CN106491211B - A kind of stapler percussion force checking device - Google Patents
A kind of stapler percussion force checking device Download PDFInfo
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- CN106491211B CN106491211B CN201610879428.7A CN201610879428A CN106491211B CN 106491211 B CN106491211 B CN 106491211B CN 201610879428 A CN201610879428 A CN 201610879428A CN 106491211 B CN106491211 B CN 106491211B
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- stapler
- connecting rod
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- fires
- checking device
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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
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical 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
- A61B17/07207—Surgical 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Portable Nailing Machines And Staplers (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a kind of staplers to fire force checking device, including supporting mechanism, transmission mechanism, data processing module and control module；The stapler includes firing handle, and the control module includes motor, display module；The supporting mechanism is for fixing the stapler being detected；Under the driving of the motor, the transmission mechanism fires the firing handle of the stapler；The power that the data processing module perception motor provides, i.e. percussion force；After the data processing module is acquired, handles to the percussion force, it will test result and be output to the display module.The firing action of stapler percussion force checking device simulation operation Shi doctor of the invention, percussion force is detected by data acquisition and data processing and digitizes display detected value, it can judge whether the percussion force of stapler meets operation and require, the improved properties of stapler percussion force be improved, strong data supporting is provided.
Description
Technical field
The present invention relates to a kind of detection device of surgical instruments, in particular to a kind of stapler fires force checking device, belongs to
In 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.
Summary of the invention
The present invention is intended to provide a kind of stapler fires force checking device, can effectively detect stapler percussion force whether
Meet operation to require, the invention is realized by the following technical scheme:
A kind of stapler percussion force checking device, including supporting mechanism, transmission mechanism, data processing module and control mould
Block；The stapler includes firing handle, and the control module includes motor, display module；The supporting mechanism is for will be by
The stapler of detection is fixed；The first end of the transmission mechanism is rotatably coupled with the supporting mechanism, the transmission mechanism
Second end be rotatably coupled with the data processing module；The output shaft of the data processing module and the motor connects
It connects, under the driving of the motor, the transmission mechanism fires the firing handle of the stapler；The data processing mould
Block perceives the power that the motor provides, i.e. percussion force；After the data processing module is acquired, handles to the percussion force,
It will test result and be output to the display module.
The data processing module includes sensor；One end of the sensor and the second end of the transmission mechanism can turn
It connects dynamicly, the output axis connection of the other end of the sensor and the motor；The motor provides percussion force, the motor
Output shaft the percussion force is transferred to the sensor, the percussion force is transferred to the driver by the sensor
The percussion force is transferred to the firing handle of the stapler by structure, the transmission mechanism.
The data processing module further comprises AD converter；The control module further comprises single-chip microcontroller；It is described
Deformation is generated after force acting on transducer and by analog signal output to AD converter；The AD converter is received from the sensing
Digital signal is converted by analog signal after the signal of device and passes to the single-chip microcontroller, and the single-chip microcontroller receives the digital signal
Afterwards, it will test result after data processing and be output to the display module.
The sensor is S-shaped tension sensor, and the motor is direct current generator.
The supporting mechanism includes pedestal, support column, fixed block；One end of the support column is fixed on the pedestal,
The stapler is fixed in the fixed block, and the fixed block is removably mounted on the other end of the support column.
The inner surface of the fixed block has the recessed portion being adapted to the shell profiling of the stapler.
The transmission mechanism includes first connecting rod, second connecting rod and third connecting rod, and one end of the first connecting rod can be rotated
Ground is connected on the supporting mechanism, and the middle section of the first connecting rod and one end of the second connecting rod rotationally connect
It connects, the other end of the second connecting rod is rotatably coupled with the third connecting rod.
The first connecting rod has the recessed portion being adapted to the firing handle profiling.
The first connecting rod is for transmitting the percussion force and firing the stapler, and the second connecting rod is for transmitting institute
Percussion force is stated, the third connecting rod, which is used to the percussion force of the motor being transferred to described first via the second connecting rod, to be connected
Bar.
The transmission mechanism is equipped with position limiting structure.
The position limiting structure is limited post and limiting slot；One end of the second connecting rod is equipped with the limited post, described the
One end of three-link is equipped with the limiting slot；Alternatively, one end of the second connecting rod is equipped with the limiting slot, the third connecting rod
One end be equipped with the limited post；Alternatively, one end of the second connecting rod is equipped with the limited post and the limiting slot, institute simultaneously
It states one end of third connecting rod while being correspondingly provided with the limiting slot and the limited post.
The detection pattern of the stapler percussion force checking device is automatic mode or manual mode.
The horizontal center line of the S-shaped tension sensor is overlapped with the central axis of the motor output shaft.
The transmission mechanism includes first connecting rod, and the first connecting rod is for transmitting percussion force and firing the stapler
The firing handle；The data processing module further includes optoelectronic switch, and the optoelectronic switch is located on the supporting mechanism, is used
In the state for detecting the first connecting rod and the firing handle.
The data processing module further includes comparator；The comparator is by actually detected obtained percussion force value and standard
Value is compared, to measure whether stapler percussion force meets the requirements.
The power that the motor provides is pulling force or thrust.
The firing action of stapler percussion force checking device simulation operation Shi doctor of the invention, acquires sum number by data
Display detected value is detected and digitized to percussion force according to processing, whether the percussion force index for measuring stapler meets the requirements,
And data supporting is provided for the improved properties of stapler percussion force.
Detailed description of the invention
Fig. 1 is the structural schematic diagram before stapler percussion force checking device percussion test according to an embodiment of the present invention；
Fig. 2 is the structural schematic diagram after stapler percussion force checking device percussion test according to an embodiment of the present invention, is
It clearly shows that assembly relation, parts thereof is omitted in figure；
Fig. 3 is stapler percussion force checking device part perspective view of the explosion according to an embodiment of the present invention, in order to clearly show
Show assembly relation, parts thereof is omitted in figure；
Fig. 4 is the transmission mechanism schematic diagram of stapler percussion force checking device according to an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of second connecting rod and third connecting rod in Fig. 4.
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 1, supporting mechanism includes pedestal 10, fixed block 1, support column 2, transmission mechanism；As shown in figure 4, transmission mechanism 3
Including first connecting rod 31, second connecting rod 32, third connecting rod 33；Data processing module includes optoelectronic switch 5, tension sensor 6, AD
Converter；Control module includes single-chip microcontroller, motor, display module and several keys.The present invention and simplification are retouched for ease of description
It states, in embodiments of the present invention, is based on the orientation or positional relationship shown in the drawings, each component is claimed close to one end of fixed block 1
For " proximal end ", it is known as " distal end " close to one end of motor fixed block 7；The direction towards fixed block 1 of each component is known as " preceding "
Side is known as " rear " side towards the direction of motor fixed block 7.
AD converter, that is, analog-digital converter is an electronic component by analog-signal transitions for digital signal, specifically,
It is the converter that an input voltage signal is converted to the digital signal of an output.AD converter in the embodiment of the present invention
For 24 high-precision AD converters, the interior programming amplifier for being 128 times equipped with gain of the high-precision AD converter be can be used
HX711 chip.HX711 is a 24 bit A/D converter chips for aiming at high precision apparatus design, with the other chip phases of same type
It include peripheral circuit required for other similar cake cores such as regulated power supply, on-chip clock oscillator, tool than, the integrated chip
There are integrated level height, fast response time, strong interference immunity.
Single-chip microcontroller (i.e. micro-control unit Microcontroller Unit) abbreviation MCU, is to be integrated with inner treater
(CPU), one piece of integrated chip that memory (RAM, ROM), counter and the port I/O are integrated.On this hardware circuit basis
On, data to be processed, calculation method, step, operational order are compiled into program, deposit in memory inside or outside MCU
In, MCU automatically, continuously can take out and execute from memory at runtime.In the present invention, the rotating and reverse of motor,
Starting and stopping for motor is controlled by single-chip microcontroller.
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 proximal end of transmission mechanism 3 can be rotated and be detachably connected on fixed block 1,
The distal end of transmission mechanism 3 is connect with the proximal end of tension sensor 6, and the distal end of tension sensor 6 connects with the proximal end of motor output shaft 9
It connects, the distal end of motor output shaft 9 is connected to motor, and motor is fixedly mounted in motor fixed block 7, and motor fixed block 7 is mounted on
On pedestal 10.
As shown in figure 3, 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 on support column 2 together with stapler 8,
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 fixed block 1 with
Support column 2 is detachably connected.Preferably, supporting mechanism includes four support columns 2, and four support columns 2 are fixed with pedestal 10
It connects and vertical with pedestal 10.Specifically, the installation fixed cell includes sliding slot and sliding block, is all provided on each support column 2
There is sliding slot 21, sliding block 121, the size of sliding slot and approximately equal in size, the cunning of sliding block are accordingly equipped on the outer surface of fixed block 1
Slot 21 and sliding block 121 are substantially in rectangular shape, and position corresponds, and sliding block 121 slides into sliding slot 21 in sliding slot 21
Bottom after can firmly fix fixed block 1, and then fixed anastomosis device 8.It can star the power supply of detection device with that, it is right
The percussion force of stapler 8 is tested.
As shown in Figure 1,3, one end of transmission mechanism 3 can be rotated and be detachably connected on fixed block 1, transmission mechanism 3
The other end be movably connected with the proximal end of motor output shaft 9.Specifically, as shown in figure 4, transmission mechanism 3 includes first
Connecting rod 31, second connecting rod 32, third connecting rod 33；Further, transmission mechanism 3 includes first connecting rod 31, two second companies
32, two third connecting rods 33 of bar.One end of first connecting rod 31 can be rotated and removably connect with fixed block 1, two second companies
The proximal end of bar 32 is rotatably and detachably connected with the middle section of first connecting rod 31 respectively.The distal end of two second connecting rods 32
The proximal end correspondingly with two third connecting rods 33 is rotatably connected respectively；Second connecting rod 32 is all provided with limited with third connecting rod 33
Bit architecture, the position limiting structure are limited post and limiting slot.Including but not limited to following scenario described: one end of the second connecting rod 32
One end equipped with the limited post, the third connecting rod 33 is equipped with the limiting slot；Or one end of the second connecting rod 32 is set
There is one end of the limiting slot, the third connecting rod 33 to be equipped with the limited post；Or one end of the second connecting rod 32 is simultaneously
Equipped with the limited post and the limiting slot, accordingly, one end of the third connecting rod 33 is equipped with the limiting slot and institute simultaneously
State limited post.
Preferably, as shown in figure 4, the form and dimension of two second connecting rods 32 is identical, shape of two third connecting rods 33
And size is identical.The distal end of second connecting rod 32 is semi-cylindrical, and the distal end of second connecting rod 32 is equipped with limited post 321, third connecting rod
33 proximal end is equipped with limiting slot 331.Specifically, as shown in figure 5, limited post 321 is cylinder, limited post 321 and second connecting rod
32 are integrally formed or are fixedly connected；Limiting slot 331 is semi-circular.Second connecting rod 32 is proximally and distally semicylinder, the
The middle section of two connecting rods 32 be cuboid, the middle section of second connecting rod 32 refer to second connecting rod 32, in addition to two ends
Rest part in addition.The middle section of the second connecting rod 32 and proximal end, the distal end of second connecting rod 32 are smoothly connected, described
The diameter of semicolumn is equal with the width of middle section cuboid；Third connecting rod 33 is proximally and distally semicylinder, the
The middle section of three-link 33 be cuboid, the middle section of third connecting rod 33 refer to third connecting rod 33, in addition to two ends
Rest part in addition.The middle section of the third connecting rod 33 and its proximal end, distal end are smoothly connected, the semicolumn it is straight
Diameter is equal with the width of middle section cuboid.The proximal end of third connecting rod 33 is equipped with stage portion, the height and limit of the stage portion
The position height outstanding on second connecting rod 32 of column 321 is equal, and the stage portion is semi-circular, forms limiting slot 331.Such as Fig. 4 institute
Show, limited post 321 is substantially in cylindrical shape, is fixedly connected on the distal end of second connecting rod 32 or remote with second connecting rod 32
End is integrally formed.There is relative motion, the relative motion makes limited post 321 exist between second connecting rod 32 and third side rod 33
The proximal end of third connecting rod 33 rotates and forms track, and the track and limiting slot 331 coincide substantially, and limiting slot 331 is substantially in half
The height of circular ring shape, limiting slot 331 is equal with the height of limited post 321 or height slightly larger than limited post 321, limiting slot
331 groove width is equal to the diameter of limited post 321 or the diameter slightly larger than limited post 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 transmission mechanism 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.The distal end of third connecting rod 33 is fixedly connected with the proximal end of tension sensor 6；The distal end of tension sensor 6 and motor are defeated
The proximal end of shaft 9 is fixedly connected, and the distal end of motor output shaft 9 is connected to motor, and motor is fixedly mounted in motor fixed block 7,
Motor fixed block 7 is mounted on pedestal 10.Connection type, first connecting rod 31 and the second connecting rod of first connecting rod 31 and fixed block 1
32 connection type, the connection type of second connecting rod 32 and third connecting rod 33, third connecting rod 33 and tension sensor 6 connection side
Formula is bearing connection；Further, the bearing connection is rolling bearing connection, and rolling bearing has excellent interchangeability
And versatility, and starting moment of friction is low, the coefficient of friction in motion process is low, power loss is small, can guarantee rotating accuracy, energy
Percussion force effectively in transmitting detection process.
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, transmission mechanism 3 is driven at the uniform velocity to move backward, the
The recessed portion 311 of the profiling adaptation of one connecting rod 31 is slowly contacted with firing handle 81 to complete fitting, and first connecting rod 31 is by pulling force
Effect drive firing handle 81 continue it is mobile to the direction of handle 83 until firing handle 81 abutted with position fixing handle 82, can not
When mobile, the detection of shot power is completed.The direction of pull that motor provides is linear, and the firing handle 81 of stapler 8
Motion profile during percussion is arc, and linear motion can be converted to arcuate movement by transmission mechanism 3, and described in percussion
Stapler 8, convenient for accurately detecting percussion force.
The inner surface of the first connecting rod 31 of transmission mechanism 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 reduce in this way
Minimum guarantees effective transmitting of percussion force.Firing handle 81, position fixing handle 82 are axial symmetry design, it may be assumed that firing handle 81,
Position fixing handle 82 is the symmetry axis about their own and symmetrical structure.One end of motor output shaft 9 and tension sensor 6
Connection, the central axis of motor output shaft 9 are overlapped with the central axis of tension sensor 6, and are located at the symmetrical of firing handle 81
In the plane that the symmetry axis of axis and position fixing handle 82 is formed, also, the maximum weighted point on 82 symmetry axis of position fixing handle is located at institute
On the extended line for stating the central axis of motor output shaft；During percussion, firing handle 81 is around firing handle 81 and stapler
Arcuate movement is done in the connecting pin of main body, and the maximum weighted point of firing handle 81 is the midpoint of 81 symmetry axis of firing handle, in this way may be used
So that the influence of Tilt loading and eccentric load minimizes, guarantee effective transmitting of percussion force.The other end of motor output shaft 9
It is connect with the motor；The central axis of motor output shaft 9 is overlapped with the horizontal center line axis of tension sensor 6, such straight
The transmitting of linear power designs, and can effectively reduce the loss in the transmittance process of power, guarantee the efficient transmitting of percussion force.
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, transmission mechanism 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 and tension sensor 6 couple with control module,
Optoelectronic 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 push forward, and motor output shaft 9 pushes tension sensor 6 and then transmission mechanism 3 is pushed to move forward.When being moved to the first company
When bar 31 and firing handle 81 are kept completely separate, the indicator light of optoelectronic switch 5 is lighted, and prompts tester's firing handle 81 complete
The signal discharged completely is sent to control module simultaneously by release, optoelectronic switch 5；Motor receives the firing handle 81 that MCU is transmitted
Start to invert after the signal being completely released, the indicator light of optoelectronic switch 5 extinguishes, and motor output shaft 9 is made by the pulling force of motor
Under, pulls tension sensor 6 and then transmission mechanism 3 is pulled to move backward；When first connecting rod 31 and firing handle 81 are pasted completely
When conjunction, start to carry out percussion force test.When motor rotates forward, thrust successively passes through motor output shaft 9, S-shaped tension sensor 6, the
Three-link 33, second connecting rod 32 to first connecting rod 31, and transmission mechanism 3 and S-shaped tension sensor 6 are at the uniform velocity moved forward together
Dynamic, as first connecting rod 31 rotates forward, firing handle 81 is released, under the elastic force effect of stapler inner spring, percussion
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 passes the signal
Motor to be passed, starts to invert after the signal of motor reception MCU, motor output shaft 9 is moved backward by the pulling force effect of motor, into
The detection of second of percussion force of row, and so on, after completing four percussion force tests, fixed block 1 is removed from support column 2,
The second fixed block 12 is first removed, i.e., replaceable stapler 8 carries out percussion force detection next time.In entire detection process, electricity
Machine 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 being kept completely separate state, and the proximal end of S-shaped tension sensor 6 is connect with the distal end of transmission mechanism 3, tension sensor 6 it is remote
End is connect with the proximal end of motor output shaft 9, and when startup power supply starts detection, motor reversal, motor output shaft 9 is due to by motor
Pulling force effect move backward, successively S-shaped tension sensor 6, transmission mechanism 3 is driven at the uniform velocity to move backward, first connecting rod 31 with
Firing handle 81 is slowly contacted to complete fitting, and first connecting rod 31 is driven firing handle 81 to continue to handle 83 by pulling force effect
Direction it is mobile until when firing handle 81 is abutted with position fixing handle 82, can not be moved, the detection of completion first time percussion force.S
It is pasted with resistance strain gage on the surface of shape tension sensor 6, during firing stapler 8, motor reversal drives motor
Output shaft 9 generates pulling force to transmission mechanism 3 by S-shaped tension sensor 6, so make firing handle 81 and position fixing handle 82 from point
It fires from state to abutting state, the effect of 6 under tension of S-shaped tension sensor generates flexible deformation, i.e. S-shaped tension sensor 6
The process that the state that is kept completely separate is abutted to firing handle 81 with position fixing handle 82 is in firing handle 81 by first connecting rod 31
Middle pulling force effect and generate flexible deformation, make the resistance strain gage for being pasted onto its surface also in company with being deformed, resistance strain gage
After deformation, resistance value will change, then this resistance change is converted to electric signal through corresponding measuring circuit, thus
Complete the process that pulling force is converted to electric signal.Output voltage analog signal is simultaneously after processing of circuit for the variation that electric signal occurs
Send AD converter to, voltage analog signal is converted into digital signal and sends single-chip microcontroller to by AD converter, and single-chip microcontroller receives institute
Stating will test result by calculating after digital signal and is output to display module 47, and tester can obtain from display module 47
This time value of stapler percussion force.It should be noted that the percussion force measured in 47 Dynamically Announce detection process of display module
Real value.
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. 1, the key is reset key 41, determines key 42, forward key 43, Reverse keys 44, automatic keying 45 and mould
Formula adjusting key 46.
The course of work of stapler percussion force checking device of the invention is: first operation power switch key will test device
It is powered；Test pattern is adjusted to " automatic mode " after device clearing or removing the peel, then through mode tuning key 46.It first clicks really
Determine key 42 and starts the detection for carrying out continuous four percussion forces after detection device receives signal；After the completion of detection, by fixed block 1
It is removed from support column 2, removes the second fixed block 12, i.e., replaceable stapler 8, then the second fixed block 12 is covered, by fixed block 1
It is installed along on support column 2 together with the stapler 8 after replacement, the percussion force detection of next stapler 8 can be carried out.This hair
Bright stapler percussion force checking device can also carry out manual test as needed, and specifically, tester is first by mode tuning
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 hand
Dynamic mode detection.When manual mode detects percussion force, it is only necessary to click forward key 43 or Reverse keys 44, single-chip microcontroller 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 device is reset, setting
Maximum percussion force value be X, maximum fire force value X for early period according to multiple staplers are fired manually after, according to tester's hand
Percussion process smoothly stapler is picked out in sense, these staplers are defaulted as to the stapler of percussion force qualification, with of the invention
The average value being calculated after the percussion force value for multiple staplers that stapler percussion force checking device test is chosen, or
Maximum percussion force value X is to be set as needed.Force value that stapler percussion force detection device records fire every time will simultaneously be hit every time
Practical maximum percussion force value during hair is compared with pre-set percussion force value X, when actually detected percussion force
When value is less than or equal to the maximum percussion force value X of setting, the percussion force of the stapler is met the requirements, the detection of stapler percussion force
Device records the detected value；It can be carried out the detection of the percussion force next time of the stapler.When actually detected percussion force value
Greater than setting percussion force value X when, stapler fire force checking device warning note tester, the stapler this time percussion force
It is unsatisfactory for requiring, the stapler is taken out in the detection that tester can stop the stapler, checks underproof reason；Or continue
The stapler is taken out after the detection of residue degree is carried out until completing four detections, reexamines underproof reason, after carrying out
Continuous improvement.
In conclusion the firing action of stapler percussion force checking device simulation operation Shi doctor of the invention, passes through number
Display detected value is detected and digitized to percussion force according to acquisition and data processing, and the improved properties of stapler percussion force are mentioned
Height 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 (16)
1. a kind of stapler fires force checking device, which is characterized in that including supporting mechanism, transmission mechanism, data processing module
And control module；The stapler includes firing handle, and the control module includes motor, display module；
The supporting mechanism is for fixing the stapler being detected；The first end of the transmission mechanism and the supporting mechanism can
It rotationally connects, the second end of the transmission mechanism is rotatably coupled with the data processing module；The data processing mould
The output axis connection of block and the motor, under the driving of the motor, the transmission mechanism fires the described of the stapler
Firing handle；The data processing module perceives the power that the motor provides, i.e. percussion force；The data processing module is to described
After percussion force is acquired, handles, it will test result and be output to the display module.
2. stapler according to claim 1 fires force checking device, which is characterized in that the data processing module includes
Sensor；One end of the sensor and the second end of the transmission mechanism are rotatably coupled, the other end of the sensor
With the output axis connection of the motor；The motor provides percussion force, and the percussion force is transferred to by the output shaft of the motor
The percussion force is transferred to the transmission mechanism by the sensor, the sensor, and the transmission mechanism is by the percussion force
It is transferred to the firing handle of the stapler.
3. stapler according to claim 2 fires force checking device, which is characterized in that the data processing module is into one
Step includes AD converter；The control module further comprises single-chip microcontroller；Deformation is generated after the force acting on transducer and will be simulated
Signal is exported to AD converter；The AD converter reception converts number for analog signal after the signal of the sensor
Word signal passes to the single-chip microcontroller, and it is defeated to will test result after the single-chip microcontroller receives the digital signal after data processing
The display module is arrived out.
4. stapler according to claim 2 or 3 fires force checking device, which is characterized in that the sensor is S-shaped drawing
Force snesor, the motor are direct current generator.
5. stapler according to claim 1 fires force checking device, which is characterized in that the supporting mechanism includes bottom
Seat, support column, fixed block；One end of the support column is fixed on the pedestal, and the stapler is fixed on the fixed block
Interior, the fixed block is removably mounted on the other end of the support column.
6. stapler according to claim 5 fires force checking device, which is characterized in that the inner surface of the fixed block has
The recessed portion for thering is the shell profiling with the stapler to be adapted to.
7. stapler according to claim 1 fires force checking device, which is characterized in that the transmission mechanism includes first
Connecting rod, second connecting rod and third connecting rod, one end of the first connecting rod are rotatably connected on the supporting mechanism, and described
The middle section of one connecting rod is rotationally connected with one end of the second connecting rod, the other end of the second connecting rod with it is described
Third connecting rod is rotationally connected.
8. stapler according to claim 7 fires force checking device, which is characterized in that the first connecting rod has and institute
State the recessed portion of firing handle profiling adaptation.
9. stapler according to claim 7 fires force checking device, which is characterized in that the first connecting rod is for transmitting
The percussion force simultaneously fires the stapler, and for the second connecting rod for transmitting the percussion force, the third connecting rod is used for will
The percussion force of the motor is transferred to the first connecting rod via the second connecting rod.
10. stapler according to claim 7 fires force checking device, which is characterized in that the transmission mechanism is equipped with limit
Bit architecture.
11. stapler according to claim 10 fires force checking device, which is characterized in that the position limiting structure is limit
Column and limiting slot；One end of the second connecting rod is equipped with the limited post, one end of the third connecting rod is equipped with the limiting slot；
Alternatively, one end of the second connecting rod is equipped with the limiting slot, one end of the third connecting rod is equipped with the limited post；Alternatively,
One end of the second connecting rod is equipped with the limited post and the limiting slot, one end of the third connecting rod while correspondingly simultaneously
Equipped with the limiting slot and the limited post.
12. stapler according to claim 1 fires force checking device, which is characterized in that the stapler percussion force inspection
The detection pattern for surveying device is automatic mode or manual mode.
13. stapler according to claim 4 fires force checking device, which is characterized in that the S-shaped tension sensor
Horizontal center line is overlapped with the central axis of the motor output shaft.
14. stapler according to any one of claims 1 to 3 fires force checking device, which is characterized in that the driver
Structure includes first connecting rod, and the first connecting rod is used to transmit percussion force and fires the firing handle of the stapler；It is described
Data processing module further includes optoelectronic switch, and the optoelectronic switch is located on the supporting mechanism, is connected for detecting described first
The state of bar and the firing handle.
15. stapler according to any one of claims 1 to 3 fires force checking device, which is characterized in that at the data
Managing module further includes comparator；Actually detected obtained percussion force value is compared by the comparator with standard value, with measurement
Whether stapler percussion force meets the requirements.
16. stapler according to claim 1 fires force checking device, which is characterized in that the motor provides described
Power is pulling force or thrust.
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| CN201610879428.7A CN106491211B (en) | 2016-09-30 | 2016-09-30 | A kind of stapler percussion force checking device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107334543B (en) * | 2016-12-27 | 2020-04-24 | 江苏风和医疗器材股份有限公司 | Motion component for detection device and detection device with motion component |
| CN106679869B (en) * | 2016-12-27 | 2019-08-06 | 江苏风和医疗器材股份有限公司 | A kind of stapler percussion force checking device |
| CN107485430B (en) * | 2017-09-08 | 2023-09-26 | 江苏孜航精密五金有限公司 | Pushing piece transmission device of disposable foreskin cutting anastomat |
| CN110411633B (en) * | 2018-04-27 | 2021-02-26 | 江苏风和医疗器材股份有限公司 | Detection tool and detection method |
| CN111141435B (en) * | 2019-12-31 | 2022-02-11 | 苏州越众生物科技有限公司 | Method and device for testing percussion force of medical anastomat |
| CN113842181B (en) * | 2021-09-26 | 2023-09-29 | 赛诺微医疗科技（浙江）有限公司 | Deflection detection structure and control method thereof, electric stapler and medical equipment |
| CN113796907B (en) * | 2021-09-26 | 2023-09-05 | 赛诺微医疗科技（浙江）有限公司 | Stroke detection structure, control method thereof, electric anastomat and medical equipment |
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