CN109350155A - Surgical stapler and control method thereof - Google Patents
Surgical stapler and control method thereof Download PDFInfo
- Publication number
- CN109350155A CN109350155A CN201811480727.9A CN201811480727A CN109350155A CN 109350155 A CN109350155 A CN 109350155A CN 201811480727 A CN201811480727 A CN 201811480727A CN 109350155 A CN109350155 A CN 109350155A
- Authority
- CN
- China
- Prior art keywords
- jaw
- controller
- actuator
- encoder
- transmission device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 21
- 239000007787 solid Substances 0.000 claims 1
- 238000004891 communication Methods 0.000 abstract description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- 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
-
- 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
- A61B2017/00137—Details of operation mode
- A61B2017/00154—Details of operation mode pulsed
- A61B2017/00172—Pulse trains, bursts, intermittent continuous operation
Abstract
The invention discloses a surgical stapler and a control method thereof, the surgical stapler comprises a jaw, a transmission device, a battery assembly and a driving piece, wherein the driving piece drives the jaw to move through the transmission device, the driving piece is electrically connected with the battery assembly, the surgical stapler also comprises a controller, a control switch, an encoder and an RFID reader for reading specification information of the jaw, the encoder is arranged on the driving piece, the controller is in communication connection with the RFID reader, and the controller is respectively and electrically connected with the driving piece, the control switch, the encoder and the battery assembly. The RFID reader can read the specification information of the jaw, and the controller can control the driving piece to drive the transmission device to drive the jaw to move according to the specification information of the jaw, so that the movement of the jaw can be accurately controlled; the specification information of the jaws is different, the required movement strokes are also different, and the surgical stapler is suitable for the jaws with different specifications.
Description
Technical field
The present invention relates to technical field of medical equipment more particularly to a kind of operation anastomat and its control methods.
Background technique
Minimally Invasive Surgery is easy to operate, and operation wound is small, and pain is light, is easy to restore, and has been increasingly becoming the first choice of surgical operation
, the operation anastomat surgical instrument indispensable as Minimally Invasive Surgery is the successful important guarantee of Minimally Invasive Surgery.Existing hand
Art stapler be mostly it is mechanically operated, need operative doctor pressing promote, it is thicker in tissue substance, when promoting relatively difficult,
When substantially increasing the difficulty of operation, also, carrying forward vigorously, the shaking of surgical instrument may also reduce success rate of operation, increase
Add patient grieved.Also there is small part operation anastomat by the way of being driven by electricity at present, but drives process difficult to realize accurate
Positioning, is not applied for the jaw of different size.
Summary of the invention
The technical problems to be solved by the present invention are: providing a kind of operation anastomat and its control method, it is able to achieve accurate
Positioning.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows:
A kind of operation anastomat, including jaw, transmission device, battery component and actuator, the actuator pass through described
Transmission device drives the jaw movement, and it further includes controller, control switch, volume that the actuator is electrically connected with battery component
The RFID reader of code device and the specification information for reading the jaw, the encoder are set on the actuator, institute
Controller and the RFID reader is stated to communicate to connect, and the controller respectively with the actuator, control switch, encoder
It is electrically connected with battery component.
Another technical solution that the present invention uses are as follows:
The control method of operation anastomat, comprising:
Controller obtains the specification information of jaw by RFID reader；
Controller calculates theoretical umber of pulse according to the specification information；
Control switch sends high/low frequency signal to controller；
Controller sends control instruction to actuator according to the high/low frequency signal；
Actuator is moved according to the control instruction driving transmission device band movable clamp port；
Controller obtains the actual pulse number of encoder in jaw motion process；
When actual pulse number is greater than or equal to theoretical umber of pulse, the controller controls the actuator and stops working.
The beneficial effects of the present invention are: RFID reader can read the specification information of jaw, and controller can basis
Jaw specification information control actuator driving transmission device band movable clamp port move, can the movement to jaw accurately controlled
System；When the specification information difference of jaw, the movement travel needed is also different, and operation anastomat of the invention is suitable for different rule
The jaw of lattice.Judge whether jaw moves in place by comparing the actual pulse number and theoretical umber of pulse of encoder, it can be in hand
The accurate positioning of jaw is realized during art.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the operation anastomat of the embodiment of the present invention one；
Fig. 2 is the control method flow chart of the operation anastomat of the embodiment of the present invention one.
Label declaration:
1, jaw；2, transmission device；3, battery component；4, actuator；5, controller；6, control switch；7, encoder；8,
RFID reader.
Specific embodiment
To explain the technical content, the achieved purpose and the effect of the present invention in detail, below in conjunction with embodiment and cooperate attached
Figure is explained.
The most critical design of the present invention is: setting RFID reader reads the specification information of jaw, controller can root
According to jaw specification information control actuator driving transmission device band movable clamp port move, can the movement to jaw accurately controlled
System.
Fig. 1, a kind of operation anastomat, including jaw 1, transmission device 2, battery component 3 and actuator 4 are please referred to, it is described
Actuator 4 drives the jaw 1 to move by the transmission device 2, and the actuator 4 is electrically connected with battery component 3, further includes
Controller 5, control switch 6, the RFID reader 8 of encoder 7 and the specification information for reading the jaw 1, the coding
Device 7 is set on the actuator 4, and the controller 5 is communicated to connect with the RFID reader 8, and the controller 5 is distinguished
It is electrically connected with the actuator 4, control switch 6, encoder 7 and battery component 3.
As can be seen from the above description, the beneficial effects of the present invention are: RFID reader can read the specification information of jaw,
Controller can control actuator driving transmission device band movable clamp port according to the specification information of jaw and move, can be to the fortune of jaw
It is dynamic accurately to be controlled；When the specification information difference of jaw, also different, the of the invention operation anastomat of the movement travel needed
Jaw suitable for different size.
Further, the transmission device 2 includes retarder and rack pinion component, the retarder and jaw 1
It is connect respectively with the rack pinion component, the actuator 4 is connect with the retarder.
Further, the RFID reader 8 and control switch 6 are fixedly installed on respectively on the controller 5.
Seen from the above description, RFID reader and control switch can be set in the outer surface of controller.
Further, the actuator 4 is driving motor, and the encoder 7 is set on the main shaft of the driving motor.
Seen from the above description, actuator movement is controlled by driving motor, control precision is high.
Further, the jaw 1 and the transmission device 2 are detachably connected.
Seen from the above description, it can according to need and replace different jaws.
Referring to figure 2., another technical solution of the present invention are as follows:
The control method of operation anastomat, comprising:
Controller 5 obtains the specification information of jaw 1 by RFID reader 8；
Controller 5 calculates theoretical umber of pulse according to the specification information；
Control switch 6 sends high/low frequency signal to controller 5；
Controller 5 sends control instruction to actuator 4 according to the high/low frequency signal；
Actuator 4 is moved according to the control instruction driving transmission device 2 with movable clamp port 1；
Controller 5 obtains the actual pulse number of encoder 7 in 1 motion process of jaw；
When actual pulse number is greater than or equal to theoretical umber of pulse, the controller 5 controls the actuator 4 and stops work
Make.
Seen from the above description, judge whether jaw moves by comparing the actual pulse number of encoder and theoretical umber of pulse
In place, the accurate positioning of jaw can be realized in the course of surgery.
Further, the theoretical umber of pulse is calculated according to formula N=D × i × n/L, wherein N representation theory umber of pulse,
D indicates that the corresponding stroke of jaw 1, i indicate the transmission ratio of transmission device 2, the umber of pulse that n presentation code device 7 often transfers out, L table
Show the indexing circumference of transmission device 2.
Further, according to formulaThe actual pulse number is calculated, wherein T indicates actual pulse number,
C indicates the real-time pulse number of the encoder 7 in 1 motion process of jaw, △ CkIndicate it is current stop when movement encoder 7 relative to
Last time stops umber of pulse when movement.
Please refer to Fig. 1 and Fig. 2, the embodiment of the present invention one are as follows:
A kind of operation anastomat, as shown in Figure 1, the operation anastomat includes jaw 1, transmission device 2, battery component 3
With actuator 4, the actuator 4 drives the jaw 1 to move by the transmission device 2, the actuator 4 and battery component
3 electrical connections.The jaw 1 and the transmission device 2 are detachably connected, can according to need the jaw 1 of replacement different size.
The operation anastomat further includes controller 5, control switch 6, encoder 7 and the specification information for reading the jaw 1
RFID reader 8, the encoder 7 are set on the actuator 4, the controller 5 and 8 communication link of RFID reader
It connects, and the controller 5 is electrically connected with the actuator 4, control switch 6, encoder 7 and battery component 3 respectively, the RFID
Reader 8 and control switch 6 are fixedly installed on respectively on the controller 5.In the present embodiment, the transmission device 2 includes subtracting
Fast device and rack pinion component, the retarder and jaw 1 are connect with the rack pinion component respectively, the drive
Moving part 4 is connect with the retarder.The actuator 4 is driving motor, and the encoder 7 is set to the master of the driving motor
On axis.
As shown in Fig. 2, the control method of the operation anastomat includes:
S1, controller 5 obtain the specification information of jaw 1 by RFID reader 8.Being equipped with RFID tag on jaw 1 can
Its specification information is read for RFID reader 8.
S2, controller 5 calculate theoretical umber of pulse according to the specification information.The corresponding theoretical arteries and veins of the jaw 1 of different size
Rush number difference.
S3, control switch 6 send high/low frequency signal to controller 5.Need to control jaw 1 by high and low frequency signal distinguishing
Advance or retreats.
S4, controller 5 send control instruction to actuator 4 according to the high/low frequency signal.
S5, actuator 4 are moved according to the control instruction driving transmission device 2 with movable clamp port 1.
S6, controller 5 obtain the actual pulse number of encoder 7 in 1 motion process of jaw.
S7, when actual pulse number is greater than or equal to theoretical umber of pulse, the controller 5, which controls the actuator 4, to be stopped
Work.
In the present embodiment, the theoretical umber of pulse is calculated according to formula N=D × i × n/L, wherein N representation theory pulse
Number, D indicate that the corresponding stroke of jaw, i indicate the transmission ratio of transmission device, the umber of pulse that n presentation code device often transfers out, L table
Show the indexing circumference of transmission device, i.e. the indexing circumference of rack pinion component.
In the present embodiment, according to formulaThe actual pulse number is calculated, wherein T indicates actual pulse
Number, C indicate the real-time pulse number of the encoder in jaw motion process, △ CkIndicate it is current stop when movement encoder relative to
Last time stops umber of pulse when movement.
In conclusion a kind of operation anastomat provided by the invention and its control method, operation anastomat is suitable for difference
The jaw of specification, control process is simple, can realize the accurate positioning of jaw in the course of surgery.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalents made by bright specification and accompanying drawing content are applied directly or indirectly in relevant technical field, similarly include
In scope of patent protection of the invention.
Claims (8)
1. a kind of operation anastomat, including jaw, transmission device, battery component and actuator, the actuator pass through the biography
Dynamic device drives the jaw movement, and the actuator is electrically connected with battery component, which is characterized in that further includes controller, control
The RFID reader of system switch, encoder and the specification information for reading the jaw, the encoder are set to the drive
On moving part, the controller and the RFID reader are communicated to connect, and the controller is opened with the actuator, control respectively
It closes, encoder and battery component are electrically connected.
2. operation anastomat according to claim 1, which is characterized in that the transmission device includes retarder and gear teeth
Transmission component, the retarder and jaw are connect with the rack pinion component respectively, and the actuator subtracts with described
Fast device connection.
3. operation anastomat according to claim 1, which is characterized in that the RFID reader and control switch are solid respectively
Surely it is set on the controller.
4. operation anastomat according to claim 1, which is characterized in that the actuator is driving motor, the coding
Device is set on the main shaft of the driving motor.
5. operation anastomat according to claim 1, which is characterized in that the jaw and the transmission device are removably
Connection.
6. the control method of operation anastomat described in claim 1-5 any one characterized by comprising
Controller obtains the specification information of jaw by RFID reader；
Controller calculates theoretical umber of pulse according to the specification information；
Control switch sends high/low frequency signal to controller；
Controller sends control instruction to actuator according to the high/low frequency signal；
Actuator is moved according to the control instruction driving transmission device band movable clamp port；
Controller obtains the actual pulse number of encoder in jaw motion process；
When actual pulse number is greater than or equal to theoretical umber of pulse, the controller controls the actuator and stops working.
7. the control method of operation anastomat according to claim 6, which is characterized in that according to formula N=D × i × n/L
Calculate the theoretical umber of pulse, wherein N representation theory umber of pulse, D indicate that the corresponding stroke of jaw, i indicate the biography of transmission device
Dynamic ratio, the umber of pulse that n presentation code device often transfers out, L indicate the indexing circumference of transmission device.
8. the control method of operation anastomat according to claim 6, which is characterized in that according to formula
The actual pulse number is calculated, wherein T indicates that actual pulse number, C indicate the real-time pulse of the encoder in jaw motion process
Number, △ CkIndicate the current umber of pulse stopped when encoder when movement stops movement relative to the last time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811480727.9A CN109350155B (en) | 2018-12-05 | 2018-12-05 | Surgical stapler and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811480727.9A CN109350155B (en) | 2018-12-05 | 2018-12-05 | Surgical stapler and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109350155A true CN109350155A (en) | 2019-02-19 |
| CN109350155B CN109350155B (en) | 2024-03-08 |
Family
ID=65331229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811480727.9A Active CN109350155B (en) | 2018-12-05 | 2018-12-05 | Surgical stapler and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109350155B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111425155A (en) * | 2020-03-31 | 2020-07-17 | 三一集团有限公司湖南分公司 | Power tong control method and system |
| WO2024040948A1 (en) * | 2022-08-25 | 2024-02-29 | 思卓瑞(深圳)医疗科技有限公司 | State display-type electric surgical stapler |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61231606A (en) * | 1985-04-08 | 1986-10-15 | Hitachi Ltd | Controller of robot |
| US5465895A (en) * | 1994-02-03 | 1995-11-14 | Ethicon Endo-Surgery, Inc. | Surgical stapler instrument |
| JPH09168508A (en) * | 1995-12-20 | 1997-06-30 | Asahi Optical Co Ltd | Image pickup device for endoscope |
| JP2007143348A (en) * | 2005-11-21 | 2007-06-07 | Fujinon Corp | Drive controller and drive control method |
| CN101224119A (en) * | 2007-01-10 | 2008-07-23 | 伊西康内外科公司 | Surgical instrument with wireless communication between control unit and remote sensor |
| CN101361666A (en) * | 2007-01-10 | 2009-02-11 | 伊西康内外科公司 | Surgical instrument with wireless communication between control unit and sensor transponders |
| US20110204119A1 (en) * | 2007-10-05 | 2011-08-25 | Tyco Healthcare Group Lp | Method and apparatus for determining parameters of linear motion in a surgical instrument |
| CN102927945A (en) * | 2012-11-19 | 2013-02-13 | 重庆市恩睿斯科技有限责任公司 | Journey detection method and system |
| CN107249481A (en) * | 2014-12-18 | 2017-10-13 | 伊西康有限责任公司 | Including being capable of the end effector of joint motions and for the surgical instrument system for the device for adjusting firing member firing schedule |
| US20180307876A1 (en) * | 2017-04-21 | 2018-10-25 | Hana Micron Inc. | Rfid reader |
| CN209789911U (en) * | 2018-12-05 | 2019-12-17 | 深圳市科烸芯科技有限公司 | Operation anastomat |
-
2018
- 2018-12-05 CN CN201811480727.9A patent/CN109350155B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61231606A (en) * | 1985-04-08 | 1986-10-15 | Hitachi Ltd | Controller of robot |
| US5465895A (en) * | 1994-02-03 | 1995-11-14 | Ethicon Endo-Surgery, Inc. | Surgical stapler instrument |
| JPH09168508A (en) * | 1995-12-20 | 1997-06-30 | Asahi Optical Co Ltd | Image pickup device for endoscope |
| JP2007143348A (en) * | 2005-11-21 | 2007-06-07 | Fujinon Corp | Drive controller and drive control method |
| CN101224119A (en) * | 2007-01-10 | 2008-07-23 | 伊西康内外科公司 | Surgical instrument with wireless communication between control unit and remote sensor |
| CN101361666A (en) * | 2007-01-10 | 2009-02-11 | 伊西康内外科公司 | Surgical instrument with wireless communication between control unit and sensor transponders |
| US20110204119A1 (en) * | 2007-10-05 | 2011-08-25 | Tyco Healthcare Group Lp | Method and apparatus for determining parameters of linear motion in a surgical instrument |
| US20150150556A1 (en) * | 2007-10-05 | 2015-06-04 | Covidien Lp | Method and apparatus for determining parameters of linear motion in a surgical instrument |
| CN102927945A (en) * | 2012-11-19 | 2013-02-13 | 重庆市恩睿斯科技有限责任公司 | Journey detection method and system |
| CN107249481A (en) * | 2014-12-18 | 2017-10-13 | 伊西康有限责任公司 | Including being capable of the end effector of joint motions and for the surgical instrument system for the device for adjusting firing member firing schedule |
| US20180307876A1 (en) * | 2017-04-21 | 2018-10-25 | Hana Micron Inc. | Rfid reader |
| CN209789911U (en) * | 2018-12-05 | 2019-12-17 | 深圳市科烸芯科技有限公司 | Operation anastomat |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111425155A (en) * | 2020-03-31 | 2020-07-17 | 三一集团有限公司湖南分公司 | Power tong control method and system |
| WO2024040948A1 (en) * | 2022-08-25 | 2024-02-29 | 思卓瑞(深圳)医疗科技有限公司 | State display-type electric surgical stapler |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109350155B (en) | 2024-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11596487B2 (en) | Robotic surgical system control scheme for manipulating robotic end effectors | |
| CN109044533B (en) | Minimally invasive interventional operation robot for urinary surgery | |
| CN107802348B (en) | Minimally invasive spinal surgery robot | |
| CN102228387B (en) | Numerically controlled surgical stapling apparatus | |
| JP2021509600A (en) | Computer-mounted interactive surgical system | |
| CN109350155A (en) | Surgical stapler and control method thereof | |
| CN102247182A (en) | Electric anastomat for surgical department | |
| CN106037936A (en) | Linear driven parallel surgical robot | |
| CN111904597A (en) | Lightweight surgical robot | |
| CN109431604B (en) | Flexible surgical robot for single-hole minimally invasive surgery and use method thereof | |
| US20210085153A1 (en) | Endoscopic device with usb port and powered accessories | |
| CN103340640A (en) | Control device and control method for achieving C arm system follow-up motion | |
| CN110720987A (en) | Robot device for single-hole minimally invasive surgery | |
| CN104546157A (en) | Unartificial process for processing tooth socket | |
| CN202184762U (en) | Numerical control surgical department binding instrument | |
| CN209789911U (en) | Operation anastomat | |
| CN2662839Y (en) | Medical hollow operation electric drill | |
| CN115607298A (en) | Instrument conveying device, instrument conveying equipment and interventional operation system | |
| CN109288593A (en) | A kind of driving control system of operating robot | |
| CN109303609A (en) | A kind of slide unit positioning device | |
| CN108969052A (en) | A kind of dedicated orthopaedics saw of bone surgery | |
| CN108294826B (en) | Mechanical transmission-type absorber for operating robot | |
| CN112716607A (en) | Endoscopic surgical instrument replacement method | |
| CN215675098U (en) | Electric power-assisted anti-collision control system for shadowless lamp | |
| CN109276314A (en) | A kind of slide unit limiting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220510 Address after: 102299 third floor, building 1, No. 28, torch street, science and Technology Park, Changping District, Beijing Applicant after: B.J. ZH. F. PANTHER MEDICAL EQUIPMENT Co.,Ltd. Address before: 518000 room 713, chamber of Commerce building, No. 4, Shajiang Road, Shanmen community, Yanluo street, Bao'an District, Shenzhen, Guangdong Province Applicant before: SHENZHEN KEHAIXIN TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |