CN118680616A - Multi-head clamping device - Google Patents

Abstract

Embodiments of the present specification provide a multi-head clamping device including: at least two clamping components for clamping the article and positioned at the far end of the multi-head clamping device; an auxiliary control assembly, at least part of which interacts with the at least two clamping assemblies along a first direction to provide a force for driving the at least two clamping assemblies to close, wherein the first direction is parallel to the height direction of the multi-head clamping device; and at least two target control assemblies, each of which is connected with one clamping assembly and controls the clamping assembly to move along a second direction so as to change the acting position of acting force and/or acting force, wherein the second direction is parallel to the axial direction of the multi-head clamping device.

Description

Multi-head clamping device

Technical Field

The present invention relates to the field of medical devices, and in particular to a multi-head clamping device.

Background Art

In surgical operations, it is often necessary to use suture needles to suture the wound of the patient. When suturing, the doctor needs to first clamp the tail of the suture needle with a needle holder, pull the suture thread to the wound area to be sutured, and control the needle head of the suture needle to puncture the area to be sutured. After the suture needle passes through the suture area, the doctor needs to control the needle holder to loosen the tail of the suture needle, re-clamp the head of the suture needle, and pull the suture thread to complete the suture at this position. Before suturing the next position, the doctor needs to "re-clamp" the suture needle: the doctor places the clamped suture needle on a clean gauze, controls the needle holder to loosen the head of the suture needle, and re-controls the needle holder to clamp the tail of the suture needle. After the doctor completes the suture of one position, before suturing the next position, the doctor needs to perform the aforementioned "re-clamping" process. This "re-clamping" process is mechanical and cumbersome, which consumes the doctor's energy and prolongs the operation time.

Therefore, it is hoped to provide a multi-head clamping device that can avoid doctors from repeatedly performing the "re-clamping" operation during the suturing process, simplify the suturing operation, and improve surgical efficiency.

Summary of the invention

One or more embodiments of the present specification provide a multi-head clamping device, which includes: at least two clamping assemblies for clamping objects, located at the far end of the multi-head clamping device; an auxiliary control assembly, at least a portion of which interacts with the at least two clamping assemblies along a first direction to provide a force to the at least two clamping assemblies to drive the at least two clamping assemblies to close, wherein the first direction is parallel to the height direction of the multi-head clamping device; at least two target control assemblies, each target control assembly is connected to a clamping assembly, and controls the clamping assembly to move along a second direction to change the force and/or the position of action of the force, wherein the second direction is parallel to the axial direction of the multi-head clamping device.

In some embodiments, the distal end of the auxiliary control component includes at least two abutment portions, each clamping component abuts against one abutment portion, and the height of the abutment portion gradually decreases or increases from the distal end of the abutment portion to the proximal end of the abutment portion.

In some embodiments, the clamping assembly includes a cross-hinged first clamping member and a second clamping member. For each clamping assembly, the distal end of the second clamping member abuts against an abutment portion. When the clamping assembly moves axially along the multi-head clamping device, the distal end of the second clamping member is driven to move along the abutment portion abutting therewith, thereby driving the clamping assembly to open or close.

In some embodiments, at least two guide portions are provided on the auxiliary control assembly, and each clamping assembly cooperates with one guide portion and moves relative to the guide portion along the second direction.

In some embodiments, the guide portion includes at least one of a through hole, a through groove, and a guide rail arranged along the second direction.

In some embodiments, the clamping assembly includes a cross-hinged first clamping member and a second clamping member. For each clamping assembly, the proximal end of the first clamping member in the clamping assembly includes a guide rod, and the guide rod passes through the guide portion that cooperates with the clamping assembly and is connected to one of the target control components.

In some embodiments, the distal end of the target control component includes a control rod, the distal end of the auxiliary control component includes a support rod, the control rods of the at least two target control components are hinged to the support rod of the auxiliary control component, and the multi-head clamping device also includes at least two connecting members, for each connecting member, the distal end of the connecting member is hinged to the guide rod of one of the first clamping members, and the proximal end of the connecting member is hinged to the control rod of one of the target control components.

In some embodiments, the clamping assembly includes a first clamping member, a second clamping member and an elastic member. The first clamping member and the second clamping member are cross-hinged. For each of the clamping assemblies, the two ends of the elastic member are respectively connected to the first clamping member and the second clamping member in the clamping assembly. When the clamping assembly is closed, the elastic member is compressed.

In some embodiments, the target control component includes a control rod and a target control member, wherein the control rod is located at the distal end of the target control component, and the target control member is located at the proximal end of the target control component. For any two target control components, the motion trajectory of the target control member in one target control component does not overlap with the spatial position of the control rod in the other target control component.

In some embodiments, the number of the target control components is two; and/or at least one of the clamping components is used to clamp a suture needle.

BRIEF DESCRIPTION OF THE DRAWINGS

This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

FIG. 1 is an exemplary block diagram of a multi-head clamping device according to some embodiments of the present specification;

FIG2 is a schematic diagram of a multi-head clamping device according to some embodiments of the present specification;

FIG3 is another schematic diagram of a multi-head clamping device according to some embodiments of this specification;

FIG4 is another schematic diagram of a multi-head clamping device according to some embodiments of this specification;

FIG5 is another schematic diagram of a multi-head clamping device according to some embodiments of this specification;

FIG6 is a schematic diagram of another multi-head clamping device according to some embodiments of this specification;

FIG7A is a schematic diagram of the use of a single-head needle holding forceps;

FIG7B is another schematic diagram of the single-head needle holding forceps in use;

FIG. 7C is another schematic diagram of the single-head needle holding forceps in use.

DETAILED DESCRIPTION

In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, without paying creative work, this specification can also be applied to other similar scenarios based on these drawings. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

It should be understood that the "system", "device", "unit" and/or "module" used herein are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and/or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprises" and "includes" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

Flowcharts are used in this specification to illustrate the operations performed by the system according to the embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed precisely in order. Instead, the steps may be processed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or one or more operations may be removed from these processes.

FIG. 1 is an exemplary block diagram of a multi-head clamping device according to some embodiments of the present specification.

The multi-head clamping device 100 is used to clamp items. For example, the multi-head clamping device 100 can clamp suture needles. For another example, the multi-head clamping device 100 can also clamp gauze, patient tissue or other items.

In some embodiments, an operator (e.g., a doctor) can directly or indirectly manipulate the multi-head clamping device 100. For example, the operator can directly hold the multi-head clamping device 100 shown in FIG. 2 with their hands to achieve manipulation. For another example, the multi-head clamping device 100 can be set at the operating end of a control device (e.g., a surgical robot), and the operator can control the control device to achieve manipulation of the multi-head clamping device 100.

To facilitate the description of various embodiments later in this specification, the orientation of the multi-head clamping device 100 is now described. As shown in Figure 3, the distal end described in various embodiments of this specification is the end closer to the patient, and the proximal end is the end farther from the patient. The height direction of the multi-head clamping device 100 is the direction in which at least one group of clamping members (for example, the first clamping member 111 and the second clamping member 112) of the clamping assembly 110 move away from or approach each other; the axial direction of the multi-head clamping device 100 is the extension direction of the multi-head clamping device 100, and the axial direction of the multi-head clamping device 100 can also be referred to as the length direction of the multi-head clamping device 100; the width direction of the multi-head clamping device 100 is a direction that is perpendicular to both the height direction and the axial direction of the multi-head clamping device 100.

In some embodiments, as shown in FIG. 1 , the multi-head clamping device 100 may include at least two clamping assemblies 110 , an auxiliary control assembly 120 , and at least two target control assemblies 130 .

The clamping assembly 110 can be used to clamp an object.

As shown in FIG. 2 and FIG. 3 , each clamping assembly 110 may include two cross-hinged first clamping members 111 and second clamping members 112, and the first clamping members 111 and second clamping members 112 may rotate around a hinge point (for the convenience of the following description, the first clamping members 111 and second clamping members 112 may be referred to as first hinge point A). The partial structures of the first clamping members 111 and second clamping members 112 located at the distal end of the first hinge point A may cooperate with each other to achieve the clamping of the article, wherein the partial structure of the first clamping member 111 located at the distal end of the first hinge point A is below the partial structure of the second clamping member 112 located at the distal end of the first hinge point A in the height direction. Other structures in the multi-head clamping device 100 (for example, the auxiliary control assembly 120, the target control assembly 130, etc.) may cooperate with the partial structures of the first clamping members 111 and second clamping members 112 located at the proximal end of the first hinge point A to control the opening and closing of the clamping assembly 110. The partial structure of the first clamping member 111 located near the first hinge point A is above the partial structure of the second clamping member 112 located near the first hinge point A in the height direction.

One or more of the first clamping member 111 and the second clamping member 112 can rotate around the first hinge point A, and the angle between the first clamping member 111 and the second clamping member 112 changes accordingly, thereby achieving the closing or opening of the clamping assembly 110 .

In some embodiments, at least one of the clamping assemblies 110 in the multi-head clamping device 100 is used to clamp a suture needle. For example, as shown in FIG2 , when the multi-head clamping device 100 includes two clamping assemblies 110 for clamping a suture needle, the multi-head clamping device 100 can be a double-head needle holder.

In some embodiments, the clamping assembly 110 can also be used to clamp other items. Depending on the clamped items, the structures of the first clamping member 111 and the second clamping member 112 in the corresponding clamping assembly 110 may also be different. For example, when the clamping assembly 110 is used to clamp a suture needle, the clamping assembly 110 can be a needle holding forceps head, as shown in FIG2 , the first clamping member 111 and the second clamping member 112 in the clamping assembly 110 can be provided with a semicircular hole on one side close to the other, and the clamping assembly 110 can form a plurality of through holes of different apertures when closed to clamp suture needles of different sizes. For another example, when the clamping assembly 110 is used to clamp blood vessels, control bleeding, and clamp tissues, the clamping assembly 110 can be a hemostatic forceps head (such as a pointed hemostatic forceps head, a serrated hemostatic forceps head, etc.).

In some embodiments, the multi-head clamping device 100 may include at least two clamping assemblies 110. The at least two clamping assemblies 110 may be arranged along the width direction of the multi-head clamping device 100, or along other directions (eg, height direction) of the multi-head clamping device 100.

The types of the at least two clamping assemblies 110 mentioned above may be the same or different. For example, as shown in FIG2 , the multi-head clamping device 100 may include two needle holding forceps heads. For another example, the multi-head clamping device 100 may include a needle holding forceps head and a hemostatic forceps head, so as to facilitate the performance of multiple operations. When the types of the at least two clamping assemblies 110 mentioned above are the same, the model, size, etc. of the clamping assemblies 110 may be the same or different. For example, the two needle holding forceps heads in the multi-head clamping device 100 may be exactly the same. For another example, the sizes of the two needle holding forceps heads in the multi-head clamping device 100 may be different. For another example, the two hemostatic forceps heads in the multi-head clamping device 100 may be a pointed hemostatic forceps head and a serrated hemostatic forceps head, respectively.

In some embodiments, when the multi-head clamping device 100 is clamping, each clamping assembly 110 in the multi-head clamping device 100 can clamp different parts of the same object. For example, two clamping assemblies 110 in the multi-head clamping device 100 can clamp the head and tail of a suture needle respectively, wherein the head of the suture needle is the end of the suture needle that pierces the patient, and the tail of the suture needle is the other end of the suture needle. Each clamping assembly 110 in the multi-head clamping device 100 can clamp different objects. For example, two clamping assemblies 110 in the multi-head clamping device 100 can clamp different suture needles respectively.

In some embodiments, when the multi-head clamping device 100 is clamping, some clamping assemblies 110 can clamp, and some clamping assemblies 110 do not clamp. For example, the multi-head clamping device 100 may include two clamping assemblies 110, one of which can clamp the suture needle, and the other clamping assembly 110 does not clamp.

In some embodiments, when the clamping assembly 110 is a needle holder, the minimum distance between two adjacent clamping assemblies 110 of the multi-head clamping device 100 can be 2 to 15 mm, so as to facilitate clamping of different suture needles. In some embodiments, the distance between two adjacent clamping assemblies 110 in different models of multi-head clamping devices 100 is different, and the operator can select the corresponding model of multi-head clamping device 100 as needed. In some embodiments, the distance between two adjacent clamping assemblies 110 in the multi-head clamping device 100 is adjustable, and the operator can adjust the distance between two adjacent clamping assemblies 110 in the multi-head clamping device 100 as needed.

In some embodiments, as shown in FIG2 , the clamping planes of two adjacent clamping assemblies 110 of the multi-head clamping device 100 may be arranged in parallel. The aforementioned clamping plane may be a plane where the clamping assembly 110 contacts the clamped object. In some embodiments, the clamping planes of two adjacent clamping assemblies 110 of the multi-head clamping device 100 may have an angle. For example, the angle between the clamping planes of two adjacent clamping assemblies 110 of the multi-head clamping device 100 may be 0° to 45°, so as to facilitate clamping of objects in different directions.

The auxiliary control component 120 is used to cooperate with the target control component 130 to realize the control of the clamping component 110. When the operator controls the multi-head clamping device 100, the auxiliary control component 120 may not move to realize the control of the clamping component 110. For example, in the multi-head clamping device 100 shown in FIG2, when the operator controls the opening or closing of the clamping component 110, the state (e.g., position, angle, etc.) of the auxiliary control component 120 may not change.

In some embodiments, the multi-head clamping device 100 may include only one auxiliary control component 120 , and the auxiliary control component 120 may cooperate with at least two target control components 130 to control at least two clamping components 110 in the multi-head clamping device 100 .

In some embodiments, the multi-head clamping device 100 may also include a plurality of auxiliary control components 120 , and each auxiliary control component 120 may cooperate with a target control component 130 to achieve control of a clamping component 110 .

In some embodiments, the auxiliary control assembly 120 may be connected to the control device, and the control device may be used to control the auxiliary control assembly 120. For example, the control device may be connected to the auxiliary control assembly 120 by threads, buckles, or other means, and when the control device controls the opening or closing of the clamping assembly 110 in the multi-head clamping device 100, the control device supports the auxiliary control assembly 120 to prevent its state from changing.

In some embodiments, the auxiliary control assembly 120 may also be provided with an auxiliary control member 121, and the auxiliary control member 121 may be operated by an operator to control the auxiliary control assembly 120. For example, as shown in FIG2 , the auxiliary control member 121 may be a finger ring, and the thumb of the operator may be placed in the finger ring, and when operating the multi-head clamping device 100, the auxiliary control assembly 120 may be supported by the finger ring to prevent its state from changing.

In some embodiments, as shown in FIG2 , at least a portion of the auxiliary control assembly 120 interacts with at least two clamping assemblies 110 along a first direction d1 to provide a force to the at least two clamping assemblies 110 to drive the at least two clamping assemblies 110 to close, and the first direction d1 is parallel to the height direction of the multi-head clamping device 100. It can be understood that since the height direction of the multi-head clamping device 100 is the opening and closing direction of the clamping assembly 110, when at least a portion of the auxiliary control assembly 120 interacts with the clamping assembly 110 along the first direction d1, at least a portion of the auxiliary control assembly 120 can provide a force to the clamping assembly 110, and the aforementioned force is directed upward along the height direction of the multi-head clamping device 100, so the clamping assembly 110 can be driven to close. For example, the auxiliary control assembly 120 includes at least two limiting grooves, the height of which gradually decreases or increases from the distal end of the limiting groove to the proximal end of the limiting groove. For each clamping assembly 110, the distal end of the second clamping member 112 in the clamping assembly 110 is limited in the aforementioned limiting groove. When the clamping assembly 110 moves along the axial direction of the multi-head clamping device 100, the distal end of the second clamping member 112 is driven to move along the limiting groove. Since there is a height difference between the distal end and the proximal end of the limiting groove, the second clamping member 112 rotates around the first hinge point A when moving along the limiting groove to drive the clamping assembly 110 to open or close. For another example, the auxiliary control assembly 120 includes at least two abutment portions 122. For each clamping assembly 110, when the clamping assembly 110 moves along the corresponding abutment portion 122, the corresponding abutment portion 122 can interact with the clamping assembly 110 along the first direction d1, thereby driving the clamping assembly 110 to close. For more information about the abutment portion 122 , please refer to the relevant description below in this specification.

In some embodiments, for each clamping assembly 110, the clamping assembly 110 can be driven to open under the action of gravity and/or the elastic force of the elastic member. For more information on how to drive the clamping assembly 110 to open, please refer to the relevant description below in this specification.

The target control component 130 is used to cooperate with the auxiliary control component 120 to realize the control of the clamping component 110. When the operator controls the multi-head clamping device 100, the target control component 130 can move to realize the control of the clamping component 110. For example, in the multi-head clamping device 100 shown in FIG. 2, the operator can control the state (e.g., position, angle, etc.) of the target control component 130 to change, so as to drive the corresponding clamping component 110 to open or close.

In some embodiments, the target control assembly 130 can be connected to the control device, and the target control assembly 130 can be controlled by the control device. For example, the control device can be connected to the target control assembly 130 by threads, buckles or other means. When the clamping assembly 110 in the multi-head clamping device 100 is controlled to open or close by the control device, the control device can control the target control assembly 130, so that the clamping assembly 110 connected to the target control assembly 130 can be driven to move along the second direction. The specific type of movement of the target control assembly 130 that can be controlled by the control device can be determined according to the setting method of the target control assembly 130.

In some embodiments, the target control component 130 may also be provided with a target control member 131, which is located at the proximal end of the target control component 130, and the target control member 131 may be operated by an operator to operate the target control component 130. For example, the multi-head clamping device 100 shown in FIG2 may include two target control members 131, and the two target control members 131 may both be finger rings, and the index finger and middle finger of the operator may be placed in the two finger rings respectively to achieve the operation of the target control component 130. In some embodiments, the target control component 130 may also include other structures. For example, the target control component 130 shown in FIG2 may also include a control rod 132, wherein the control rod 132 may be located at the distal end of the target control component 130. For another example, the target control component 130 may also include a connector 133. For more information about the control rod 132 and the connector 133, please refer to the relevant description below in this specification.

In some embodiments, the multi-head clamping device 100 may include at least two target control components 130 , each target control component 130 is connected to a clamping component 110 , and each target control component 130 can cooperate with the auxiliary control component 120 to achieve control of a clamping component 110 .

In some embodiments, for any two target control components 130, the motion trajectory of the target control member 131 in one target control component 130 does not overlap with the spatial position of the control rod 132 in the other target control component 130. For example, as shown in FIGS. 3 to 5, at least part of the control rod 132 in the multi-head clamping device 100 can be set as an arc structure to ensure that the motion trajectory of the target control member 131 in one target control component 130 does not overlap with the spatial position of the control rod 132 in the other target control component 130, so as to avoid the target control members 131 and the control rod 132 in different target control components 130 from overlapping and affecting the use. For another example, as shown in FIGS. 3 to 5, when the target control member 131 is a finger ring, the positions of the target control members 131 in the multi-head clamping device 100 along the axial direction of the multi-head clamping device 100 can be staggered to avoid overlap when the operator manipulates the target control components 130 separately, so as to facilitate the operator's fingers to pass through the corresponding finger ring for control.

In some embodiments, for each target control component 130, the target control component 130 can control the clamping component 110 to move along the second direction d2 to change the force and/or the position of the force, so that the auxiliary control component 120 can continuously interact with the clamping component 110 to control the opening or closing of the clamping component 110. The second direction d2 is parallel to the axial direction of the multi-head clamping device 100. Exemplarily, as shown in Figures 3 to 5, as the target control component 130 controls the clamping component 110 to move along the second direction d2, the axial position of the clamping component 110 in the multi-head clamping device 100 changes. If the same position in the clamping component 110 can continuously interact with the auxiliary control component 120 (for example, the abutment 122 in the auxiliary control component 120) along the first direction, in this process, the magnitude of the force of the clamping component 110 interacting with the auxiliary control component 120 along the first direction changes, and the position of the force in the clamping component 110 that interacts with the auxiliary control component 120 along the first direction remains unchanged. If different positions in the clamping component 110 can interact with the auxiliary control component 120 (for example, the abutment portion 122 in the auxiliary control component 120) along the first direction, during this process, the magnitude of the force of the clamping component 110 interacting with the auxiliary control component 120 along the first direction changes, and the position of the force in the clamping component 110 interacting with the auxiliary control component 120 along the first direction also changes.

In some embodiments, the target control component 130 can be set in a variety of ways to control the clamping component 110 to move along the second direction d2. For example, the target control component 130 can be a traction member set along the second direction d2, and the traction member can move along the second direction d2, thereby driving the clamping component 110 to move along the second direction d2. For another example, the auxiliary control component 120 is provided with a guide portion set along the second direction d2, and the clamping component 110 can be connected to the target control component 130 through the aforementioned guide portion, so that the movement of the target control component 130 can drive the clamping component 110 to move along the second direction d2. For more information about the aforementioned examples, please refer to the relevant description below in this specification.

In some embodiments of the present specification, through the multi-head clamping device 100 set up as above, the operator can realize the separate control of each clamping component 110 through the auxiliary control component 120 and the target control component 130, so that each clamping component 110 can clamp the object separately and facilitate operation.

The following description of the present invention will describe the configuration related to controlling the movement of the clamping assembly 110 along the second direction d2 by the guide portion.

In some embodiments, at least two guide parts may be provided on the auxiliary control assembly 120, and each clamping assembly 110 may cooperate with one guide part and move relative to the guide part along the second direction d2. The guide part may limit the movement direction of the first clamping member 111 in the clamping assembly 110, so that the operator may control the first clamping member 111 in the clamping assembly 110 to move along the second direction d2 through the auxiliary control assembly 120 and the target control assembly 130. When the clamping assembly 110 moves along the second direction d2, the angle between the first clamping member 111 and the axial direction of the multi-head clamping device 100 remains unchanged.

In some embodiments, the guide portion includes at least one of a through hole, a through slot, and a guide rail arranged along the second direction d2. At least two guide portions in the multi-head clamping device 100 may be the same or different. For example, the multi-head clamping device 100 may include two guide portions, both of which are guide rails arranged along the second direction d2. For another example, the multi-head clamping device 100 may include two guide portions, one of which is a guide rail arranged along the second direction d2, and the other guide portion is a through hole arranged along the second direction d2.

In some embodiments, for each clamping assembly 110, the proximal end of the first clamping member 111 in the clamping assembly 110 includes a guide rod 1111, and the guide rod 1111 can extend along the second direction d2. The guide rod 1111 passes through a guide portion that cooperates with the clamping assembly 110 and is connected to a target control assembly 130, thereby, the target control assembly 130 can drive the first clamping member 111 in the clamping assembly 110 to move, and the guide portion can limit the movement direction of the first clamping member 111 to the second direction d2. As shown in FIG2, a support seat 123 is provided on the multi-head clamping device 100, and a through hole 124 is provided on the support seat 123 along the second direction d2, and the guide rod 1111 at the proximal end of the first clamping member 111 can pass through the through hole 124 and be connected to the target control assembly 130.

In some embodiments, as shown in FIG2 , the distal end of the target control assembly 130 includes a control rod 132, the distal end of the auxiliary control assembly 120 includes a support rod 125, and the control rods 132 of at least two target control assemblies 130 are hinged to the support rod 125 of the auxiliary control assembly 120. For ease of explanation, the hinge point where the control rods 132 of at least two target control assemblies 130 are hinged to the support rod 125 can be referred to as a second hinge point B. As shown in FIG2 , the control rod 132 can be connected to the target control member 131, so that the operator can control the control rod 132 to rotate around the second hinge point B through the target control member 131.

In some embodiments, the target control assembly 130 further includes at least two connecting members 133. As shown in FIG2 , for each target control assembly 130, the distal end of the connecting member 133 in the target control assembly 130 is hinged to a guide rod 1111, and the proximal end of the connecting member 133 is hinged to a control rod 132 in the target control assembly 130. For ease of description, the hinge point where the connecting member 133 is hinged to the guide rod 1111 can be referred to as a third hinge point C, and the hinge point where the connecting member 133 is hinged to the control rod 132 can be referred to as a fourth hinge point D.

Based on the above settings, the operator can control the control rod 132 to rotate around the second hinge point B through the target control part 131. The rotation of the control rod 132 drives the corresponding connecting part 133 to move through the fourth hinge point D. Since the connecting part 133 and the guide rod 1111 are hinged around the third hinge point C, and the guide rod 1111 can only move along the second direction d2, the movement of the connecting part 133 can drive the guide rod 1111 to move along the second direction d2 through the third hinge point C.

As shown in FIGS. 3 to 5 , the operator can control the control rod 132 to rotate clockwise around the second hinge point B through the target control member 131, thereby driving the connecting member 133 to move clockwise through the fourth hinge point D. However, due to the limitation of the guide portion, the end of the connecting member 133 hinged to the guide rod 1111 can only move along the second direction d2. Correspondingly, the clockwise movement of the connecting member 133 can drive the end of the connecting member 133 hinged to the guide rod 1111 to move parallel to the axial direction of the multi-head clamping device 100 toward the proximal end of the multi-head clamping device 100. In some embodiments of the present specification, the first clamping member 111 can move along the second direction d2 through the above-mentioned arrangement. Since the first clamping member 111 is connected to other components of the clamping assembly 110 (for example, the second clamping member 112, the elastic member, etc.), it can also drive other components of the clamping assembly 110 to move along the second direction d2.

The following description will describe the configuration related to the interaction between the abutting portion and the clamping assembly 110 along the first direction d1.

In some embodiments, the auxiliary control assembly 120 may include at least two abutment portions 122, each clamping assembly 110 abuts against one abutment portion 122, and the height of the abutment portion 122 gradually decreases or increases from the distal end of the abutment portion 122 to the proximal end of the abutment portion 122. As shown in FIG. 2 and FIG. 3, the distal end of the auxiliary control assembly 120 includes two abutment portions 122, and the height of the abutment portion 122 gradually decreases from the distal end of the abutment portion 122 to the proximal end of the abutment portion 122. As shown in FIG. 6, the height of the abutment portion 122 gradually increases from the distal end of the abutment portion 122 to the proximal end of the abutment portion 122. The height described in the above specification may be the distance in the height direction between the corresponding position and the lowest point of the multi-head clamping device 100.

The height change between the distal end of the abutment portion 122 and the proximal end of the abutment portion 122 forms an inclined structure, and the aforementioned inclined structure constitutes the first direction d1. The second clamping member 112 in the clamping assembly 110 can move along the aforementioned inclined structure, thereby, the abutment portion 122 and the clamping assembly 110 can interact with each other along the first direction d1, driving the second clamping member 112 in the clamping assembly 110 to rotate around the first hinge point A, so that the angle between the second clamping member 112 and the axial direction of the multi-head clamping device 100 changes. The angle between the first clamping member 111 and the axial direction of the multi-head clamping device 100 remains unchanged, and the angle between the second clamping member 112 and the axial direction of the multi-head clamping device 100 changes, thereby realizing the opening or closing of the clamping assembly 110.

In some embodiments, the position of the second clamping member 112 that abuts against the abutting portion 122 may be configured as an arc-shaped structure, so that the second clamping member 112 can move smoothly along the abutting portion 122 .

In some embodiments, the angle between the line between the distal end of the abutment portion 122 and the proximal end of the abutment portion 122 and the axial direction of the multi-head clamping device 100 can be in the range of 20°~45°. In some embodiments, the angle between the line between the distal end of the abutment portion 122 and the proximal end of the abutment portion 122 and the axial direction of the multi-head clamping device 100 can be in the range of 25°~40°. In some embodiments, the angle between the line between the distal end of the abutment portion 122 and the proximal end of the abutment portion 122 and the axial direction of the multi-head clamping device 100 can be in the range of 30°~35°. By limiting the aforementioned angle, the second clamping member 112 can be made to move more smoothly along the abutment portion 122, avoiding the second clamping member 112 from changing its angle too fast or too slow, which is inconvenient for the operator to control the opening and closing of the clamping assembly 110.

In some embodiments, the height difference between the distal end of the abutment portion 122 and the proximal end of the abutment portion 122 may be 3 mm to 10 mm. In some embodiments, the height difference between the distal end of the abutment portion 122 and the proximal end of the abutment portion 122 may be 4 mm to 8 mm. In some embodiments, the height difference between the distal end of the abutment portion 122 and the proximal end of the abutment portion 122 may be 5 mm to 7 mm. By limiting the aforementioned height difference, the overall size of the multi-head clamping device 100 is prevented from being too large, and the opening angle of the clamping assembly 110 is prevented from being too large or too small, which is inconvenient for the operator to operate.

In some embodiments, for each clamping assembly 110, the second clamping member 112 of the clamping assembly 110 abuts against an abutment portion 122. When the clamping assembly 110 moves along the second direction d2, the distal end of the second clamping member 112 is driven to move toward and along the abutment portion 122 abutting therewith, thereby driving the clamping assembly 110 to open or close.

As shown in FIGS. 2 to 5 , when the height of the abutting portion 122 gradually increases from the distal end of the abutting portion 122 to the proximal end of the abutting portion 122, if the second clamping member 112 moves toward the proximal end of the abutting portion 122 abutting therewith, since the height of the abutting portion 122 gradually decreases from the distal end of the abutting portion 122 to the proximal end of the abutting portion 122, the second clamping member 112 rotates clockwise around the first hinge point A under the action of gravity. Since the angle between the first clamping member 111 and the axial direction of the multi-head clamping device 100 remains unchanged when the clamping assembly 110 moves along the second direction d2, the angle between the second clamping member 112 and the first clamping member 111 gradually increases, and the clamping assembly 110 gradually opens.

In some embodiments, the clamping assembly 110 may further include an elastic member (not shown in FIGS. 2 to 5 ), and the two ends of the elastic member are respectively connected to the first clamping member 111 and the second clamping member 112 in the clamping assembly 110. For example, the elastic member may be disposed at the distal end of the first hinge point A, and the two ends of the elastic member are respectively connected to the partial structures of the first clamping member 111 and the second clamping member 112 located at the distal end of the first hinge point A. For another example, the elastic member may be disposed at the proximal end of the first hinge point A, and the two ends of the elastic member are respectively connected to the partial structures of the first clamping member 111 and the second clamping member 112 located at the proximal end of the first hinge point A.

In some embodiments, when the clamping assembly 110 is closed, the elastic member is compressed, and during the opening process of the clamping assembly 110, the elastic member can provide elastic force for the first clamping member 111 or the second clamping member 112, so as to facilitate the opening of the first clamping member 111 or the second clamping member 112, and ensure the smoothness and stability of the opening of the clamping assembly 110. That is, when the height of the abutting portion 122 gradually increases from the distal end of the abutting portion 122 to the proximal end of the abutting portion 122, if the second clamping member 112 moves toward the proximal end of the abutting portion 122 abutting therewith, the second clamping member 112 can also rotate clockwise around the first hinge point A under the action of gravity and the elasticity provided by the elastic member.

Correspondingly, if the second clamping member 112 moves toward the distal end of the abutting portion 122 abutting therewith, since the height of the abutting portion 122 gradually decreases from the distal end of the abutting portion 122 to the proximal end of the abutting portion 122, the abutting portion 122 can provide a driving force to drive the second clamping member 112 to rotate counterclockwise around the first hinge point A. At the same time, when the clamping assembly 110 moves along the second direction d2, the angle between the first clamping member 111 and the axial direction of the multi-head clamping device 100 remains unchanged, so the angle between the second clamping member 112 and the first clamping member 111 gradually decreases, and the clamping assembly 110 gradually closes.

When the height of the abutting portion 122 gradually decreases from the distal end of the abutting portion 122 to the proximal end of the abutting portion 122, if the second clamping member 112 moves toward the proximal end of the abutting portion 122 abutting therewith, since the height of the abutting portion 122 gradually increases from the distal end of the abutting portion 122 to the proximal end of the abutting portion 122, the second clamping member 112 rotates clockwise around the first hinge point A under the action of gravity, or rotates clockwise around the first hinge point A under the action of gravity and the elastic action provided by the elastic member. At the same time, when the clamping assembly 110 moves along the second direction d2, the angle between the first clamping member 111 and the axial direction of the multi-head clamping device 100 remains unchanged, so the angle between the second clamping member 112 and the first clamping member 111 gradually decreases, and the clamping assembly 110 gradually closes. Correspondingly, if the second clamping member 112 moves toward the distal end of the abutting portion 122 abutting therewith, since the height of the abutting portion 122 gradually decreases from the distal end of the abutting portion 122 to the proximal end of the abutting portion 122, the abutting portion 122 can provide a driving force to drive the second clamping member 112 to rotate counterclockwise around the first hinge point A. At the same time, when the clamping assembly 110 moves along the second direction d2, the angle between the first clamping member 111 and the axial direction of the multi-head clamping device 100 remains unchanged, so the angle between the second clamping member 112 and the first clamping member 111 gradually increases, and the clamping assembly 110 gradually opens.

Some embodiments of the present specification can realize the opening and closing control of the clamping assembly 110 through the above-mentioned setting. The structure is simple and the operation is simple. The operator can make adjustments based on the existing clamping habits, continue the operator's operating intuition of the existing clamping device, and is easy to accept and use, thereby realizing the control of each clamping assembly 110 in the multi-head clamping device 100.

In some embodiments, as shown in FIG. 5 , the proximal end of the abutment portion 122 is disposed in a recessed structure to control the movement of the second clamping member 112 , thereby preventing the second clamping member 112 from continuing to move and ensuring the stability of the clamping assembly 110 in the open state.

In the following description, the use of the multi-head clamping device 100 will be exemplified by taking the multi-head clamping device 100 as a double-head needle holding forceps as an example.

The process of suturing with a commonly used single-head needle holder is as follows: as shown in FIG. 7A , the single-head needle holder 200 clamps the tail of the suture needle 300 and pulls the suture thread to a position to be sutured; as shown in FIG. 7B , the single-head needle holder 200 controls the head of the suture needle 300 to puncture the position to be sutured; as shown in FIG. 7C , the single-head needle holder 200 loosens the clamping of the tail of the suture needle 300, re-clamps the head of the suture needle 300 and pulls the suture thread to complete the suturing of the position to be sutured. It can be understood that when suturing a patient, multiple suturing is often required, that is, multiple positions to be sutured are sutured in sequence. Correspondingly, when the next position to be sutured needs to be sutured, the single-head needle holder 200 clamping the head of the suture needle 300 needs to place the suture needle 300 on a clean gauze, loosen the clamping of the tail of the suture needle 300, and re-clamp the tail of the suture needle 300 to repeat the above operation until all positions to be sutured are completed. It can be seen that each time the operator sutures a new position to be sutured, the operator needs to control the single-head needle holder 200 to loosen the suture needle 300 and re-clamp the suture needle 300 to complete the replacement of the clamping position of the suture needle 300. This operation is mechanically cumbersome, consumes the doctor's energy, and prolongs the patient's operation time. Some embodiments of this specification provide a double-head needle holder, which can avoid repeated loosening and clamping of the suture needle 300 when suturing the patient with the double-head needle holder. The working steps of the double-head needle holder are as follows:

S1, a clamping assembly in the double-headed needle holding forceps, which is away from the patient's position to be sutured, clamps the tail of the suture needle, and the other clamping assembly is opened to avoid affecting the clamping of the suture needle. The double-headed needle holding forceps pulls the suture thread to the position to be sutured.

For ease of explanation, the clamping assembly that holds the suture needle in the double-ended needle holding forceps can be referred to as the first clamping assembly, and the other clamping assembly can be referred to as the second clamping assembly.

S2, the double-headed needle holding forceps controls the suture needle head to puncture the position to be sutured.

S3, the first clamping assembly in the double-headed needle holding forceps loosens its grip on the tail of the suture needle, and the second clamping assembly clamps the head of the suture needle.

S4, the second clamping assembly in the double-headed needle holding forceps maintains the clamping of the suture needle head and pulls the suture thread to complete the suturing of the position to be sutured.

S5, when it is necessary to suture the next suture position, the first clamping assembly in the double-headed needle holding forceps clamps the tail of the suture needle, the second clamping assembly loosens the clamp on the suture needle and remains in an open state, and S1~S4 are repeated.

In some embodiments of the present specification, when suturing a new position to be sutured by using the aforementioned double-headed needle holding forceps, the first clamping component can be controlled to clamp the tail of the suture needle first, and then the second clamping component can be controlled to loosen the clamp on the suture needle, thereby avoiding the need to place the needle holding forceps on a clean gauze to re-clamp the suture needle, reducing the operator's tedious work, improving the efficiency of the suture operation, and shortening the suture operation time.

The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and/or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

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

Similarly, it should be noted that in order to simplify the description disclosed in this specification and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this specification, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this specification are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

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

Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, etc., cited in this specification is hereby incorporated by reference in its entirety. Except for application history documents that are inconsistent with or conflicting with the contents of this specification, documents that limit the broadest scope of the claims of this specification (currently or later attached to this specification) are also excluded. It should be noted that if the descriptions, definitions, and/or use of terms in the materials attached to this specification are inconsistent or conflicting with the contents described in this specification, the descriptions, definitions, and/or use of terms in this specification shall prevail.

Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims (10)

1. A multi-headed clamping device, comprising:

at least two clamping assemblies for clamping the article and positioned at the far end of the multi-head clamping device;

An auxiliary control assembly, at least part of which interacts with the at least two clamping assemblies along a first direction to provide a force to the at least two clamping assemblies that urges the at least two clamping assemblies closed, wherein the first direction is parallel to a height direction of the multi-headed clamping device;

And at least two target control assemblies, wherein each target control assembly is connected with one clamping assembly and controls the clamping assembly to move along a second direction so as to change the acting force and/or the acting position of the acting force, and the second direction is parallel to the axial direction of the multi-head clamping device.

2. A multi-headed holding device as claimed in claim 1, wherein,

The distal end of the auxiliary control assembly comprises at least two abutting parts, each clamping assembly abuts against one abutting part, and the height of each abutting part gradually decreases or increases from the distal end of each abutting part to the proximal end of each abutting part.

3. A multi-headed clamp device as in claim 2 wherein the clamp assembly comprises a cross-hinged first clamp member and a second clamp member,

For each clamping component, the distal end of the second clamping piece is abutted with one abutting part,

When the clamping assembly moves along the axial direction of the multi-head clamping device, the distal end of the second clamping piece is driven to move along the abutting part abutting against the distal end of the second clamping piece, and the clamping assembly is driven to be opened or closed.

4. A multi-head holding device as claimed in claim 1, wherein the auxiliary control assembly is provided with at least two guide portions,

Each clamping assembly is engaged with one of the guide portions and moves relative thereto in the second direction.

5. The multi-head holder according to claim 4, wherein the guide portion includes at least one of a through hole, a through groove, and a guide rail provided along the second direction.

6. A multi-headed clamp device as in claim 4 or 5 wherein the clamp assembly comprises a cross-hinged first clamp member and a second clamp member,

For each clamping assembly, the proximal end of the first clamping member in that clamping assembly includes a guide rod that is connected to one of the target control assemblies through the guide portion mated with that clamping assembly.

7. The multi-headed clamp device of claim 6 wherein the distal end of the target control assembly includes a control rod, the distal end of the auxiliary control assembly includes a support rod, the control rods of the at least two target control assemblies are hinged to the support rod of the auxiliary control assembly,

The multi-head clamping device further comprises at least two connecting pieces, wherein for each connecting piece, the distal end of the connecting piece is hinged with the guide rod of one first clamping piece, and the proximal end of the connecting piece is hinged with the control rod of one target control assembly.

8. The multi-headed clamp device of claim 1 wherein the clamp assembly comprises a first clamp member, a second clamp member, and an elastic member, the first clamp member being cross-hinged with the second clamp member,

For each clamping assembly, two ends of the elastic piece are respectively connected with a first clamping piece and a second clamping piece in the clamping assembly, and when the clamping assemblies are closed, the elastic piece is compressed.

9. The multi-headed clamp device of claim 1, wherein the target control assembly includes a control lever and a target control member, wherein the control lever is located at a distal end of the target control assembly and the target control member is located at a proximal end of the target control assembly,

For any two target control assemblies, the motion trail of the target control member in one target control assembly when moving does not overlap with the spatial position of the control rod in the other target control assembly.

10. The multi-headed clamp apparatus of claim 1 wherein the number of target control assemblies is two; and/or

At least one of the clamping assemblies is used for clamping the suture needle.