CN106377283A - Device and method of determining cutting head work state - Google Patents
Device and method of determining cutting head work state Download PDFInfo
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- CN106377283A CN106377283A CN201610754240.XA CN201610754240A CN106377283A CN 106377283 A CN106377283 A CN 106377283A CN 201610754240 A CN201610754240 A CN 201610754240A CN 106377283 A CN106377283 A CN 106377283A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
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Abstract
The invention provides a device and method of determining a cutting head work state. The device comprises a cutting head, a light emitter, a light sensor, a light shielding device, a signal generating unit and a processing unit, wherein the light emitter emits light rays; the cutting head reciprocatingly move along a central axis; the light shielding device shield light rays or enables the light rays to permeate when the cutting head moves to different positions via reciprocating movements; when light rays are not shielded by the light shielding device, the light sensor receives the light rays emitted by the light emitter; the signal generating unit generates a corresponding pulse signal according to a light receiving condition of the light sensor, and outputs the pulse signal; and the processing unit determines a current work state of the cutting head via the output pulse signal. Therefore, a work state of the cutting head can be determined.
Description
Technical field
The present invention relates to field of medical technology, particularly to a kind of device and method determining cutter head working condition.
Background technology
With scientific and technical progress, minimally invasive endoscope-assistant surgery is widely used in all kinds of operative treatment fields.By little
Type otch, can insert hysteroscope class operating theater instruments in vivo, and implements to perform the operation by external manipulation.For example, in a kind of application
In, knife head for surgical in operating theater instruments can be manipulated with tumor resection.
At present, using the power of external power supply output, operation behaviour can be carried out by the dissection of knife head for surgical
Make.
When the fragment of tissue being cut is stuck in cutter head nearby without normally being suctioned out, easily increase suffered by cutter head
Resistance and affect surgical effect in some instances it may even be possible to the stuck situation of cutter head occurs.Therefore, for ensureing being smoothed out of operation technique,
It needs to be determined that the working condition of cutter head.
Content of the invention
The invention provides a kind of device and method determining cutter head working condition, can determine the working condition of cutter head.
In order to achieve the above object, the present invention is achieved through the following technical solutions：
On the one hand, the invention provides a kind of determine cutter head working condition device, including：
Cutter head, optical transmitting set, light-sensitive element, shade, signal generation unit and processing unit；
Described optical transmitting set, for launching light；
Described cutter head, moves back and forth for the central axis along described cutter head；
Described shade, for when described cutter head passes through described reciprocating motion positioned at diverse location, stopping described light
Line or pass through described light；
Described light-sensitive element, for when described shade does not stop described light, receiving described optical transmitting set transmitting
Light；
Described signal generation unit, for the light receiver situation according to described light-sensitive element, generates described light receiver
The corresponding pulse signal of situation, and export described pulse signal；
Described processing unit, for the pulse signal exporting according to described signal generation unit, determines working as of described cutter head
Front working condition.
Further, described processing unit, for according to described pulse signal, determining that described cutter head carries out described reciprocal fortune
During forward movement in dynamic, initial time that the light of described optical transmitting set transmitting is stopped by described shade and when terminating
Between；When determining that the difference of described termination time and described initial time is lasted for corresponding first light barrier of described shade
Long；Judge that described first light barrier lasts whether duration exceedes predetermined threshold range, if so, determine at described cutter head
In stuck state.
Further, described processing unit, for according to described pulse signal, determining that described cutter head carries out described reciprocal fortune
During forward movement in dynamic, initial time that the light of described optical transmitting set transmitting is stopped by described shade and when terminating
Between；When determining that the difference of described termination time and described initial time is lasted for corresponding first light barrier of described shade
Long；According to formula f1=k × t1, calculate suffered the first resistance when described cutter head moves forward, and judge described first resistance
Whether exceed predetermined threshold range, if so, determine that described cutter head is in stuck state, wherein,
f1For described first resistance, k is conversion coefficient, t1Last duration for described first light barrier.
Further, described processing unit, for according to described pulse signal, determining that described cutter head carries out described reciprocal fortune
In dynamic when being moved rearwards by, initial time that the light of described optical transmitting set transmitting is stopped by described shade and when terminating
Between；When determining that the difference of described termination time and described initial time is lasted for corresponding second light barrier of described shade
Long；Judge that described second light barrier lasts whether duration exceedes predetermined threshold range, if so, determine at described cutter head
In stuck state.
Further, described processing unit, for according to described pulse signal, determining that described cutter head carries out described reciprocal fortune
In dynamic when being moved rearwards by, initial time that the light of described optical transmitting set transmitting is stopped by described shade and when terminating
Between；When determining that the difference of described termination time and described initial time is lasted for corresponding second light barrier of described shade
Long；According to formula f2=k × t2, calculate suffered the second resistance when described cutter head is moved rearwards by, and judge described second resistance
Whether exceed predetermined threshold range, if so, determine that described cutter head is in stuck state, wherein,
f2For described second resistance, k is conversion coefficient, t2Last duration for described second light barrier.
Further, described processing unit, carries out described reciprocal fortune for according to described pulse signal, calculating described cutter head
During forward movement in dynamic, corresponding first light barrier of described shade lasts duration, and calculates described cutter head and carry out
Described move back and forth in when being moved rearwards by, corresponding second light barrier of described shade lasts duration；Judge described
One light barrier lasts duration and described second light barrier lasts the difference of duration and whether exceedes predetermined threshold range,
If so, determine that described cutter head is in stuck state.
Further, described shade is the projection of loop configuration；
Described raised central axis is coincided with the central axis of described cutter head；
The internal diameter of described loop configuration is not less than the external diameter of described cutter head；
Minimum range between the central axis of described optical transmitting set and described cutter head, more than the one of described raised external diameter
Half；
Minimum range between the central axis of described light-sensitive element and described cutter head, more than the one of described raised external diameter
Half；
Minimum range between the light emitted transmission path of line of described optical transmitting set and the central axis of described cutter head, between
Between the described raised half of external diameter and the half of external diameter of described cutter head.
Further, described raised outer surface includes groove；
The central axis of described groove is coincided with the central axis of described cutter head；
Described groove is less than the described raised width along described central axis along the width of described central axis；
The center of described groove is misaligned with the center of described cutter head；
Minimum range between the light emitted transmission path of line of described optical transmitting set and the central axis of described cutter head, is more than
Minimum range between the central axis of described groove and described cutter head.
Further, described processing unit, for according to described pulse signal, determining the corresponding pulsewidth of described groove；Root
According to relative position in described pulse signal for the described pulsewidth, determine that described cutter head carries out the forward movement in described reciprocating motion
When, corresponding first light barrier of described projection lasts duration, and/or, described cutter head is carried out in described reciprocating motion backward
When mobile, corresponding second light barrier of described projection lasts duration.
On the other hand, the invention provides a kind of determine cutter head working condition method, including：
Light launched by optical transmitting set；
Cutter head moves back and forth along central axis；
When described cutter head passes through described reciprocating motion positioned at diverse location, stop described light or saturating using shade
Cross described light；
The light of described optical transmitting set transmitting when described shade does not stop described light, is received using light-sensitive element
Line；
According to the light receiver situation of described light-sensitive element, generate the corresponding pulse signal of described light receiver situation, and
Export described pulse signal；
According to the described pulse signal of output, determine the current operating state of described cutter head.
Further, the described described pulse signal according to output, determines the current operating state of described cutter head, including：
According to described pulse signal, when determining that described cutter head carries out the forward movement in described reciprocating motion, described optical transmitting set transmitting
The initial time that stopped by described shade of light and the termination time；Determine described termination time and described initial time
Difference last duration for corresponding first light barrier of described shade；Judge that described first light barrier lasts duration and is
No exceed predetermined threshold range, if so, determine that described cutter head is in stuck state.
Further, the described described pulse signal according to output, determines the current operating state of described cutter head, including：
According to described pulse signal, when determining that described cutter head carries out the forward movement in described reciprocating motion, described optical transmitting set transmitting
The initial time that stopped by described shade of light and the termination time；Determine described termination time and described initial time
Difference last duration for corresponding first light barrier of described shade；According to formula f1=k × t1, calculate described cutter head
The first suffered resistance during forward movement, and judge whether described first resistance exceedes predetermined threshold range, if so,
Determine that described cutter head is in stuck state, wherein,
f1For described first resistance, k is conversion coefficient, t1Last duration for described first light barrier.
Further, the described described pulse signal according to output, determines the current operating state of described cutter head, including：
According to described pulse signal, determine described cutter head carry out in described reciprocating motion when being moved rearwards by, described optical transmitting set transmitting
The initial time that stopped by described shade of light and the termination time；Determine described termination time and described initial time
Difference last duration for corresponding second light barrier of described shade；Judge that described second light barrier lasts duration and is
No exceed predetermined threshold range, if so, determine that described cutter head is in stuck state.
Further, the described described pulse signal according to output, determines the current operating state of described cutter head, including：
According to described pulse signal, determine described cutter head carry out in described reciprocating motion when being moved rearwards by, described optical transmitting set transmitting
The initial time that stopped by described shade of light and the termination time；Determine described termination time and described initial time
Difference last duration for corresponding second light barrier of described shade；According to formula f2=k × t2, calculate described cutter head
The second suffered resistance when being moved rearwards by, and judge whether described second resistance exceedes predetermined threshold range, if so,
Determine that described cutter head is in stuck state, wherein,
f2For described second resistance, k is conversion coefficient, t2Last duration for described second light barrier.
The invention provides a kind of determine cutter head working condition device and method, this device include cutter head, optical transmitting set,
Light-sensitive element, shade, signal generation unit and processing unit；Light launched by optical transmitting set；Cutter head is carried out along central axis
Move back and forth；When cutter head is located at diverse location by moving back and forth, shade stops light or transmitted light；Shade is not
When stopping light, light-sensitive element receives the light of optical transmitting set transmitting；Signal generation unit is according to the light receiver of light-sensitive element
Situation, generates corresponding pulse signal output pulse signal；Processing unit, according to the pulse signal of output, determines working as of cutter head
Front working condition.Therefore, the present invention can determine the working condition of cutter head.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is a kind of schematic diagram of the device of determination cutter head working condition that one embodiment of the invention provides；
Fig. 2 be one embodiment of the invention provide a kind of cutter head and shade attachment structure structural representation；
Fig. 3 be one embodiment of the invention provide another kind of cutter head and shade attachment structure structural representation；
Fig. 4 is a kind of schematic diagram of pulse signal that one embodiment of the invention provides；
Fig. 5 be one embodiment of the invention provide another cutter head and shade attachment structure structural representation；
Fig. 6 is the schematic diagram of another kind of pulse signal that one embodiment of the invention provides；
Fig. 7 is the flow chart of a kind of method of determination cutter head working condition that one embodiment of the invention provides.
Specific embodiment
Purpose, technical scheme and advantage for making the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described it is clear that described embodiment is
The a part of embodiment of the present invention, rather than whole embodiments, based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment being obtained on the premise of not making creative work, broadly falls into the scope of protection of the invention.
As shown in figure 1, embodiments providing a kind of device determining cutter head working condition, can include：
Cutter head 101, optical transmitting set 102, light-sensitive element 103, shade 104, signal generation unit 105 and processing unit
106；
Described optical transmitting set 102, for launching light；
Described cutter head 101, moves back and forth for the central axis along described cutter head 101；
Described shade 104, for when described cutter head 101 passes through described reciprocating motion positioned at diverse location, stopping
Described light or pass through described light；
Described light-sensitive element 103, for when described shade 104 does not stop described light, receiving described light transmitting
The light of device 102 transmitting；
Described signal generation unit 105, for the light receiver situation according to described light-sensitive element 103, generates described light
The corresponding pulse signal of line reception condition, and export described pulse signal；
Described processing unit 106, for the pulse signal exporting according to described signal generation unit 105, determines described knife
101 current operating state.
Embodiments provide a kind of determine cutter head working condition device, this device include cutter head, optical transmitting set,
Light-sensitive element, shade, signal generation unit and processing unit；Light launched by optical transmitting set；Cutter head is carried out along central axis
Move back and forth；When cutter head is located at diverse location by moving back and forth, shade stops light or transmitted light；Shade is not
When stopping light, light-sensitive element receives the light of optical transmitting set transmitting；Signal generation unit is according to the light receiver of light-sensitive element
Situation, generates corresponding pulse signal output pulse signal；Processing unit, according to the pulse signal of output, determines working as of cutter head
Front working condition.Therefore, the embodiment of the present invention can determine the working condition of cutter head.
In an embodiment of the invention, cutter head can be a hollow pipe, and the execution operative site cutting of cutter head is made
One end can be provided with blade.In the reciprocatory movement of cutter head, it is possible to use the hand that blade cutting is currently operated
The institutional framework at art position, and the negative-pressure adsorption power using the cutter head other end, will be residual for the tissue after cutting by hollow pipe
Slag etc. is adsorbed in vitro.In detail, one end being not provided with blade of cutter head may reside in handle of a knife, therefore equally can be by
Shade is arranged in handle of a knife.For example, when this shade is the circle projection on cutter head, this raised position can set
It is placed on included part cutter head in handle of a knife.
In the embodiment of the present invention, in order to the operative site currently being operated using cutter head cutting, cutter head is needed to carry out
Move back and forth, can move forward for circulation execution such as in the present embodiment and be moved rearwards by.When being moved forward due to cutter head, need
Contact the institutional framework at cutting operation position, therefore cutter head would generally be subject to the drag effect of operative site.Cutter head is moved back by
When dynamic, in addition to the annexation of operating theater instruments is to the proper drag caused by cutter head, generally it can be thought that cutter head was moved rearwards by
It is not subject to any resistance in journey.
But, when the hardness of the various location of operative site, toughness or adhesiveness etc. change greatly, cutter head can be led to
The drag effect of suffered operative site changes, and that is, suffered resistance when moving forward of cutter head changes.Additionally,
Tissue residue etc. after cutting not by normal sorption to external, and when making to snap in tissue residue near cutter head, knife can be led to
Suffered resistance when being moved rearwards by of head changes, and usually resistance becomes big.As can be seen that when no matter cutter head moves forward
Resistance become big, or resistance when cutter head is moved rearwards by becomes big, also or both are big with time-varying, when intensity of variation exceedes suitable model
When enclosing, all easily cause cutter head and be stuck.
Accordingly, it is determined that the implementation whether cutter head is stuck at least can have following three kinds：
Mode 1：Resistance when cutter head moves forward exceedes respective threshold scope；
Mode 2：Resistance when cutter head is moved rearwards by exceedes respective threshold scope；
Mode 3：The difference of resistance when resistance when cutter head moves forward and cutter head are moved rearwards by exceedes respective threshold model
Enclose.
In detail, for aforesaid way 1：
During cutter head moves forward, the motion conditions of shade can be consistent with the motion conditions of cutter head, therefore
The motion conditions of cutter head can be reflected by the motion conditions of shade.When shade with the movement of cutter head through certain bits
When putting, the light that optical transmitting set sends can be stopped.The resistance that cutter head is subject to is bigger, and the translational speed of cutter head is relatively slower, hides
Electro-optical device stop light to last duration relatively longer.Therefore, when can determine that cutter head moves forward first, shade corresponds to
The first light barrier last duration.
In one embodiment of the invention, determine that the implementation that this first light barrier lasts duration can be：Institute
State processing unit 106, for according to described pulse signal, determine described cutter head 101 carry out in described reciprocating motion to reach
When dynamic, initial time and termination time that the light of described optical transmitting set 102 transmitting is stopped by described shade 104；Really
When the difference of fixed described termination time and described initial time is lasted for corresponding first light barrier of described shade 104
Long.
On the one hand, from the foregoing, it will be observed that the first light barrier determined lasts, duration is longer, and the resistance that cutter head is subject to is bigger,
More easily it is stuck.Accordingly, it is determined that the implementation whether cutter head is stuck can be：Judge that described first light barrier lasts
Whether duration exceedes predetermined threshold range, if so, determines that described cutter head 101 is in stuck state.
Because shade is certain along the width of cutter head center axis, therefore work as the first light barrier judging shade
When lasting duration and exceeding respective settings threshold value, illustrate that current procedure site tissue may be harder etc., larger to the resistance of cutter head, therefore
Cutter head is stuck, or will be stuck.
On the other hand, operative site is bigger to the resistance of cutter head, and it is longer that the corresponding light barrier of shade lasts duration,
The ratio relation such as be usually present between the two, thus can according to this grade, than relation and the light barrier determined last duration, calculate
The resistance that cutter head is subject to.The resistance calculating is bigger, and cutter head is more easily stuck.Accordingly, it is determined that the reality whether cutter head is stuck
Now mode can also be：According to formula f1=k × t1, calculate suffered the first resistance when described cutter head 101 moves forward, and
Judge whether described first resistance exceedes predetermined threshold range, if so, determine that described cutter head 101 is in stuck state,
Wherein, f1For described first resistance, k is conversion coefficient, t1Last duration for described first light barrier.
When the resistance judging cutter head forward movement when institute's cutter head exceedes respective settings threshold value, cutter head equally can be described
It is stuck, or will be stuck.
In detail, for aforesaid way 2：
Similar with above-mentioned forward movement, during cutter head is moved rearwards by, equally can be by the motion feelings of shade
Condition reflects the motion conditions of cutter head, and the resistance that cutter head is subject to is bigger, and the translational speed of cutter head is relatively slower, and shade stops
Light to last duration relatively longer.Therefore, when can determine that cutter head is moved rearwards by first, corresponding second light of shade
Stop and last duration.
In one embodiment of the invention, determine that the implementation that this second light barrier lasts duration can be：Institute
State processing unit 106, for according to described pulse signal, determining that described cutter head 101 carries out being moved back by described reciprocating motion
When dynamic, initial time and termination time that the light of described optical transmitting set 102 transmitting is stopped by described shade 104；Really
When the difference of fixed described termination time and described initial time is lasted for corresponding second light barrier of described shade 104
Long.
On the one hand, the second light barrier determined lasts that duration is longer, and the resistance that cutter head is subject to is bigger, easier by card
Extremely.Accordingly, it is determined that the implementation whether cutter head is stuck can be：Judge that described second light barrier lasts whether duration surpasses
Cross predetermined threshold range, if so, determine that described cutter head 101 is in stuck state.
Because shade is certain along the width of cutter head center axis, therefore work as the second light barrier judging shade
When lasting duration and exceeding respective settings threshold value, illustrate that cutter head may be squeezed into tissue and be stuck, or will be stuck.
On the other hand, the resistance that cutter head is moved rearwards by can be led to after cutter head squeezes into tissue to become big, the corresponding light of shade
Line stops that to last duration elongated, the ratio relation such as is usually present between the two, therefore can be according to this grade than relation with the light determined
Line stop lasts duration, calculates the resistance that cutter head is subject to.The resistance calculating is bigger, and cutter head is more easily stuck.Accordingly, it is determined that
The implementation whether cutter head is stuck can also be：According to formula f2=k × t2, calculate described cutter head 101 and be moved rearwards by when institute
The second resistance being subject to, and judge whether described second resistance exceedes predetermined threshold range, if so, determine described cutter head
101 are in stuck state, wherein, f2For described second resistance, k is conversion coefficient, t2When lasting for described second light barrier
Long.
When of judging that cutter head is moved rearwards by institute's cutter head resistance exceed respective settings threshold value when, cutter head equally can be described
Squeeze into tissue to be stuck, or will be stuck.
In detail, for aforesaid way 3：
Based on the above, except individually judging the situation that cutter head moves forward, or individually judging what cutter head was moved rearwards by
Situation, can also be circulated reciprocating situation according to cutter head, to determine the working condition of cutter head.
Therefore, in an embodiment of the invention, described processing unit 106, for according to described pulse signal, calculating institute
When stating the forward movement that cutter head 101 is carried out in described reciprocating motion, corresponding first light barrier of described shade 104 lasts
Duration, and calculate described cutter head 101 carry out described move back and forth in when being moved rearwards by, described shade 104 is corresponding
Second light barrier lasts duration；Judge that described first light barrier lasts duration and described second light barrier lasts duration
Whether difference exceedes predetermined threshold range, if so, determines that described cutter head 101 is in stuck state.
Additionally, in an embodiment of the invention, can also be sentenced according to above-mentioned the first resistance calculating and the second resistance
Whether both differences of breaking exceed respective threshold scope, when judged result is to be, determine that cutter head is in stuck state.
For ease of the execution of cutter head cutting operation, during the cutting operation carrying out operative site using cutter head, knife
Head, in addition to circulation moves back and forth, can also be rotated along its center axis.For this application scenarios, at this
In a bright embodiment, refer to Fig. 2 and Fig. 3, described shade 104 is the projection of loop configuration；
Described raised central axis is coincided with the central axis of described cutter head 101；
The internal diameter of described loop configuration is not less than the external diameter of described cutter head 101；
Minimum range between the central axis of described optical transmitting set 102 and described cutter head 101, more than described raised external diameter
Half；
Minimum range between the central axis of described light-sensitive element 103 and described cutter head 101, more than described raised external diameter
Half；
Narrow spacing between the light emitted transmission path of line of described optical transmitting set 102 and the central axis of described cutter head 101
From between the half of the half of described raised external diameter and the external diameter of described cutter head.
In detail, Fig. 3 can be the right view of Fig. 2.
In fig. 2, shown dotted line can be the central axis of cutter head, and the central axis of the projection of loop configuration phase therewith
Overlap.The internal diameter of loop configuration is equal with the external diameter of cutter head, is L1, the external diameter of loop configuration is L2.The light of optical transmitting set transmitting
Line can be by recto Vertical Launch to back side of paper, and light transmission path can be by the A shown in Fig. 21Point position.
Wherein, A1Point position, i.e. minimum range between the transmission path of the light emitted line of optical transmitting set, and the central axis of cutter head between
L1/ 2 and L2Between/2, i.e. L1/ 2 ＜ L3＜ L2/2.
In figure 3, optical transmitting set can be arranged at A2Point position, light-sensitive element can be arranged at A3Point position.In Fig. 3
The center of circle can be the central axis in Fig. 2.As can be seen that optical transmitting set is more than projection with the minimum range of the central axis of cutter head
External diameter half, i.e. L shown in Fig. 34＞ L2/ 2, and the minimum range of the central axis of light-sensitive element and cutter head also greater than
The half of raised external diameter, i.e. L shown in Fig. 35＞ L2/2.
By this implementation, cutter head is being moved back and forth and during rotation simultaneously, there may be optical transmitting set transmitting
Light by convex barrier with not by two kinds of situations of convex barrier, such that it is able to according to light-sensitive element different time light
Pulse signal corresponding to reception condition, lasts duration to calculate light barrier, so that it is determined that going out whether cutter head is in stuck shape
State.
In an embodiment of the invention, the cutter head shown in Fig. 2 during moving back and forth, give birth to by signal generation unit
The pulse signal becoming can be as shown in Figure 4.
In detail, refer to Fig. 4, when cutter head is moved to the left, raised left end is in t1Moment stops optical transmitting set first
The light of transmitting, afterwards light will be continuously in the state of being blocked, until raised right-hand member is in t2After moment stops light, light
Line can not be blocked, thus light can be received by light-sensitive element, therefore raised corresponding first light barrier lasts duration
Can be t2- t1.When cutter head moves right, raised right-hand member is in t3Moment stops the light of optical transmitting set transmitting first, it
Light will be continuously in the state of being blocked afterwards, until raised left end is in t4After moment stops light, light can not hindered
Gear, such that it is able to received by light-sensitive element, therefore it can be t that raised corresponding second light barrier lasts duration4- t3.
Under normal circumstances, cutter head moves forward the resistance that is subject to and can be moved rearwards by, much larger than cutter head, the resistance that is subject to, therefore
First light barrier lasts duration and can be longer than the second light barrier and lasts duration.Based on this implementation it may be determined that
Go out each light barrier in pulse signal last duration correspond to move forward still be moved rearwards by.
But, during cutter head moves back and forth, when cutter head moves forward and is moved rearwards by suffered resistance phase
When difference is little, it is difficult each light barrier in pulse signals and lasts the type of duration to be judged.Therefore, in one reality of the present invention
Apply in example, refer to Fig. 5, last duration in order to each light barrier in pulse signals and judged, to determine that it is
First light barrier lasts duration or the second light barrier lasts duration, consequently facilitating accurately the sentencing of follow-up cutter head working condition
Disconnected, so,
Groove is included on described raised outer surface；
The central axis of described groove is coincided with the central axis of described cutter head 101；
Described groove is less than the described raised width along described central axis along the width of described central axis；
The center of described groove is misaligned with the center of described cutter head；
Narrow spacing between the light emitted transmission path of line of described optical transmitting set 102 and the central axis of described cutter head 101
From more than the minimum range between the central axis of described groove and described cutter head 101.
By a groove will be arranged in the projection shown in Fig. 2, can be as shown in Figure 5.
In Figure 5, the central axis of cutter head, projection and groove coincides, as shown in phantom in FIG..Groove is along central axis
Width be L6, the raised width along central axis is L7, and L7＞ L6.Based on the central axis overlapping, due to groove and projection
All can be with Central Symmetry, therefore the center of groove can be A5Point position, raised center can be A4Point position, and A4Point position
And A5Point position is misaligned.
Additionally, in order to launch in convex barrier optical transmitting set light when, groove do not stop optical transmitting set transmitting
Light, therefore the minimum range between groove and central axis can be less than the minimum range between light transmission path and central axis,
I.e. L8＜ L3.
After setting groove in projection, the pulse signal that signal generation unit generates can change.For example, at this
Invention one embodiment in, the cutter head shown in Fig. 5 during moving back and forth, signal generation unit generate pulse signal
Can be as shown in Figure 6.
In detail, refer to Fig. 4, when cutter head is moved to the left, raised left end is in t1Moment stops optical transmitting set first
Transmitting light, afterwards light be persistently blocked, until groove left end in t1When the ＇ moment does not stop light, light is held afterwards
Continuous be not blocked, then to groove right-hand member in t2When the ＇ moment starts again at stop light, light is persistently blocked again afterwards,
Then to raised right-hand member in t2After moment stops light, light can not be blocked.Therefore t1With t1Between ＇ and t2With t2＇ it
Between, light-sensitive element does not receive light, does not have pulse signal, but t1＇ and t2Between ＇, light-sensitive element can receive light, has
Pulse signal.Wherein, t1＇ and t2Pulse signal between ＇ is from t1Moment relatively far away from, from t2Moment relative close.
Principle is realized based on same, when cutter head moves right, t3With t3Between ＇ and t4With t4Between ＇, light-sensitive element
Do not receive light, there is no pulse signal, but t3＇ and t4Between ＇, light-sensitive element can receive light, has pulse signal.Its
In, t3＇ and t4Pulse signal between ＇ is from t3Moment relative close, from t2Moment is relatively far away from.
Therefore, according to cutter head carry out different directions mobile when the corresponding pulse signal form of expression different, can be true
Fixed different light barrier lasts duration and can correspond to different cutter head moving directions, such that it is able to go through different light barrier
The Shi Shichang threshold range corresponding with it is accurately contrasted.
Therefore, in one embodiment of the invention, described processing unit 106, described for according to described pulse signal, determining
The corresponding pulsewidth of groove；According to relative position in described pulse signal for the described pulsewidth, determine that described cutter head 101 is carried out described
During forward movement in reciprocating motion, corresponding first light barrier of described projection lasts duration, and/or, described cutter head 101 enters
Row is described move back and forth in when being moved rearwards by, corresponding second light barrier of described projection lasts duration.
In detail, the corresponding pulsewidth of groove can correspond to the t shown in Fig. 61＇ and t2Pulse signal between ＇, and
Corresponding to the t shown in Fig. 63＇ and t4Pulse signal between ＇.According to relative position in pulse signal for the distinct pulse widths, can
To determine that the first light barrier lasts duration and the second light barrier lasts duration, such that it is able to according to the light barrier determined
Last the judgement that duration carries out cutter head working condition.Wherein, from the foregoing, duration can be lasted according to the first light barrier,
And/or, the second light barrier lasts duration, determines the working condition of cutter head.
As shown in fig. 7, one embodiment of the invention provide a kind of determine cutter head working condition method, can include with
Lower step：
Step 201：Light launched by optical transmitting set.
Step 202：Cutter head moves back and forth along central axis.
Step 203：When described cutter head passes through described reciprocating motion positioned at diverse location, stopped described using shade
Light or pass through described light.
Step 204：When described shade does not stop described light, receive described optical transmitting set using light-sensitive element and send out
The light penetrated.
Step 205：According to the light receiver situation of described light-sensitive element, generate the corresponding pulse of described light receiver situation
Signal, and export described pulse signal.
Step 206：According to the described pulse signal of output, determine the current operating state of described cutter head.
In detail, need to move back and forth during cutter head execution cutting operation, such as in the present embodiment, can circulate forward
Move and be moved rearwards by.When cutter head moves forward, if the tissue hardness at cut position etc. are larger, cut position pair can be increased
The resistance of cutter head, resistance is excessive, the stuck situation of cutter head easily.When cutter head is moved rearwards by, if snapping in the tissue being cut
Fragment, then the resistance that cutter head is subject to when being moved rearwards by becomes big, and resistance is excessive, the stuck situation of cutter head easily.
In the embodiment of the present invention, shade can move back and forth with cutter head, when cutter head movement is to ad-hoc location, hides
Electro-optical device can stop the light of optical transmitting set transmitting, and when moving to other positions, shade can not stop light.Due to
Shade can be fixed along the width of cutter head center axis, therefore when the resistance that is subject to of cutter head becomes big, cutter head movement rate is
Slow down, therefore in the pulse signal generating, the corresponding light barrier of shade lasts duration and extended.Therefore, light barrier
Last and between the resistance that duration and cutter head are subject to, there may be certain grade ratio relation.
Situation about moving forward for cutter head, when determining that the whether stuck implementation of cutter head can move forward for judgement
Light barrier last duration or judge move forward when resistance.
In an embodiment of the invention, in order to illustrate a kind of according to move forward when light barrier last duration with true
The possible implementation of stationary knife head working condition, so, the described described pulse signal according to output, determine working as of described cutter head
Front working condition, including：According to described pulse signal, when determining that described cutter head carries out the forward movement in described reciprocating motion,
Initial time and termination time that the light of described optical transmitting set transmitting is stopped by described shade；When determining described termination
Between and the difference of described initial time last duration for corresponding first light barrier of described shade；Judge described first light
Line stop lasts whether duration exceedes predetermined threshold range, if so, determines that described cutter head is in stuck state.
In an embodiment of the invention, in order to illustrate a kind of according to move forward when resistance with determine cutter head work shape
The possible implementation of state, so, the described described pulse signal according to output, determine the current operating state of described cutter head,
Including：According to described pulse signal, when determining that described cutter head carries out the forward movement in described reciprocating motion, described optical transmitting set
Initial time and termination time that the light of transmitting is stopped by described shade；Determine described termination time and described initial
The difference of time lasts duration for corresponding first light barrier of described shade；According to formula f1=k × t1, calculate described
The first suffered when moving forward resistance of cutter head, and judge whether described first resistance exceedes predetermined threshold range,
If so, determine that described cutter head is in stuck state, wherein, f1For described first resistance, k is conversion coefficient, t1For described first light
Line stop lasts duration.
Move forward similar, to be moved rearwards by for cutter head situation with cutter head, determine the whether stuck realization side of cutter head
Formula can be lasted duration or judge resistance when being moved rearwards by for judging light barrier when being moved rearwards by.
In an embodiment of the invention, in order to light barrier when illustrating that a kind of basis is moved rearwards by lasts duration with true
The possible implementation of stationary knife head working condition, so, the described described pulse signal according to output, determine working as of described cutter head
Front working condition, including：According to described pulse signal, determine described cutter head carry out in described reciprocating motion when being moved rearwards by,
Initial time and termination time that the light of described optical transmitting set transmitting is stopped by described shade；When determining described termination
Between and the difference of described initial time last duration for corresponding second light barrier of described shade；Judge described second light
Line stop lasts whether duration exceedes predetermined threshold range, if so, determines that described cutter head is in stuck state.
In an embodiment of the invention, in order to resistance when illustrating that a kind of basis is moved rearwards by is to determine cutter head work shape
The possible implementation of state, so, the described described pulse signal according to output, determine the current operating state of described cutter head,
Including：According to described pulse signal, determine described cutter head carry out in described reciprocating motion when being moved rearwards by, described optical transmitting set
Initial time and termination time that the light of transmitting is stopped by described shade；Determine described termination time and described initial
The difference of time lasts duration for corresponding second light barrier of described shade；According to formula f2=k × t2, calculate described
The second suffered resistance when cutter head is moved rearwards by, and judge whether described second resistance exceedes predetermined threshold range,
If so, determine that described cutter head is in stuck state, wherein, f2For described second resistance, k is conversion coefficient, t2For described second light
Line stop lasts duration.
Additionally, in an embodiment of the invention, the light barrier in the forward movement determining cutter head lasts duration
After lasting duration with light barrier when being moved rearwards by, can also judge whether both differences exceed corresponding threshold value model
Enclosing, if exceeding, illustrating that cutter head may be stuck.
Additionally, in an embodiment of the invention, resistance in the forward movement determining cutter head and when being moved rearwards by
Resistance after, can also judging whether both differences exceed corresponding threshold range, if exceeding, illustrating that cutter head may quilt
Stuck.
In sum, each embodiment of the present invention at least has the advantages that：
1st, in the embodiment of the present invention, determine that the device of cutter head working condition can include cutter head, optical transmitting set, photosensitive unit
Part, shade, signal generation unit and processing unit；Light launched by optical transmitting set；Cutter head is back and forth transported along central axis
Dynamic；When cutter head is located at diverse location by moving back and forth, shade stops light or transmitted light；Shade does not stop light
During line, light-sensitive element receives the light of optical transmitting set transmitting；Signal generation unit is according to the light receiver situation of light-sensitive element, raw
Become corresponding pulse signal output pulse signal；Processing unit, according to the pulse signal of output, determines the work at present of cutter head
State.Therefore, the embodiment of the present invention can determine the working condition of cutter head.
2nd, in the embodiment of the present invention, for ease of the execution of cutter head cutting operation, need while cutter head moves back and forth
When carrying out the rotation along central axis, shade can be the annular protrusion along cutter head center axis, and according to generation
Pulse signal is it may be determined that the light barrier corresponding to this projection lasts duration, and then may determine that whether cutter head is in card
Death situation state.Furthermore, it is possible to groove centrosymmetric along central axis is arranged on projection, according to the corresponding pulsewidth of groove to pulse
Relative position in signal, can rapidly and accurately determine cutter head to different directions move when corresponding light barrier last
Duration.
It should be noted that herein, such as first and second etc relational terms are used merely to an entity
Or operation is made a distinction with another entity or operation, and not necessarily requires or imply exist between these entities or operation
Any this actual relation or order.And, term " inclusion ", "comprising" or its any other variant are intended to non-
The comprising of exclusiveness, so that including a series of process of key elements, method, article or equipment not only include those key elements,
But also include other key elements being not expressly set out, or also include being consolidated by this process, method, article or equipment
Some key elements.In the absence of more restrictions, the key element being limited by sentence " including ", does not arrange
Remove and also there is other identical factor in the process including described key element, method, article or equipment.
One of ordinary skill in the art will appreciate that：The all or part of step realizing said method embodiment can be passed through
Completing, aforesaid program can be stored in the storage medium of embodied on computer readable the related hardware of programmed instruction, this program
Upon execution, execute the step including said method embodiment；And aforesaid storage medium includes：ROM, RAM, magnetic disc or light
Disk etc. is various can be with the medium of store program codes.
Last it should be noted that：The foregoing is only presently preferred embodiments of the present invention, be merely to illustrate the skill of the present invention
Art scheme, is not intended to limit protection scope of the present invention.All any modifications made within the spirit and principles in the present invention,
Equivalent, improvement etc., are all contained in protection scope of the present invention.
Claims (10)
1. a kind of device determining cutter head working condition is it is characterised in that include：
Cutter head, optical transmitting set, light-sensitive element, shade, signal generation unit and processing unit；
Described optical transmitting set, for launching light；
Described cutter head, moves back and forth for the central axis along described cutter head；
Described shade, for described cutter head pass through described move back and forth be located at diverse location when, stop described light or
Through described light；
Described light-sensitive element, for when described shade does not stop described light, receiving the light of described optical transmitting set transmitting
Line；
Described signal generation unit, for the light receiver situation according to described light-sensitive element, generates described light receiver situation
Corresponding pulse signal, and export described pulse signal；
Described processing unit, for the pulse signal exporting according to described signal generation unit, determines the current work of described cutter head
Make state.
2. according to claim 1 determine cutter head working condition device it is characterised in that
Described processing unit, for according to described pulse signal, determine described cutter head carry out in described reciprocating motion to reach
When dynamic, initial time and termination time that the light of described optical transmitting set transmitting is stopped by described shade；Determine described
The difference of termination time and described initial time lasts duration for corresponding first light barrier of described shade；
Judge that described first light barrier lasts whether duration exceedes predetermined threshold range, if so, determine described cutter head
It is in stuck state,
Or,
According to formula f1=k × t1, calculate suffered the first resistance when described cutter head moves forward, and judge described first resistance
Whether power exceedes predetermined threshold range, if so, determines that described cutter head is in stuck state, wherein,
f1For described first resistance, k is conversion coefficient, t1Last duration for described first light barrier.
3. according to claim 1 determine cutter head working condition device it is characterised in that
Described processing unit, for according to described pulse signal, determining that described cutter head carries out being moved back by described reciprocating motion
When dynamic, initial time and termination time that the light of described optical transmitting set transmitting is stopped by described shade；Determine described
The difference of termination time and described initial time lasts duration for corresponding second light barrier of described shade；
Judge that described second light barrier lasts whether duration exceedes predetermined threshold range, if so, determine described cutter head
It is in stuck state,
Or,
According to formula f2=k × t2, calculate suffered the second resistance when described cutter head is moved rearwards by, and judge described second resistance
Whether power exceedes predetermined threshold range, if so, determines that described cutter head is in stuck state, wherein,
f2For described second resistance, k is conversion coefficient, t2Last duration for described second light barrier.
4. according to claim 1 determine cutter head working condition device it is characterised in that
Described processing unit, for according to described pulse signal, calculate described cutter head carry out in described reciprocating motion to reach
When dynamic, corresponding first light barrier of described shade lasts duration, and calculates described cutter head and carry out described reciprocating motion
In when being moved rearwards by, corresponding second light barrier of described shade lasts duration；Judge that described first light barrier is gone through
Whether the difference that Shi Shichang and described second light barrier last duration exceedes predetermined threshold range, if so, determines institute
State cutter head and be in stuck state.
5. the device according to the described head working condition of stationary knife really arbitrary in Claims 1-4 it is characterised in that
Described shade is the projection of loop configuration；
Described raised central axis is coincided with the central axis of described cutter head；
The internal diameter of described loop configuration is not less than the external diameter of described cutter head；
Minimum range between the central axis of described optical transmitting set and described cutter head, more than the half of described raised external diameter；
Minimum range between the central axis of described light-sensitive element and described cutter head, more than the half of described raised external diameter；
Minimum range between the light emitted transmission path of line of described optical transmitting set and the central axis of described cutter head, between described
Between the raised half of external diameter and the half of external diameter of described cutter head.
6. according to claim 5 determine cutter head working condition device it is characterised in that
Groove is included on described raised outer surface；
The central axis of described groove is coincided with the central axis of described cutter head；
Described groove is less than the described raised width along described central axis along the width of described central axis；
The center of described groove is misaligned with the center of described cutter head；
Minimum range between the light emitted transmission path of line of described optical transmitting set and the central axis of described cutter head, more than described
Minimum range between the central axis of groove and described cutter head.
7. according to claim 6 determine cutter head working condition device it is characterised in that
Described processing unit, for according to described pulse signal, determining the corresponding pulsewidth of described groove；According to described pulsewidth in institute
State the relative position in pulse signal, when determining that described cutter head carries out the forward movement in described reciprocating motion, described projection is right
The first light barrier answered lasts duration, and/or, described cutter head carry out described move back and forth in when being moved rearwards by, described convex
Play corresponding second light barrier and last duration.
8. a kind of method determining cutter head working condition is it is characterised in that include：
Light launched by optical transmitting set；
Cutter head moves back and forth along central axis；
When described cutter head passes through described reciprocating motion positioned at diverse location, stop described light using shade or pass through institute
State light；
The light of described optical transmitting set transmitting when described shade does not stop described light, is received using light-sensitive element；
According to the light receiver situation of described light-sensitive element, generate the corresponding pulse signal of described light receiver situation, and export
Described pulse signal；
According to the described pulse signal of output, determine the current operating state of described cutter head.
9. method according to claim 8, it is characterised in that the described described pulse signal according to output, determines described
The current operating state of cutter head, including：
According to described pulse signal, when determining that described cutter head carries out the forward movement in described reciprocating motion, described optical transmitting set
Initial time and termination time that the light of transmitting is stopped by described shade；Determine described termination time and described initial
The difference of time lasts duration for corresponding first light barrier of described shade；
Judge that described first light barrier lasts whether duration exceedes predetermined threshold range, if so, determine described cutter head
It is in stuck state,
Or,
According to formula f1=k × t1, calculate suffered the first resistance when described cutter head moves forward, and judge described first resistance
Whether power exceedes predetermined threshold range, if so, determines that described cutter head is in stuck state, wherein,
f1For described first resistance, k is conversion coefficient, t1Last duration for described first light barrier.
10. method according to claim 8, it is characterised in that the described described pulse signal according to output, determines described
The current operating state of cutter head, including：
According to described pulse signal, determine described cutter head carry out in described reciprocating motion when being moved rearwards by, described optical transmitting set
Initial time and termination time that the light of transmitting is stopped by described shade；Determine described termination time and described initial
The difference of time lasts duration for corresponding second light barrier of described shade；
Judge that described second light barrier lasts whether duration exceedes predetermined threshold range, if so, determine described cutter head
It is in stuck state,
Or,
According to formula f2=k × t2, calculate suffered the second resistance when described cutter head is moved rearwards by, and judge described second resistance
Whether power exceedes predetermined threshold range, if so, determines that described cutter head is in stuck state, wherein,
f2For described second resistance, k is conversion coefficient, t2Last duration for described second light barrier.
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|---|---|---|---|
| CN201610754240.XA CN106377283A (en) | 2016-08-30 | 2016-08-30 | Device and method of determining cutting head work state |
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| CN201610754240.XA CN106377283A (en) | 2016-08-30 | 2016-08-30 | Device and method of determining cutting head work state |
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| US5478339A (en) * | 1994-08-30 | 1995-12-26 | The Regents Of The University Of California | Intrauterine device for laser light diffusion and method of using the same |
| WO2002007617A2 (en) * | 2000-07-25 | 2002-01-31 | Verimetra, Inc. | Cutting instrument having integrated sensors |
| CN102438534A (en) * | 2007-04-06 | 2012-05-02 | 霍洛吉克公司 | Tissue removal device with high reciprocation rate |
| CN102466481A (en) * | 2010-11-05 | 2012-05-23 | 富泰华工业（深圳）有限公司 | Direction sensor |
| CN104706396A (en) * | 2010-03-16 | 2015-06-17 | 柯惠Lp公司 | Method and apparatus for determining parameters of linear motion in a surgical instrument |
| CN105407825A (en) * | 2013-07-26 | 2016-03-16 | 奥林巴斯株式会社 | Medical system and medical treatment tool control method |
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- 2016-08-30 CN CN201610754240.XA patent/CN106377283A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5478339A (en) * | 1994-08-30 | 1995-12-26 | The Regents Of The University Of California | Intrauterine device for laser light diffusion and method of using the same |
| WO2002007617A2 (en) * | 2000-07-25 | 2002-01-31 | Verimetra, Inc. | Cutting instrument having integrated sensors |
| CN102438534A (en) * | 2007-04-06 | 2012-05-02 | 霍洛吉克公司 | Tissue removal device with high reciprocation rate |
| CN104706396A (en) * | 2010-03-16 | 2015-06-17 | 柯惠Lp公司 | Method and apparatus for determining parameters of linear motion in a surgical instrument |
| CN102466481A (en) * | 2010-11-05 | 2012-05-23 | 富泰华工业（深圳）有限公司 | Direction sensor |
| CN105407825A (en) * | 2013-07-26 | 2016-03-16 | 奥林巴斯株式会社 | Medical system and medical treatment tool control method |
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Effective date of registration: 20171207 Address after: Hangzhou City, Zhejiang province 310000 Binjiang District River Street foreshore road 688 6 Building 3 room 307 Applicant after: Hangzhou yingzi medical instrument limited company Address before: 215000, building No. 8, Jinfeng Road, high tech Zone, Jiangsu, Suzhou, China 2F Applicant before: Suzhou Pinnuo New Medical Technology Co., Ltd. |
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Application publication date: 20170208 |