24, after ligation, the mandrel 210 is pulled to move proximally, the connection end 211 is withdrawn from the channel of the inner tube 502, and the connection relationship between the sheath 200 and the inner tube 502 is released; the large-diameter portion 212 is disengaged from the receiving hole 432, and the connection between the mandrel 210 and the clip 400 is released. At this point, the connection between the delivery device and the end effector is released, allowing the delivery device to be removed and the end effector to remain in the ligated state.

Example two

The technical features of the first embodiment can be applied to the second embodiment, and the difference between the second embodiment and the first embodiment is as follows:

as shown in fig. 25 to 27, the side wall of the accommodating tube 500 is provided with a spreading window 550, the spreading window 550 is communicated with the channel of the accommodating tube 500, and the first clamping piece 410 and the second clamping piece 420 are spread by the spreading window 550, so that the aperture of the sleeving hole 432 is increased, and the insertion of the large-diameter part 212 of the mandrel 210 is facilitated. The outer tube 501 may be provided with a distraction window 550, the inner tube 502 may be provided with a distraction window 550, or both the inner tube 502 and the outer tube may be provided with distraction windows 550 communicated with each other.

The casing is further provided with an operation window 705, the operation window 705 is communicated with the execution device cavity 710, and in the embodiment, the first half box 701 and the second half box 702 are both provided with the operation window 705. The end effector or delivery device can be manipulated during assembly through the access window 705 to facilitate connection of the end effector and delivery device. The diameter of the sleeve aperture 432 can be maintained by the handle portion spreading the first and

second jaws

410, 420 apart, facilitating insertion of the distal end of the mandrel 210 into the sleeve aperture 432 to complete the connection of the mandrel 210 and the clip 400.

The assembly box 700 further comprises an opening portion 900, the opening portion 900 extends into the execution device cavity 710 through the operation window 705, and the assembly box 700 is provided with the opening portion 900, so that the sleeving hole 432 is conveniently opened. As shown in fig. 28 to 30, the head of the expanding portion 900 is provided with a recess 910, the width of the recess 910 gradually decreases from the opening of the recess 910 to the bottom of the recess 910, the inner wall of the recess 910 forms a compression surface, when the first clip piece 410 and the second clip piece 420 move from the opening of the recess 910 to the bottom of the recess 910, the first clip piece 410 and the second clip piece 420 are pressed by the inner wall of the recess 910 to approach each other, the overlapping area of the first hole 412 and the second hole 422 increases, that is, the aperture of the receiving hole 432 increases, and insertion of the large-diameter portion 212 is facilitated.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An end effector instrument, comprising:

the end part executing device comprises a clamp and a containing pipe, the containing pipe comprises an inner pipe and an outer pipe, and the outer wall of the inner pipe is provided with a limiting protrusion;

the conveying device comprises a sheath tube and a mandrel, the mandrel is arranged in a channel of the sheath tube, a connecting end is arranged at the far end of the mandrel, and a limiting recess is formed in the inner wall of the sheath tube;

when the sheath pipe is sleeved outside the limiting protrusion, the connecting end head can extend into or withdraw from the inner pipe, and when the connecting end head extends into the inner pipe, the limiting protrusion is extruded by the connecting end head and extends into the limiting recess; when the connecting end head is withdrawn from the inner tube, the limiting protrusion is withdrawn from the limiting recess.

2. The end effector of claim 1, wherein the clip has a locking protrusion, the outer tube has a resilient tab, the inner tube and the outer tube each have a channel, the channels of the inner tube and the outer tube are in communication to form a channel of the containment tube, the resilient tab has at least a portion that extends into the channel of the containment tube, the portion of the resilient tab that extends into the channel of the containment tube forms a locking portion;

when the locking part is positioned at the far end of the locking protrusion, the locking part is positioned on the path of the locking protrusion moving towards the far end and blocks the locking protrusion from moving towards the far end.

3. The end effector as claimed in claim 2, wherein the inner tube is provided with a guide groove in which the locking projection is slidable, the guide groove being provided with a positioning projection located at a proximal end of the locking portion, the locking projection being located between the positioning projection and the locking portion when the locking portion blocks distal movement of the locking projection.

4. The end effector of claim 2, wherein the clip comprises a first clip piece, a second clip piece, and a connecting pin, the first clip piece and the second clip piece being connected by the connecting pin, one end of the connecting pin constituting the locking protrusion, or both ends of the connecting pin constituting the locking protrusion, the clip further comprising an elastic ring, the elastic ring being sleeved outside the connecting pin, the elastic ring being located between the first clip piece and the second clip piece.

5. The end effector of claim 4, wherein the proximal end of the first clip piece is provided with a first bend that bends toward the second clip piece, the first bend is provided with a first hole, the proximal end of the second clip piece is provided with a second bend that bends toward the first clip piece, the second bend is provided with a second hole; at least part of the first hole and the second hole are in overlapped communication, and the overlapped communicated part of the first hole and the second hole forms a sleeving hole;

the distal end of the mandrel is provided with a large diameter part and a small diameter part, the large diameter part is positioned at the distal end of the small diameter part, and the diameter of the large diameter part is larger than that of the small diameter part.

6. The end effector as claimed in any one of claims 1 to 5, wherein a spreader window is provided in a side wall of the receiving tube, the spreader window communicating with the channel of the receiving tube.

7. An assembly kit for assembling the end effector of any of claims 1-6 with a delivery device, wherein: the novel assembly groove structure comprises a shell, the shell is provided with an execution device cavity and an assembly groove, the side face of the assembly groove is provided with a groove opening, the far end of the assembly groove is communicated with the execution device cavity, a limit bayonet is arranged at the near end of the assembly groove, the limit bayonet is communicated with the groove opening, and the width of the limit bayonet is smaller than that of the assembly groove.

8. The fitting box according to claim 7, wherein the cross section of the limiting bayonet comprises a narrow section and a wide section in sequence from the opening of the groove to the bottom of the fitting groove, and the width of the narrow section is smaller than that of the wide section; the shell is also provided with an operation window which is communicated with the execution device cavity.

9. The assembly cassette of claim 8, further comprising a spreader portion extending through the operator window into the effector chamber; the head of the expanding part is provided with a concave part, and the width of the concave part is gradually reduced from the opening of the concave part to the bottom of the concave part; the slot opening is positioned on the opening plane of the clamp; the execution device cavity is provided with an assembly bulge.

10. An assembling method, characterized in that the assembling box according to any one of claims 7 to 9 is used for assembling, and the sheath tube is put into the assembling groove from the groove opening and is clamped into the limiting bayonet; the sheath tube is clamped between the narrow section and the wide section of the limiting bayonet after crossing the narrow section of the limiting bayonet.

11. The assembly method according to claim 10, wherein the end effector in the effector chamber is operated through the operation window to enlarge the diameter of the engaging hole of the clip, and the mandrel of the transport device in the assembly groove is moved to extend the connecting portion of the mandrel into the engaging hole; the operation portion stretches into the execution device cavity through the operation window, stretches into the opening window of the clamp with the operation portion, moves the operation portion to enable the first clamping piece and the second clamping piece of the clamp to be clamped in the concave portion of the operation portion, enables the first clamping piece and the second clamping piece to move towards the bottom of the operation portion, and enables the first clamping piece and the second clamping piece to be squeezed by the inner wall of the concave portion of the operation portion to be close to each other.