CN109350155B - Surgical stapler and control method thereof - Google Patents
Surgical stapler and control method thereof Download PDFInfo
- Publication number
- CN109350155B CN109350155B CN201811480727.9A CN201811480727A CN109350155B CN 109350155 B CN109350155 B CN 109350155B CN 201811480727 A CN201811480727 A CN 201811480727A CN 109350155 B CN109350155 B CN 109350155B
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- jaw
- controller
- pulses
- driving piece
- encoder
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 44
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 101000872083 Danio rerio Delta-like protein C Proteins 0.000 description 1
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
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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
-
- 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
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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)
- Surgical Instruments (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a surgical stapler and a control method thereof, wherein the surgical stapler comprises a jaw, a transmission device, a battery assembly and a driving piece, 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 further 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 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; when the specification information of the jaws is different, the required movement stroke is also different, and the surgical stapler is suitable for the jaws with different specifications.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a surgical stapler and a control method thereof.
Background
The minimally invasive surgery has the advantages of simple operation, small surgical wound, light pain and easy recovery, and becomes a first choice of the surgery gradually, and the surgical anastomat is an indispensable surgical instrument for the minimally invasive surgery and is an important guarantee of success of the minimally invasive surgery. Most of the existing surgical anastomat is mechanically driven, and needs to be pushed by an operator, so that the operation difficulty is greatly increased when the tissue is thicker and the pushing is difficult, and the surgical success rate is possibly reduced due to shaking of the surgical instrument when the surgical anastomat is pushed under high force, and the pain of a patient is increased. At present, a small part of surgical anastomat adopts an electric driving mode, but the accurate positioning is difficult to realize in the driving process, and the surgical anastomat cannot be suitable for jaws with different specifications.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the surgical stapler and the control method thereof can realize accurate positioning.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a surgical stapler, includes jaw, transmission, battery pack and driving piece, the driving piece passes through the transmission drives the jaw motion, the driving piece is connected with the battery pack electricity, still includes controller, control switch, encoder and is used for reading the specification information of jaw's RFID reader, the encoder set up in on the driving piece, the controller with RFID reader communication connection, just the controller respectively with driving piece, control switch, encoder and battery pack electricity are connected.
The invention adopts another technical scheme that:
a method of controlling a surgical stapler, comprising:
the controller acquires specification information of the jaw through the RFID reader;
the controller calculates the theoretical pulse number according to the specification information;
the control switch sends a high/low frequency signal to the controller;
the controller sends a control instruction to the driving piece according to the high/low frequency signal;
the driving piece drives the transmission device to drive the jaw to move according to the control instruction;
the controller obtains the actual pulse number of the encoder in the jaw movement process;
when the actual pulse number is greater than or equal to the theoretical pulse number, the controller controls the driving piece to stop working.
The invention has the beneficial effects that: 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; when the specification information of the jaws is different, the required movement stroke is also different, and the surgical stapler is suitable for the jaws with different specifications. The accurate positioning of the jaws can be realized in the surgical process by comparing the actual pulse number of the encoder with the theoretical pulse number to judge whether the jaws move in place.
Drawings
Fig. 1 is a schematic structural view of a surgical stapler according to a first embodiment of the present invention;
fig. 2 is a flowchart of a control method of the surgical stapler according to the first embodiment of the present invention.
Description of the reference numerals:
1. a jaw; 2. a transmission device; 3. a battery assembly; 4. a driving member; 5. a controller; 6. a control switch; 7. an encoder; 8. an RFID reader.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
The most critical concept of the invention is as follows: the RFID reader is arranged to read the specification information of the jaw, 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, and the movement of the jaw can be accurately controlled.
Referring to fig. 1, a surgical stapler includes a jaw 1, a transmission device 2, a battery assembly 3, and a driving member 4, wherein the driving member 4 drives the jaw 1 to move through the transmission device 2, the driving member 4 is electrically connected with the battery assembly 3, and further includes a controller 5, a control switch 6, an encoder 7, and an RFID reader 8 for reading specification information of the jaw 1, the encoder 7 is disposed on the driving member 4, the controller 5 is in communication connection with the RFID reader 8, and the controller 5 is respectively electrically connected with the driving member 4, the control switch 6, the encoder 7, and the battery assembly 3.
From the above description, the beneficial effects of the invention are as follows: 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; when the specification information of the jaws is different, the required movement stroke is also different, and the surgical stapler is suitable for the jaws with different specifications.
Further, the transmission device 2 comprises a speed reducer and a gear rack transmission assembly, the speed reducer and the jaw 1 are respectively connected with the gear rack transmission assembly, and the driving piece 4 is connected with the speed reducer.
Further, the RFID reader 8 and the control switch 6 are fixedly disposed on the controller 5, respectively.
From the above description, it is understood that the RFID reader and the control switch may be provided at an outer surface of the controller.
Further, the driving member 4 is a driving motor, and the encoder 7 is disposed on a spindle of the driving motor.
As is apparent from the above description, the motion of the transmission is controlled by the driving motor, and the control accuracy is high.
Further, the jaw 1 is detachably connected with the transmission device 2.
From the above description, it will be appreciated that different jaws may be replaced as desired.
Referring to fig. 2, another technical scheme related to the present invention is as follows:
a method of controlling a surgical stapler, comprising:
the controller 5 acquires specification information of the jaw 1 through the RFID reader 8;
the controller 5 calculates the theoretical pulse number according to the specification information;
the control switch 6 sends a high/low frequency signal to the controller 5;
the controller 5 sends a control instruction to the driving member 4 according to the high/low frequency signal;
the driving piece 4 drives the transmission device 2 to drive the jaw 1 to move according to the control instruction;
the controller 5 acquires the actual pulse number of the encoder 7 in the movement process of the jaw 1;
when the actual pulse number is greater than or equal to the theoretical pulse number, the controller 5 controls the driving member 4 to stop working.
From the above description, it can be seen that by comparing the actual pulse number of the encoder with the theoretical pulse number to determine whether the jaw moves in place, accurate positioning of the jaw can be achieved during the operation.
Further, the theoretical pulse number is calculated according to the formula n=d×i×n/L, where N represents the theoretical pulse number, D represents the stroke corresponding to the jaw 1, i represents the gear ratio of the transmission 2, N represents the pulse number output by the encoder 7 per revolution, and L represents the pitch circle circumference of the transmission 2.
Further, according to the formulaCalculating the actual pulse number, wherein T represents the actual pulse numberThe number of pulses, C, represents the number of pulses in real time of the encoder 7 during the movement of the jaw 1, ΔC k Indicating the number of pulses of the encoder 7 at the current stop motion relative to the last stop motion.
Referring to fig. 1 and 2, a first embodiment of the invention is as follows:
as shown in fig. 1, the surgical stapler comprises a jaw 1, a transmission device 2, a battery assembly 3 and a driving piece 4, wherein the driving piece 4 drives the jaw 1 to move through the transmission device 2, and the driving piece 4 is electrically connected with the battery assembly 3. The jaw 1 is detachably connected with the transmission device 2, and the jaw 1 with different specifications can be replaced according to the requirements. The surgical stapler further comprises a controller 5, a control switch 6, an encoder 7 and an RFID reader 8 for reading specification information of the jaw 1, wherein the encoder 7 is arranged on the driving piece 4, the controller 5 is in communication connection with the RFID reader 8, the controller 5 is respectively and electrically connected with the driving piece 4, the control switch 6, the encoder 7 and the battery pack 3, and the RFID reader 8 and the control switch 6 are respectively and fixedly arranged on the controller 5. In this embodiment, the transmission device 2 includes a speed reducer and a rack and pinion transmission assembly, the speed reducer and the jaw 1 are respectively connected with the rack and pinion transmission assembly, and the driving member 4 is connected with the speed reducer. The driving piece 4 is a driving motor, and the encoder 7 is arranged on a main shaft of the driving motor.
As shown in fig. 2, the control method of the surgical stapler includes:
s1, the controller 5 acquires specification information of the jaw 1 through the RFID reader 8. An RFID tag is arranged on the jaw 1, and the specification information of the RFID tag can be read by an RFID reader 8.
And S2, the controller 5 calculates the theoretical pulse number according to the specification information. The theoretical pulse numbers corresponding to the jaws 1 of different specifications are different.
And S3, the control switch 6 sends a high/low frequency signal to the controller 5. The high and low frequency signals distinguish whether the jaw 1 needs to be controlled to advance or retract.
And S4, the controller 5 sends a control instruction to the driving piece 4 according to the high/low frequency signal.
S5, the driving piece 4 drives the transmission device 2 to drive the jaw 1 to move according to the control instruction.
S6, the controller 5 acquires the actual pulse number of the encoder 7 in the moving process of the jaw 1.
And S7, when the actual pulse number is greater than or equal to the theoretical pulse number, the controller 5 controls the driving piece 4 to stop working.
In this embodiment, the theoretical pulse number is calculated according to the formula n=d×i×n/L, where N represents the theoretical pulse number, D represents the stroke corresponding to the jaw, i represents the transmission ratio of the transmission device, N represents the pulse number output by the encoder per rotation, and L represents the pitch circle circumference of the transmission device, i.e., the pitch circle circumference of the rack and pinion transmission assembly.
In this embodiment, according to the formulaCalculating the actual pulse number, wherein T represents the actual pulse number, C represents the real-time pulse number of the encoder during the jaw movement, and DeltaC k Indicating the number of pulses of the encoder at the current stop motion relative to the last stop motion.
In summary, the surgical stapler and the control method thereof provided by the invention are suitable for jaws of different specifications, have simple control process, and can realize accurate positioning of the jaws in the surgical process.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (10)
1. 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, and the driving piece is electrically connected with the battery assembly;
wherein the control switch is configured to send a high/low frequency signal to the controller; the controller is configured to: acquiring specification information of a jaw through an RFID reader, calculating a theoretical pulse number according to the specification information, and sending a control instruction to a driving piece according to the high/low frequency signal; the driving piece is configured to drive the transmission device to drive the jaw to move according to the control instruction;
and the controller is further configured to: and acquiring the actual pulse number of the encoder in the jaw movement process, and controlling the driving piece to stop working by the controller when the actual pulse number is larger than or equal to the theoretical pulse number.
2. The surgical stapler according to claim 1, wherein the theoretical number of pulses is calculated according to the formula N = D x i x N/L, where N represents the theoretical number of pulses, D represents the stroke corresponding to the jaw, i represents the transmission ratio of the transmission, N represents the number of pulses output per revolution of the encoder, and L represents the circumference of the pitch circle of the transmission.
3. Surgical stapler according to claim 1 or 2, characterized in that it is according to the formulaThe actual number of pulses is calculated, where T represents the actual number of pulses, C represents the real time number of pulses of the encoder during the jaw movement, and DeltaCk represents the number of pulses of the encoder at the current stop movement relative to the last stop movement.
4. The surgical stapler of claim 1, wherein the transmission comprises a decelerator and a rack and pinion transmission assembly, the decelerator and the jaws are respectively connected with the rack and pinion transmission assembly, and the driving member is connected with the decelerator.
5. The surgical stapler of claim 1, wherein the RFID reader and control switch are fixedly disposed on the controller, respectively.
6. The surgical stapler of claim 1, wherein the drive member is a drive motor and the encoder is disposed on a main shaft of the drive motor.
7. The surgical stapler of claim 1, wherein the jaw is detachably connected to the transmission.
8. The method of controlling a surgical stapler according to any one of claims 1 to 7, comprising:
the controller acquires specification information of the jaw through the RFID reader;
the controller calculates the theoretical pulse number according to the specification information;
the control switch sends a high/low frequency signal to the controller;
the controller sends a control instruction to the driving piece according to the high/low frequency signal;
the driving piece drives the transmission device to drive the jaw to move according to the control instruction;
the controller obtains the actual pulse number of the encoder in the jaw movement process;
when the actual pulse number is greater than or equal to the theoretical pulse number, the controller controls the driving piece to stop working.
9. The method of claim 8, wherein the theoretical number of pulses is calculated according to the formula N = D x i x N/L, where N represents the theoretical number of pulses, D represents the stroke corresponding to the jaw, i represents the gear ratio of the transmission, N represents the number of pulses output by the encoder per revolution, and L represents the circumference of the pitch circle of the transmission.
10. The method of claim 8, wherein the formula is used to control the surgical staplerThe actual number of pulses is calculated, where T represents the actual number of pulses, C represents the real time number of pulses of the encoder during the jaw movement, and DeltaCk represents the number of pulses of the encoder at the current stop movement relative to the last stop movement.
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 |
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| Publication Number | Publication Date |
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| CN109350155A CN109350155A (en) | 2019-02-19 |
| CN109350155B true CN109350155B (en) | 2024-03-08 |
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| CN201811480727.9A Active CN109350155B (en) | 2018-12-05 | 2018-12-05 | Surgical stapler and control method thereof |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111425155B (en) * | 2020-03-31 | 2022-04-15 | 湖南三一石油科技有限公司 | Power tong control method and system |
| CN218792363U (en) * | 2022-08-25 | 2023-04-07 | 思卓瑞(深圳)医疗科技有限公司 | State display type electric operation anastomat |
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| US8960520B2 (en) * | 2007-10-05 | 2015-02-24 | Covidien Lp | Method and apparatus for determining parameters of linear motion in a surgical instrument |
| US10146970B2 (en) * | 2017-04-21 | 2018-12-04 | Hana Micron Inc. | RFID reader |
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| 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 |
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| 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 |
| CN209789911U (en) * | 2018-12-05 | 2019-12-17 | 深圳市科烸芯科技有限公司 | Operation anastomat |
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| CN109350155A (en) | 2019-02-19 |
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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. |
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