CN106264639B - A kind of moving link and its detection device for stapler percussion force checking device - Google Patents

A kind of moving link and its detection device for stapler percussion force checking device Download PDF

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Publication number
CN106264639B
CN106264639B CN201610879169.8A CN201610879169A CN106264639B CN 106264639 B CN106264639 B CN 106264639B CN 201610879169 A CN201610879169 A CN 201610879169A CN 106264639 B CN106264639 B CN 106264639B
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China
Prior art keywords
rod
stapler
moving link
percussion force
detection
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CN201610879169.8A
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Chinese (zh)
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CN106264639A (en
Inventor
孙宝峰
马猛
王大全
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Jiangsu Fengh Medical Equipment Co Ltd
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Jiangsu Fengh Medical Equipment Co Ltd
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Publication of CN106264639A publication Critical patent/CN106264639A/en
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681Aspects not otherwise provided for
    • A61B2017/00725Calibration or performance testing

Abstract

The invention discloses a kind of moving link for detection device, including first connecting rod, second connecting rod and third connecting rod, the moving link is converted to arcuate movement for that will move along a straight line;One end of the first connecting rod is connected with the first pivotal point, and the middle section of the first connecting rod is connect with the first end of the second connecting rod;The second end of the second connecting rod is connect with the first end of the third connecting rod;The second end of the third connecting rod is connected with second pivotal point;Power is transferred to the third connecting rod by second pivotal point, then is transferred to the second connecting rod, then is transferred to the first connecting rod, so that the first connecting rod is contacted or separated with detected material.Moving link according to the present invention for detection device and the detection device with it, power loss is small in the transmittance process of power, detection force value can be effectively transmitted, display detected value is detected and digitized to percussion force, the improved properties of stapler percussion force is improved, data supporting is provided.

Description

A kind of moving link and its detection device for stapler percussion force checking device
Technical field
The present invention relates to a kind of detection devices of surgical instruments, in particular to a kind of to fire force checking device for stapler Moving link and its detection device, belong to medical instruments field.
Background technique
Stapler and its executive module suitable for surgical operation be it is a kind of can will be more while suturing patient wound The surgical instruments of remaining cutting tissue is widely used in organizing in the Minimally Invasive Surgeries such as abdominal surgery, gynaecology, paediatrics and thoracic surgery It cuts off and coincide.The operation that Microendoscopic carries out is general only to need to open several apertures on the body of patient, by excision, suture group The instrument knitted and assisted is protruded into from aperture performs the operation in patient body.Minimally Invasive Surgery is small to patient's bring wound, Bing Renke To restore in a short period of time, therefore Minimally Invasive Surgery is increasingly valued by people.
Clinically, each stapler generally at least needs to carry out 2-4 percussion.In stapler use process, percussion force For one of key technical index.Because of the structure design inside existing stapler, firing handle and position fixing handle must be made every time Abutting just can be carried out next time effectively percussion when can not extremely move, percussion dynamics deficiency will so that firing handle not with position hand Handle sufficiently abuts to influence the normal use of stapler.In the case, it can only fire again, and due to the tissue quilt of patient It is clamped in the end effector of stapler, percussion will cause tear Deng unexpected injuries to patient again, influence operation just Often carry out.Therefore, it is necessary to the percussion force to stapler detects, and in the prior art only to the percussion force detection of stapler The feel that tester can be relied on, without effectively detecting the device of stapler percussion force, without objective data supporting.And it is existing There is no the moving link suitable for stapler detection device in technology, cannot achieve the function of stapler detection device.
Summary of the invention
The present invention is intended to provide a kind of moving link for detection device and the detection device with it, it can be by straight line Movement is converted to arcuate movement, and power loss is small in the transmittance process of power, can effectively transmit detection force value, and the present invention is to pass through What following technical scheme was realized:
A kind of moving link for stapler percussion force checking device, including first connecting rod, second connecting rod and third connect Bar, one end of the first connecting rod are connected with the first pivotal point, the middle section of the first connecting rod and the second connecting rod First end connection;The second end of the second connecting rod is connect with the first end of the third connecting rod;The of the third connecting rod Two ends are connected with second pivotal point;Power is transferred to the third connecting rod by second pivotal point, then is transferred to described second and connects Bar, then it is transferred to the first connecting rod, so that the linear motion of the second pivotal point is converted to the first connecting rod Arcuate movement, so that the first connecting rod is contacted or separated with detected material;The connection is rotatable connection.
Further, the moving link is including described in a first connecting rod, two second connecting rods and two Third connecting rod;The first end of one second connecting rod is rotationally connected with the side of the middle section of the first connecting rod It connecing, the first end of another second connecting rod is rotationally connected with the other side of the middle section of the first connecting rod, The side of the middle section and the other side are symmetrical;The second end of two second connecting rods and two third connecting rods First end is rotatably coupled correspondingly respectively.
Preferably, the connection type of the first connecting rod and the first pivotal point, the first connecting rod and the second connecting rod Connection type, the connection type of the second connecting rod and the third connecting rod, the third connecting rod and the second pivotal point Connection type be rolling bearing connection, and the second connecting rod and the first connecting rod is are detachably connected.
First pivotal point is located on the fixed block of the detection device, and the second pivotal point is located at detection dress The first end for the sensor set;The second end of the sensor is connect with the motor output shaft of the detection device.
The second connecting rod and the third connecting rod are additionally provided with mutually matched position limiting structure, connect for limiting described second The rotation angle of bar and the third connecting rod, to guarantee that first connecting rod has enough strokes thus by the first connecting rod and institute Detected material is stated to be kept completely separate.
Further, the position limiting structure is limited post and limiting slot, and the limited post can move in the limiting slot; One of the second connecting rod and the third connecting rod are equipped with limited post, another is equipped with limiting slot;Alternatively, described Limited post and limiting slot are equipped on two connecting rods simultaneously, is correspondingly provided with simultaneously on the third connecting rod and corresponds to number on second connecting rod The limited post and limiting slot of amount.
The second end of the second connecting rod is equipped at least one limited post, and the first end of the third connecting rod is equipped at least one A limiting slot.
The limited post is integrally formed or is fixedly connected with the second connecting rod, the limiting slot and the third connecting rod one It is body formed.
The limited post is cylinder, and the limiting slot is semi-circular, the groove width of the limiting slot and the limited post The equal slot height perhaps greater than the diameter limiting slot of the limited post of diameter is equal or big with the height of the limited post In the height of the limited post.
The quantity of the second connecting rod and the third connecting rod is two;The second end of each second connecting rod is respectively set There is a limited post, the first end of each third connecting rod is respectively provided with a limiting slot;The shape of two second connecting rods And size is identical, the form and dimension of two third connecting rods is identical.
The first connecting rod has the recessed portion being adapted to detected material profiling.
A kind of stapler percussion force checking device, including it is described in any of the above embodiments for stapler percussion force checking device Moving link, including supporting mechanism, data processing module and control module;What the supporting mechanism was used to be detected coincide Device is fixed;The control module includes motor, single-chip microcontroller and display module, and the single-chip microcontroller is used to control the movement of motor;Institute The output axis connection for stating data processing module Yu the motor, under the driving of the motor, described in the moving link percussion Stapler;The power that the data processing module perception motor generates, i.e. percussion force;The data processing module is to the percussion After power is acquired, handles, it will test result and be output to the display module.
Further, the data processing module includes sensor and converter;The motor provides required percussion The percussion force is transferred to the sensor by the output shaft of power, the motor, and the percussion force is transferred to by the sensor The percussion force is transferred to the firing handle of the stapler by the moving link, the moving link, the sensor by Deformation is generated after power and by analog signal output to converter;The converter receives the signal from the sensor Digital signal is converted by analog signal afterwards and passes to the single-chip microcontroller, after the single-chip microcontroller receives the digital signal, through number The display module is output to according to will test result after processing.
The data processing module further includes comparator;The comparator is by actually detected obtained percussion force value and standard Value is compared, to determine whether stapler percussion force meets the requirements.
The present invention provides the moving link for stapler detection device, realize the power of motor is converted to it is identical The percussion force of device, and then realize the partial function of stapler detection device.The present invention also provides the inspections with moving link Survey device.Moving link for detection device and the detection device with it of the invention, the power in the transmittance process of power It is lost small, can effectively transmit detection force value, and can realize and linear motion is converted into arcuate movement;Stapler percussion of the invention The firing action of force checking device simulation operation Shi doctor, is detected and is counted to percussion force by data acquisition and data processing Wordization shows detected value, improves to the improved properties of stapler percussion force and provides data supporting.
Detailed description of the invention
Fig. 1 is the moving link schematic diagram of detection device according to an embodiment of the present invention;
Fig. 2 is the decomposition diagram of second connecting rod and third connecting rod in Fig. 1;
Fig. 3 is the structural schematic diagram before detection device detection according to an embodiment of the present invention;
Fig. 4 is the structural schematic diagram after detection device detection according to an embodiment of the present invention, in order to clearly show that connection is closed It is that parts thereof is omitted in figure;
Fig. 5 is detection device part according to an embodiment of the present invention perspective view of the explosion, in order to clearly show that connection relationship, figure In parts thereof is omitted.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings.It is retouched in of the invention In stating, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " clockwise ", " counterclockwise ", " axis To ", " radial direction ", the orientation or positional relationship of the instructions such as " circumferential direction " be to be based on the orientation or positional relationship shown in the drawings, be only for Convenient for the description present invention and simplify description, rather than the device or element of indication or suggestion meaning there must be specific side Position is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three It is a etc., unless otherwise specifically defined.
The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to be used to explain the present invention, and cannot understand For limitation of the present invention.
The stapler of the embodiment of the present invention fires force checking device, including supporting mechanism, data processing module and control mould Block.As shown in figure 3, supporting mechanism includes pedestal 10, fixed block 1, support column 2, moving link 3;Data processing module includes light Electric switch 5, tension sensor 6, converter;Control module includes single-chip microcontroller, motor, display module and several keys.In order to Convenient for the description present invention and simplify description, in embodiments of the present invention, is based on the orientation or positional relationship shown in the drawings, Jiang Gebu Part is known as " first end " close to one end of fixed block 1, is known as " second end " close to one end of motor fixed block 7;By each component It is known as " preceding " side towards the direction of fixed block 1, is known as " rear " side towards the direction of motor fixed block 7.
As shown in Figure 1, the moving link 3 for detection device includes first connecting rod 31, second connecting rod 32, third connecting rod 33;Further, moving link 3 includes a first connecting rod 31, and one end of first connecting rod 31 is rotatably and removably and solid Determine the connection of block 1;In order to guarantee the equilibrium of stress, moving link 3 further includes two second connecting rods, 32, two third connecting rods 33, is used Arcuate movement is converted in that will move along a straight line;One end of first connecting rod 31 is connected with the first pivotal point, in first connecting rod 31 Between part connect with the first end of second connecting rod 32;The second end of second connecting rod 32 is connect with the first end of third connecting rod 33;The The second end of three-link 33 is connected with second pivotal point;Power is transferred to third connecting rod 33 by second pivotal point, then is transferred to Second connecting rod 32, then it is transferred to first connecting rod 31, so that the first connecting rod 31 is contacted or is separated with detected stapler. First pivotal point is located on the fixed block 1 of the detection device, and the second pivotal point is located at the biography of the detection device The first end of sensor 6;The second end of the sensor 6 is connect with the motor output shaft of the detection device.Specifically, two The first end of two connecting rods 32 is rotatably and detachably connected with the middle section of first connecting rod 31 respectively.In first connecting rod 31 Between partially refer to the rest part other than two ends of first connecting rod 31.The second end difference one of two second connecting rods 32 One first end accordingly with two third connecting rods 33 is rotatably connected;Second connecting rod 32 and third connecting rod 33 are equipped with limit knot Structure, the position limiting structure are limited post and limiting slot.Including but not limited to following scenario described: the second end of the second connecting rod 32 is set There is the first end of at least one described limited post, the third connecting rod 33 to be equipped at least one described limiting slot;Or described The second end of two connecting rods 32 is equipped at least one described limiting slot, the first end of the third connecting rod 33 is equipped with described at least one Limited post;Or the second end of the second connecting rod 32 is equipped at least one described limited post and at least one described limit simultaneously Slot, accordingly, the first end of the third connecting rod 33 are equipped at least one described limiting slot and at least one described limit simultaneously Column.
Preferably, corresponding as shown in Figure 1, the second end of two second connecting rods 32 is respectively equipped with the limited post 321 Ground, the first end of two third connecting rods 33 are respectively equipped with the limiting slot 331, the form and dimension of two second connecting rods 32 Identical, two third connecting rods 33 form and dimensions are identical.The second end of second connecting rod 32 is equipped with limited post 321, third connecting rod 33 first end is equipped with limiting slot 331.First connecting rod 31 is equipped with and 81 profiling matched recess portion 311 of firing handle, first connecting rod 31 width is greater than the width of firing handle 81, in order to guarantee the equilibrium of stress, two second connecting rods 32 respectively with first connecting rod 31 the right and left is rotatably connected, and is symmetrical arranged, and two third connecting rods 33 are connect with two second connecting rods 32 respectively, and right Claim setting.
Specifically, as shown in Fig. 2, limited post 321 is cylinder, limited post 321 and the integrated molding of second connecting rod 32 or solid Fixed connection;Limiting slot 331 is semi-circular.The first end and second end of second connecting rod 32 is semicylinder, second connecting rod 32 Middle section is cuboid, and the middle section of second connecting rod 32 refers to its remaining part other than two ends of second connecting rod 32 Point.The middle section of the second connecting rod 32 is smoothly connected with first end, second end, the diameter and middle part of the semicolumn Divide the width of cuboid equal;The first end and second end of third connecting rod 33 is semicylinder, the middle section of third connecting rod 33 For cuboid, the middle section of third connecting rod 33 refers to the rest part other than two ends of third connecting rod 33.It is described The middle section of third connecting rod 33 is smoothly connected with first end, second end, and the diameter of the semicolumn and middle section are rectangular The width of body is equal.The first end of third connecting rod 33 is equipped with stage portion, and the height and limited post 321 of the step are in second connecting rod 32 Upper height outstanding is equal, and the stage portion is semi-circular, forms limiting slot 331.As shown in Fig. 2, limited post 321 is substantially in circle Cylinder body shape is fixedly connected on the second end of second connecting rod 32 or is integrally formed with the second end of second connecting rod 32.Second connects There is relative motion, the relative motion makes between bar 32 and third side rod 33.Limited post 321 in third connecting rod 33 first End rotates and forms track, and the track and limiting slot 331 coincide substantially, and limiting slot 331 is substantially in semi-circular shape, limiting slot 331 height is equal with the height of limited post 321 or height slightly larger than limited post 321, the groove width of limiting slot 331 are equal to limit The diameter or diameter slightly larger than limited post 321 of position column 321.
In the detection process, limited post 321 can move in limiting slot 331.Between limited post 321 and limiting slot 331 Relative motion depends on the relative motion between second connecting rod 32 and third connecting rod 33, that is, limited post 321 is in limiting slot 331 Position depend on angle between second connecting rod 32 and third connecting rod 33;When firing handle 81 and position fixing handle 82 are kept completely separate When, the edge 332 of limiting slot 331, which limits limited post 321, to be continued to rotate, and then is limited between second connecting rod 32 and third connecting rod 33 Relative motion so that second connecting rod 32 is opposing stationary with third connecting rod 33 and continues to move along jointly, until by first Connecting rod 31 is kept completely separate with firing handle 81;If without position limiting structure, during moving link 3 travels forward, second Connecting rod 32 and the angle of third connecting rod 33 gradually become smaller, and the stroke of second connecting rod 32 is not enough to completely push first connecting rod 31 open, In the case, first connecting rod 31 is difficult to be kept completely separate with firing handle 81 by gravity, so that not can be carried out has next time Effect percussion.
As shown in figure 5, one end of moving link 3 can be rotated and be detachably connected on fixed block 1, moving link 3 The other end is movably connected with the first end of motor output shaft 9.The of the second end of third connecting rod 33 and tension sensor 6 One end is fixedly connected;The second end of tension sensor 6 is fixedly connected with the first end of motor output shaft 9, and the of motor output shaft 9 Two ends are connected to motor, and motor is fixedly mounted in motor fixed block 7, and motor fixed block 7 is mounted on pedestal 10.First connecting rod 31 with connection type, second connecting rod 32 and the third connecting rod 33 of the connection type of fixed block 1, first connecting rod 31 and second connecting rod 32 Connection type, third connecting rod 33 with the connection type of tension sensor 6 be that bearing is connect;Further, the bearing connects Connecing is rolling bearing connection, and rolling bearing has excellent interchangeability and versatility, and starting moment of friction is low, motion process In coefficient of friction it is low, power loss is small, can guarantee rotating accuracy, can effectively transmit the percussion force in detection process.In motor Driving under, the moving link fires stapler;The pulling force that the data processing module perception motor generates, i.e. percussion force.
Stapler 8 includes firing handle 81, position fixing handle 82 and handle 83.During percussion, motor output shaft 9 by It is moved backward in the pulling force effect by motor, successively S-shaped tension sensor 6, moving link 3 is driven at the uniform velocity to move backward, the The profiling matched recess portion 311 of one connecting rod 31 is slowly contacted with firing handle 81 to complete fitting, 31 tension masterpiece of first connecting rod With drive firing handle 81 continue it is mobile to the direction of handle 83 until firing handle 81 abutted with position fixing handle 82, Wu Fayi When dynamic, the detection of shot power is completed.The direction of pull that motor provides is linear, and the firing handle 81 of stapler 8 exists Motion profile during percussion is arc, and linear motion can be converted to arcuate movement by moving link 3, and fire the kiss Clutch 8, convenient for accurately detecting percussion force.
The inner surface of the first connecting rod 31 of moving link 3 is equipped with the recessed portion being adapted to 81 profiling of firing handle of stapler 311, the shape of recessed portion 311 is consistent with the shape of firing handle 81, first connecting rod 31 and firing handle 81 when guaranteeing detection It can be bonded completely, good fixing effect can effectively transmit percussion force.Motor output shaft 9 is connected to motor, and motor output shaft 9 Central axis be overlapped with the central axis of tension sensor 6, the influence of Tilt loading and eccentric load can be made to subtract in this way To minimum, guarantee effective transmitting of percussion force.One end of motor output shaft 9 is connect with S-shaped tension sensor 6, firing handle 81, Position fixing handle 82 is axial symmetry design, it may be assumed that firing handle 81, position fixing handle 82 are the symmetry axis about their own and right The structure of title.One end of motor output shaft 9 is connect with tension sensor 6, the central axis and tension sensor of motor output shaft 9 6 central axis is overlapped, and is located in the plane of symmetry axis formation of the symmetry axis and position fixing handle 82 of firing handle 81, and And the maximum weighted point on 82 symmetry axis of position fixing handle is located on the extended line of the central axis of the motor output shaft;It is hitting During hair, firing handle 81 does arcuate movement around the connecting pin of firing handle 81 and stapler main body, and firing handle 81 is most Big stress point is the midpoint of 81 symmetry axis of firing handle, the influence of Tilt loading and eccentric load can be made to minimize in this way, Guarantee effective transmitting of percussion force.The other end of motor output shaft 9 is connect with the motor;The central axis of motor output shaft 9 It is overlapped with the horizontal center line axis of tension sensor 6, the transmitting design of such linear power can effectively reduce transmittance process The loss of middle power guarantees the efficient transmitting of percussion force.
One end of support column 2 is fixedly connected with pedestal 10, and stapler 8 is removably mounted in fixed block 1, fixed block 1 It is removably mounted on the other end of support column 2, the first end of moving link 3 can be rotated and be detachably connected to fixed block 1 On, the second end of moving link 3 is connect with the first end of tension sensor 6, the second end and motor output shaft of tension sensor 6 9 first end connection, the second end of motor output shaft 9 are connected to motor, and motor is fixedly mounted in motor fixed block 7, motor Fixed block 7 is mounted on pedestal 10.
As shown in figure 5, the inside of fixed block 1 is equipped with the recessed portion 111 being adapted to the shell profiling of stapler 8, recessed portion 111 shape is consistent with the shape of detected stapler 8, and the main part of stapler 8 and recessed portion 111 can when guaranteeing detection To be bonded completely, effectively prevent causing stapler 8 to shake when percussion due to fixed effect is bad and influencing the accuracy detected. Further, fixed block 1 includes the first fixed block 11, the second fixed block 12, and the first fixed block 11, the second fixed block 12 are completely right Claim setting;The inside of first fixed block 11 is equipped with the first recessed portion, the inside of the second fixed block 12 is equipped with the second recessed portion, and institute State the first recessed portion and the full symmetric setting of the second recessed portion, first recessed portion and the common shape of the second recessed portion At recessed portion 111, such symmetric design is convenient for being stably installed fixed anastomosis device 8 when test and can guarantee uniform force.It surveys Before examination, it will first be cut the object that coincide and be put into the end effector 84 of stapler 8, tensed position fixing handle 82, kissed at this time by cutting It closes object to be fixed in end effector 84, it is preferable that the object that coincide that cut is foam;Further, the foam With a thickness of 10mm.After tensing position fixing handle 82, foam is fixed in end effector 84, the first fixed block 11 is placed in level On face, then the half of 8 shell of stapler is mounted in the first fixed block 11, makes the half of 8 shell of stapler and first recessed Concave portion is bonded completely, then covers the second fixed block 12, make the second recessed portion be bonded completely 8 shell of stapler the other half;In this way, The shell of stapler 8 is just fixed in fixed block 1, so that stapler 8 to be secured firmly to the profiling recessed portion of fixed block 1 In 111.In the present embodiment by taking the foam of 10mm thickness as an example, being cut the object that coincide can also be rubber, animal tissue or other rule The foam of lattice, depending on the testing requirements to meet percussion force.
After stapler 8 is fixed in fixed block 1, then fixed block 1 is installed along with branch together with the stapler 8 after replacement On dagger 2, the outer surface of fixed block 1 and the outer surface of support column 2 are respectively equipped with mutually matched installation fixed cell, realize solid Determine being detachably connected for block 1 and support column 2.Preferably, supporting mechanism includes four support columns 2, and four support columns 2 are and pedestal 10 are fixedly connected and vertical with pedestal 10.Specifically, the installation fixed cell includes sliding slot and sliding block, each support column 2 On be equipped with sliding slot 21, be accordingly equipped with sliding block 121 on the outer surface of fixed block 1, the size of the size of sliding slot and sliding block is substantially Equal, sliding slot 21 and sliding block 121 are substantially in rectangular shape, and position corresponds, and sliding block 121 slides into sliding slot 21 Fixed block 1, and then fixed anastomosis device 8 can be firmly fixed behind the bottom of sliding slot 21.It can star detection device with that Power supply tests the percussion force of stapler 8.
Further, tension sensor 6 is S-shaped tension sensor, and motor is direct current generator.
The working principle of stapler 8 is to cut patient tissue using cutter and kissed using titanium nail to patient tissue It closes, during clinical use, the number (number for coincideing and cutting) of the percussion of stapler 8 is the maximum based on doctor's hand Size, be applied to during percussion every time the maximum, force of instrument, the firing handle 81 of stapler 8 and end effector 84 away from What the factors such as size and ergonomics from power needed for, end effector 84 determined;Comprehensively consider factors above, generally It is to be divided into the number for coincideing and cutting in 8 whole work process of stapler three times, in addition, completing after coincideing and cutting, also needs It fires and once retracts cutter, the end effector 84 of stapler 8 opens, and the tissue of patient is made to be detached from end effector 84, stapler 8 could be taken out out of abdominal cavity of patients, i.e., stapler 8 at least needs to carry out 2-4 effectively percussion.Percussion every time When, firing handle 81 is abutted with position fixing handle 82 from being kept completely separate with position fixing handle 82 to it, is calculated as completing primary complete Percussion process.Because the structure design inside existing stapler could discharge firing handle 81 after the completion of first time fires, Until could start to carry out next time effectively percussion when it is kept completely separate with position fixing handle 82.
It should be noted that in percussion force detection process, before stapler 8 is fired, first connecting rod 31 and firing handle 81 are not bonded completely, and firing handle 81 remains static, and stapler 8 is not fired, and force value at this time is only to pull first Pulling force needed for connecting rod 31 is not belonging to the range of percussion force value, can be not counted in the detection range of the percussion force;In addition, hitting When hair handle 81 is abutted with position fixing handle 82, continue the range that the power pulled back is also not belonging to percussion force value.Based on above-mentioned original Cause, for the starting point of detection since when first connecting rod 31 is bonded completely with firing handle 81, the terminal of detection is set to firing handle 81 It is stopped recording when will be abutted with position fixing handle 82, since the speed of motor is set as the stroke quantitative, moving link 3 is run It is quantitative, therefore the detection starting point detected every time and detection terminal can be controlled by setting detection time.
Optoelectronic switch 5 is fixedly mounted on support column 2, and optoelectronic switch 5, tension sensor 6 couple with control module.Light Electric switch 5 is for monitoring whether first connecting rod 31 is kept completely separate with firing handle 81.When motor rotates forward, by motor output shaft 9 It pushes forward, motor output shaft 9 pushes moving link 3 to move forward.It is complete with firing handle 81 when being moved to first connecting rod 31 When separation, the indicator light of optoelectronic switch 5 is lighted, and tester's firing handle 81 is prompted to be completely released;Motor receives percussion hand Start to invert after the signal that handle 81 has been completely released, the indicator light of optoelectronic switch 5 extinguishes, drawing of the motor output shaft 9 by motor Under power effect, pulls tension sensor 6 and then moving link 3 is pulled to move backward;When first connecting rod 31 and firing handle 81 are complete When full fitting, start to carry out percussion force test.When motor main story, thrust successively passes through motor output shaft 9, S-shaped tension sensor 6, third connecting rod 33, second connecting rod 32 to first connecting rod 31, and make moving link 3 and S-shaped tension sensor 6 even forward together Speed is mobile, and as first connecting rod 31 rotates forward, firing handle 81 is released, under the elastic force effect of stapler inner spring, Firing handle 81 is rotated forward and is kept completely separate with position fixing handle 82;Signal is passed to MCU by optoelectronic switch 5, and MCU is by the letter Number pass to motor, motor starts to invert after receiving the signal of MCU, and motor output shaft 9 is moved back by the pulling force effect of motor It is dynamic, the detection of second of percussion force is carried out, and so on, after completing four percussion force tests, by fixed block 1 from support column 2 It removes, first removes the second fixed block 12, i.e., replaceable stapler 8 carries out percussion force detection next time.In entire detection process In, motor uniform rotation, that is to say, that the speed that motor rotates forward is equal to the speed of motor reversal.
The motor may be alternatively located at the front of firing handle 81, at this point, motor, which generates thrust, passes through sensor and driver Structure acts in firing handle 81, pushes firing handle 81, realizes the percussion of stapler, the detection of percussion force also may be implemented.
The working principle of stapler percussion force checking device of the invention is: before detection, first connecting rod 31 and firing handle 81 in state is kept completely separate, and the first end of S-shaped tension sensor 6 is connect with the second end of moving link 3, tension sensor 6 Second end connect with the first end of motor output shaft 9, startup power supply start detection when, motor reversal, motor output shaft 9 due to Pulling force effect by motor moves backward, and successively S-shaped tension sensor 6, moving link 3 is driven at the uniform velocity to move backward, and first Connecting rod 31 and firing handle 81 are slowly contacted to complete fitting, first connecting rod 31 by pulling force effect drive firing handle 81 continue to The direction of handle 83 is mobile until when firing handle 81 is abutted with position fixing handle 82, can not be moved, and completes first time percussion force Detection.
It is pasted with resistance strain gage on the surface of S-shaped tension sensor 6, during firing stapler 8, motor is anti- Turn, drive motor output shaft 9 to generate pulling force to moving link 3 by S-shaped tension sensor 6, and then make firing handle 81 and determine Position handle 82 is fired from discrete state to abutting state, and the effect of 6 under tension of S-shaped tension sensor generates flexible deformation, i.e. S-shaped Tension sensor 6 is in by first connecting rod 31 and firing handle 81 and is kept completely separate state to firing handle 81 and position fixing handle 82 Pulling force effect during abutting and generate flexible deformation, make the resistance strain gage for being pasted onto its surface also in company with being deformed, After resistance strain gage deformation, resistance value will change, then this resistance change is converted to through corresponding measuring circuit Electric signal, so as to complete the process that pulling force is converted to electric signal.The variation that electric signal occurs exports electricity after processing of circuit Pressure analog signal simultaneously sends converter to, and voltage analog signal is converted into digital signal and sends single-chip microcontroller to by converter, Single-chip microcontroller (i.e. micro-control unit Microcontroller Unit) abbreviation MCU, is to be integrated with inner treater (CPU), memory One piece of integrated chip that (RAM, ROM), counter and the port I/O are integrated.On the basis of this hardware circuit, it will handle Data, calculation method, step, operational order be compiled into program, deposit in inside or outside MCU in memory, MCU is being run When automatically, continuously can take out and execute from memory.In the present invention, the rotating and reverse of motor, the starting of motor and Stopping being controlled by single-chip microcontroller.
It will test result by calculating after the single-chip microcontroller reception digital signal and be output to display module 47, tester can To obtain the value of this stapler percussion force from display module 47.It should be noted that 47 Dynamically Announce of display module detects The real value of the percussion force measured in the process.Converter, that is, analog-digital converter is one and believes analog-signal transitions for number Number electronic component, specifically by an input voltage signal be converted to one output digital signal converter.This hair Converter in bright embodiment is 24 high-precision AD converters, and it is 128 times that gain is equipped in the high-precision AD converter Programming amplifier, HX711 chip can be used.HX711 is a 24 bit A/D converter chips for aiming at high precision apparatus design, Compared with the other chips of same type, which includes the other similar cake cores such as regulated power supply, on-chip clock oscillator Required peripheral circuit has many advantages, such as integrated level height, fast response time, strong interference immunity.
The control module of stapler percussion force checking device of the invention further includes display module 47 and several keys, such as Shown in Fig. 3, the key is reset key 41, determines key 42, forward key 43, Reverse keys 44, automatic keying 45, mode Adjusting key 46.The course of work of stapler percussion force checking device of the invention is: first operation power switch key will test dress Set energization;Will test device reset or peeling after, then test pattern is adjusted to by " automatic mode " by mode tuning key 46.First press After once determining that key 42, detection device receive signal, start the detection for carrying out continuous four percussion forces;It, will after the completion of detection Fixed block 1 is removed from support column 2, first removes the second fixed block 12, i.e., replaceable stapler 8, then covers the second fixed block 12, Fixed block 1 is installed along on support column 2 together with stapler 8, the percussion force detection of next stapler 8 can be carried out.This The stapler percussion force checking device of invention can also carry out manual test as needed, and specifically, tester is first by mode tune Section key 46 is adjusted to manual mode, rotating forward, the reversion of motor is manually controlled by forward key 43, Reverse keys 44, to carry out Manual mode detection.When manual mode detects percussion force, it is only necessary to click forward key 43 or Reverse keys 44, motor will be by setting The stroke control motor set rotates forward, the starting of reversion, stops, and automatically controls the starting point and terminal of percussion detection every time, into The detection and judgement of row percussion force.
As a further improvement of the present invention, stapler of the invention percussion force checking device further includes comparator, described Actually detected obtained percussion force value is compared by comparator with standard value, is judged automatically each of detected stapler and is hit It has an effect and whether meets the requirements.Specifically, first operation power switch key 41 will test device energization;After will test device clearing, Maximum percussion force value is set as X, the maximum fire force value X be early period according to multiple staplers are fired manually after, according to test Person's feel picks out percussion process smoothly stapler, these staplers are defaulted as to the stapler of percussion force qualification, are sent out with this It is calculated after the percussion force value for the multiple staplers chosen described in bright stapler percussion force checking device test flat Mean value, or maximum percussion force value X is to be set as needed.The force value that stapler percussion force detection device records fire every time is simultaneously Practical maximum percussion force value during each percussion is compared with pre-set percussion force value X, when actually detected Percussion force value when being less than or equal to the maximum percussion force value X of setting, the percussion force of the stapler is met the requirements, and stapler is hit Detection device records of the having an effect detected value;It can be carried out the detection of the percussion force next time of the stapler.When actually detected Fire force value be greater than setting percussion force value X when, stapler fire force checking device warning note tester, the stapler this Secondary percussion force is unsatisfactory for requiring, and the stapler is taken out in the detection that tester can stop the stapler, checks underproof reason; Or the stapler is taken out after continuing the detection of residue degree until completing four detections, underproof reason is reexamined, To carry out subsequent improvement.
In conclusion the moving link for detection device of the invention, power loss is small in the transmittance process of power, energy Effectively transmitting detection force value, and can realize and linear motion is converted into arcuate movement;Stapler percussion force of the invention detects dress The firing action for setting simulation operation Shi doctor detects percussion force by data acquisition and data processing and digitizes display Detected value improves the improved properties of stapler percussion force and provides data supporting.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc. Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral;It can be mechanical connect It connects, is also possible to be electrically connected or can communicate each other;It can be directly connected, can also indirectly connected through an intermediary, it can be with It is the interaction relationship of the connection or two elements inside two elements, unless otherwise restricted clearly.For this field For those of ordinary skill, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below " One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned Embodiment is changed, modifies, replacement and variant.

Claims (14)

1. a kind of moving link for stapler percussion force checking device, including first connecting rod, second connecting rod and third connecting rod, It is characterized in that, one end of the first connecting rod is connected with the first pivotal point, the middle section of the first connecting rod with it is described The first end of second connecting rod connects;The second end of the second connecting rod is connect with the first end of the third connecting rod;The third The second end of connecting rod is connected with second pivotal point;Power is transferred to the third connecting rod by second pivotal point, then is transferred to institute Second connecting rod is stated, then is transferred to the first connecting rod, so that the linear motion of the second pivotal point is converted to described The arcuate movement of one connecting rod, so that the first connecting rod is contacted or separated with detected material;The connection is that can be rotated Connection.
2. the moving link according to claim 1 for stapler percussion force checking device, which is characterized in that the fortune Dynamic component includes a first connecting rod, two second connecting rods and two third connecting rods;One described second connects The first end of bar is rotationally connected with the side of the middle section of the first connecting rod, and the of another second connecting rod One end is rotationally connected with the other side of the middle section of the first connecting rod, the side and the other side of the middle section It is symmetrical;The second end of two second connecting rods and the first end of two third connecting rods can be rotated correspondingly respectively Ground connection.
3. the moving link according to claim 2 for stapler percussion force checking device, which is characterized in that described the The connection type of one connecting rod and the first pivotal point, the connection type of the first connecting rod and the second connecting rod, described second connect The connection type of the connection type of bar and the third connecting rod, the third connecting rod and the second pivotal point is rolling bearing Connection, and the second connecting rod is to be detachably connected with the first connecting rod.
4. the moving link according to any one of claims 1 to 3 for stapler percussion force checking device, feature exist In first pivotal point is located on the fixed block of the detection device, and the second pivotal point is located at the detection device The first end of sensor;The second end of the sensor is connect with the motor output shaft of the detection device.
5. the moving link according to claim 1 for stapler percussion force checking device, which is characterized in that described the Two connecting rods and the third connecting rod are additionally provided with mutually matched position limiting structure, connect for limiting the second connecting rod and the third The rotation angle of bar, to guarantee that first connecting rod has enough strokes to which the first connecting rod and the detected material is complete Separation.
6. the moving link according to claim 5 for stapler percussion force checking device, which is characterized in that the limit Bit architecture is limited post and limiting slot, and the limited post can move in the limiting slot;The second connecting rod and the third One of connecting rod is equipped with limited post, another is equipped with limiting slot;Alternatively, limited post is equipped on the second connecting rod simultaneously And limiting slot, the limited post and limiting slot with corresponding number on second connecting rod are correspondingly provided on the third connecting rod simultaneously.
7. the moving link according to claim 6 for stapler percussion force checking device, which is characterized in that described the The second end of two connecting rods is equipped at least one limited post, and the first end of the third connecting rod is equipped at least one limiting slot.
8. the moving link according to claim 7 for stapler percussion force checking device, which is characterized in that the limit Position column is integrally formed or is fixedly connected with the second connecting rod, and the limiting slot and the third connecting rod are integrally formed.
9. the moving link according to claim 7 or 8 for detection device, which is characterized in that the limited post is circle Cylindricality, the limiting slot are semi-circular, and the groove width of the limiting slot is equal with the diameter of the limited post or is greater than the limit The diameter of position column, the slot height of the limiting slot is equal with the height of the limited post or height greater than the limited post.
10. the moving link according to claim 7 for stapler percussion force checking device, which is characterized in that described The quantity of second connecting rod and the third connecting rod is two;The second end of each second connecting rod is respectively provided with a limit Column, the first end of each third connecting rod are respectively provided with a limiting slot;The form and dimension of two second connecting rods is identical, The form and dimension of two third connecting rods is identical.
11. the moving link according to claim 1 for stapler percussion force checking device, which is characterized in that described First connecting rod has the recessed portion being adapted to detected material profiling.
12. a kind of stapler fires force checking device comprising examined as power 1 to 11 is described in any item for stapler percussion force Survey the moving link of device, which is characterized in that including supporting mechanism, data processing module and control module;The supporting mechanism For the stapler being detected to be fixed;The control module includes motor, single-chip microcontroller and display module, and the single-chip microcontroller is used for Control the movement of motor;The output axis connection of the data processing module and the motor, it is described under the driving of the motor Moving link fires the stapler;The power that the data processing module perception motor generates, i.e. percussion force;At the data After reason module is acquired, handles to the percussion force, it will test result and be output to the display module.
13. stapler according to claim 12 fires force checking device, which is characterized in that the data processing module packet Include sensor and converter;The motor provides required percussion force, and the output shaft of the motor transmits the percussion force To the sensor, the percussion force is transferred to the moving link by the sensor, and the moving link is by the percussion Power is transferred to the firing handle of the stapler, deformation is generated after the force acting on transducer and by analog signal output to AD conversion Device;The converter receive after the signal of the sensor by analog signal be converted into digital signal pass to it is described Single-chip microcontroller will test result after data processing and be output to the display module after the single-chip microcontroller receives the digital signal.
14. stapler according to claim 13 fires force checking device, which is characterized in that the data processing module is also Including comparator;Actually detected obtained percussion force value is compared by the comparator with standard value, to determine that stapler is hit It has an effect and whether meets the requirements.
CN201610879169.8A 2016-09-30 2016-09-30 A kind of moving link and its detection device for stapler percussion force checking device Active CN106264639B (en)

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