End effector instrument

1 . An end effector instrument, comprising:

an end effector device, the end effector device comprising an effector portion configured to perform a specified operation and an accommodation portion configured to partially accommodate the effector portion, the accommodation portion comprising a first connecting portion and an outer pipe, the first connecting portion extending outward from an outer side of a proximal end of the outer pipe along an axial direction of the accommodation portion, and

a delivery device connected to the end effector device, the delivery device being configured to deliver the end effector device to a target region where the specified operation is to be performed, wherein

the delivery device includes an operation portion and a delivery pipe, the operation portion being configured to drive the effector portion to perform the specified operation,

the delivery pipe includes a second connecting portion, the second connecting portion being positioned at a distal end of the delivery pipe, wherein

the operation portion is operable to move relative to the accommodation portion toward a distal end of the accommodation portion, during which the operation portion first causes the first connecting portion to connect to the second connecting portion and subsequently connects to the effector portion,

in response to the operation portion at least partially entering into the accommodation portion, the first connecting portion enters into the second connecting portion, thereby connecting the second connecting portion to the first connecting portion, and connecting the delivery device to the end effector device, and

in response to the operation portion at least partially retracting from the accommodation portion, the first connecting portion retracts from the second connecting portion, thereby disconnecting the second connecting portion from the first connecting portion, and disconnecting the delivery device from the end effector device.

2 . The end effector instrument of claim 1 , wherein

the accommodation portion includes an inner pipe, at least a portion of the outer pipe fitting snugly over the inner pipe,

when the accommodation portion is connected to the delivery pipe, the outer pipe positions the delivery pipe relative to the accommodation portion,

when the operation portion at least partially enters into the inner pipe, the second connecting portion is connected to the first connecting portion, and the delivery device is connected to the end effector device, and

when the operation portion at least partially retracts from the inner pipe, the second connecting portion is disconnected from the first connecting portion, and the delivery device is disconnected from the end effector device.

3 . The end effector instrument of claim 2 , wherein

the operation portion includes a shaft,

the first connecting portion includes a limiting convex,

the second connecting portion includes a limiting concave,

in response to the shaft entering into the inner pipe, the limiting convex is elastically deformed and extended into the limiting concave to cause the second connecting portion to connect the first connecting portion, and

in response to the shaft retracting from the inner pipe, the limiting convex is elastically restored and retracted from the limiting concave to cause the second connecting portion to disconnect the first connecting portion.

4 . The end effector instrument of claim 3 , wherein the limiting convex and the accommodation portion are integrally formed.

5 . The end effector instrument of claim 2 , wherein

the effector portion includes a lock connecting portion,

the accommodation portion includes a locking portion, the locking portion being configured to connect the lock connecting portion, and

when the locking portion connects the lock connecting portion, the effector portion and the accommodation portion are fixed relative to each other.

6 . The end effector instrument of claim 5 , wherein

the locking portion is positioned on the outer pipe,

the inner pipe includes a guiding groove located along an axial direction of the inner pipe, and the guiding groove is a groove opened along a thickness direction on an inner wall of the accommodation pipe, and

the lock connecting portion is configured to slide within the guiding groove.

7 . The end effector instrument of claim 6 , wherein

the locking portion includes an elastic piece, one end of the elastic piece being fixedly connected to the outer pipe, and another end of the elastic piece extending into an interior of the inner pipe.

8 . The end effector instrument of claim 6 , wherein

an end of the guiding groove away from the effector portion has a positioning convex,

a distance between the positioning convex and the effector portion exceeds a distance between the locking portion and the effector portion,

a retaining portion is located on the positioning convex,

the retaining portion includes a fixed end and a free end,

the fixed end of the retaining portion is fixedly connected to the positioning convex, and

the free end of the retaining portion faces an interior of the guiding groove.

9 . The end effector instrument of claim 5 , wherein

the effector portion includes a clip, the clip comprising a first clip arm, a second clip arm, and a connecting pin,

the first clip arm and the second clip arm are connected through the connecting pin, and

the lock connecting portion is formed by one end or both ends of the connecting pin.

10 . The end effector instrument of claim 9 , wherein

an end of the first clip arm close to the connecting pin has a first bending portion that bends towards the second clip arm,

the first bending portion has a first hole,

one end of the second clip arm close to the connecting pin has a second bending portion that bends towards the first clip arm,

the second bending portion has a second hole, and

the first hole and the second hole at least partially overlap.

11 . The end effector instrument of claim 1 , further including:

an assembly device configured to assemble the end effector device and the delivery device to establish a connection between the end effector device and the delivery device, wherein

the assembly device includes an assembly box configured to fix the end effector device and the delivery device when the end effector device and the delivery device are assembled, the assembly box including:

an accommodation portion configured to accommodate the end effector device,

an assembly groove configured to accommodate the delivery device to achieve an assembly of the delivery device and the end effector device, and

a joint portion configured to fix the delivery device in the assembly groove.

12 . The end effector instrument of claim 11 , wherein

the joint portion includes a first portion and a second portion,

the first portion of the joint portion extends beyond an outer surface of the assembly groove, and

after the first portion of the joint portion is pressed, the second portion of the joint portion enters into an interior of the assembly groove.

13 . The end effector instrument of claim 12 , wherein

the assembly device further includes an assembly tool,

the assembly tool includes at least one groove, and

the assembly box is configured to enter into or retract from the at least one groove.

14 . The end effector instrument of claim 13 , wherein

one of the at least one groove of the assembly tool includes a first channel,

a height of the first channel is smaller than or equal to a height of the joint portion, and

when the joint portion enters into the first channel, the first channel presses the first portion of the joint portion.

15 . The end effector instrument of claim 14 , wherein

the groove further includes a second channel,

the second channel is in communication with the first channel,

the second channel is located at an entrance end of the first channel, and

a height of the second channel gradually decreases along a direction from a proximal end to a distal end.

16 . The end effector instrument of claim 14 , wherein

the groove further includes a third channel,

the third channel is in communication with the first channel,

the third channel is located at an exit end of the first channel, and

a height of the third channel exceeds a height of the first channel.

17 . The end effector instrument of claim 16 , wherein

a convex portion is located outside the assembly box, the convex portion being elastic,

the convex portion is in a compressed state when the convex portion is positioned within the first channel, and

the convex portion is in an original state when the convex portion is positioned within the third channel.

18 . The end effector instrument of claim 16 , wherein

the third channel is configured with an elastic component, and

the elastic component is configured to apply a bias pressure to the assembly box along a first direction so as to cause the assembly box to retract from the third channel.

19 . The end effector instrument of claim 11 , wherein

the assembly box includes a housing and a limiting portion positioned at the housing, the limiting portion being configured to limit a relative movement between the delivery device and the assembly box, and

the limiting portion of the assembly box is configured to limit a relative movement between the delivery pipe and the housing.