CN111904515B - Surgical instrument and position identification and control device and method of actuator of surgical instrument - Google Patents
Surgical instrument and position identification and control device and method of actuator of surgical instrument Download PDFInfo
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- CN111904515B CN111904515B CN202010970271.5A CN202010970271A CN111904515B CN 111904515 B CN111904515 B CN 111904515B CN 202010970271 A CN202010970271 A CN 202010970271A CN 111904515 B CN111904515 B CN 111904515B
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- 230000000007 visual effect Effects 0.000 claims abstract description 13
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- 230000001939 inductive effect Effects 0.000 claims description 19
- 230000006698 induction Effects 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000007935 neutral effect Effects 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000010304 firing Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 24
- 238000004590 computer program Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
Abstract
The present disclosure provides a position identification and control arrangement for an actuator of a surgical instrument, wherein a rotary position switch assembly includes at least one rotary position switch having at least two states indicative of an axial rotary position of the actuator; the rotary position switch trigger can rotate around the rotary position switch assembly and is used for triggering the rotary position switch assembly to switch states; the deflection key assembly comprises a first key and a second key and is used for selecting the deflection direction of the actuator; and the rotating position identification control unit is used for identifying and recording different states of the rotating position switch assembly and defining the deflection directions of the first key and the second key according to the different states of the rotating position switch assembly. The position of the actuator after rotation can be identified, the definition of the left deflection key and the right deflection key is controlled according to the identification result, and the left deflection and the right deflection are consistent with the visual angle of a doctor under the condition that the visual angle of the doctor is not changed.
Description
Technical Field
The disclosure relates to the field of medical instruments, and in particular to a surgical instrument and a position recognition and control device and method of an actuator of the surgical instrument.
Background
The actuator of the electric anastomat can be deflected electrically, and the actuator can also be rotated electrically or manually. After the electric stapler deflects left or right, when the actuator is rotated 180 degrees, the deflection direction of the actuator will be opposite to that before the 180 degrees deflection, while keeping the previous angle of view unchanged. For example, before rotating the actuator, the anvil is on the top side and the staple cartridge is on the bottom side, and after rotating the actuator 180 degrees, the anvil is on the bottom side and the staple cartridge is on the top side. When a doctor uses the electric deflection key, the left deflection key actuator is pressed to deflect leftwards before the actuator is rotated, the right deflection key actuator is pressed to deflect rightwards, after the actuator is rotated by 180 degrees, when the doctor presses the left deflection key again, the actuator deflects rightwards from the previous view angle of the doctor, and when the right deflection key is pressed, the actuator deflects leftwards. The phenomenon that the deflection direction is opposite along with the change of the rotating position often disturbs a doctor, the doctor needs to remember the position of the nail anvil and judge the actual deflection direction of the actuator after operating the key, and inconvenience is brought to the doctor.
Left-right deflection of the stapler's actuator is relative to the surgeon's (user's) perspective, and the original left deflection changes to right deflection after the actuator has been rotated 180 degrees. The doctor needs to actively judge the left and right deflection directions of the electric deflection key according to the position of the actuator, which brings great inconvenience and trouble to the doctor when using the electric anastomat. There is a clinical need for an anastomat with a device that can automatically identify the position of the rotated actuator, and automatically define the deflection button according to the identification result, so that the left and right deflection of the actuator can be kept consistent with the button operation under the condition that the view angle of a doctor is not changed.
Disclosure of Invention
Technical problem to be solved
The present disclosure provides a position recognition and control device and method for a surgical instrument and an actuator thereof, which at least partially solve the above-mentioned technical problems.
(II) technical scheme
According to one aspect of the present disclosure, there is provided a position recognition and control device for an actuator of a surgical instrument, wherein the actuator is mounted to a deflector for horizontal deflection of the actuator, the deflector being connected to a rotator for rotation of the actuator, the position recognition and control device comprising:
a rotary position switch assembly including at least one rotary position switch having at least two states indicative of the axial rotational position of the actuator;
a rotary position switch trigger rotatable about the rotary position switch assembly for triggering switching of states of the rotary position switch assembly;
the deflection key assembly comprises a first key and a second key and is used for selecting the deflection direction of the actuator;
and the rotating position identification control unit is used for identifying and recording different states of the rotating position switch assembly and defining the deflection directions of the first key and the second key according to the different states of the rotating position switch assembly.
According to an embodiment of the present disclosure, the position recognition and control device for an actuator of a surgical instrument further comprises:
a yaw position switch assembly including yaw position switches, each yaw position switch having at least two states representing different yaw positions of an actuator;
a deflection position switch trigger movable based on the arrangement of the deflection position switches and triggering any one of the deflection position switches within a travel of movement;
and the deflection position identification control unit is used for identifying different states of the deflection position switch and controlling the deflection of the actuator according to the received control command of the deflection key assembly.
According to an embodiment of the present disclosure, the at least two regions of the rotational position switch trigger include a triggered region and an untriggered region, the rotational position switch trigger rotates relative to the rotational position switch assembly, the rotational position switch assembly is located in the untriggered region and is in the first state, and the rotational position switch assembly is located in the triggered region and is in the second state.
According to an embodiment of the present disclosure, the rotary position switch assembly is a mechanical position switch assembly including an oscillating mechanical position switch or a telescopic mechanical position switch, a magnetic induction switch assembly, or a photoelectric switch assembly.
According to an embodiment of the present disclosure, the rotary position switch assembly comprises a mechanical position switch having a touch switch contact, the at least two areas of the rotary position switch trigger comprising a boss area and a recess area, the boss area for toggling the switch contact; or
The rotary position switch assembly comprises a magnetic induction switch, at least two regions of the rotary position switch trigger comprise a magnetic region and a non-magnetic region, and the magnetic region is used for triggering the magnetic induction switch assembly.
According to an embodiment of the present disclosure, the yaw position switch assembly includes at least three yaw position switches including a first direction yaw position switch, a second direction yaw position switch and a neutral position yaw position switch, wherein the first direction yaw position switch indicates an extreme position of a first direction yaw and the second direction yaw position switch indicates an extreme position of a second direction yaw, wherein the first direction and the second direction are opposite directions; or
The deflection position switch assembly is provided with a deflection position switch, the deflection position switch is an original point switch of a deflection position or a limit switch of a deflection limit position of a first direction and a second direction, wherein the first direction and the second direction are opposite directions.
According to an embodiment of the present disclosure, the switch assembly includes a mechanical position switch, the switch trigger has a trigger striker, the movement locus of the switch trigger is a back-and-forth linear movement, and the trigger striker triggers the switch during the back-and-forth linear movement; or
The switch assembly includes a magnetic inductive switch, and the switch trigger has a magnetic component for triggering the magnetic inductive switch.
According to an embodiment of the present disclosure, the surgical instrument comprises a deflection motor for actuator deflection, the deflection motor is provided with an output screw rod, the deflection key assembly controls the screw rod of the deflection motor to rotate through the output of a deflection recognition control unit, wherein the deflection key assembly controls the direction of the screw rod rotation to be variable, and the direction is determined by the rotation position recognition control unit.
According to another aspect of the present disclosure, there is provided a surgical instrument comprising a position recognition and control device as described above.
According to another aspect of the present disclosure, there is provided a method of using the position recognition and control apparatus of the actuator of the surgical instrument as described above, wherein the method comprises:
after the system is initialized, identifying the state of a rotary position switch, and defining the state of the switch at the moment as a first state;
defining the first key as a first direction deflection key for controlling the actuator to deflect towards the first direction, and defining the second key as a second direction deflection key for controlling the actuator to deflect towards the second direction;
judging whether the actuator is rotated or not, if so, monitoring whether the state of the rotary position switch is changed into a second state or not, if so, turning to the next step, otherwise, repeatedly judging whether the actuator is rotated or not;
redefining the first key as a key capable of deflecting towards the second direction, and defining the second key as a key capable of deflecting towards the first direction.
According to an embodiment of the present disclosure, the yaw position switch assembly of the surgical instrument includes a plurality of yaw position switches, the method further comprising:
after the system is initialized, identifying the initial states of the deflection position switches, and defining the initial states of the deflection position switches as first states;
judging whether a first key of a deflection key assembly is pressed down, and monitoring whether the states of the deflection position switches are changed or not if the first key is pressed down;
if the state of any deflection position switch in the deflection position switches changes, identifying the deflection position switch with the changed state, and determining the current position of the actuator;
and if the states of the deflection position switches are not changed, judging whether the second key is pressed down or not, deflecting the actuator from the current limit deflection position back, and returning to the step of monitoring whether the states of the deflection position switches are changed or not.
(III) advantageous effects
According to the technical scheme, the position identification and control device and the position identification and control method for the surgical instrument and the actuator thereof have at least one of the following beneficial effects:
(1) The device can identify the position (direction) of the actuator after rotation, and control the definition of the left deflection key and the right deflection key according to the identification result, so that the left deflection and the right deflection are consistent with the visual angle of a doctor under the condition that the visual angle of the doctor is not changed;
(2) The deflection position identification and control device can realize automatic identification of the deflection position and accurate intelligent control of the deflection angle.
Drawings
FIG. 1 is a schematic view of leftward deflection of an actuator of a surgical instrument in accordance with an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating a change from left-to-right deflection of an actuator according to an embodiment of the present disclosure after the actuator is rotated 180 degrees while maintaining a constant viewing angle;
FIG. 3 is a schematic structural diagram of a rotational position recognition and control device according to an embodiment of the disclosure;
FIG. 4 is an exploded view of the rotational position recognition and control device according to the embodiment of the present disclosure;
FIG. 5a is a schematic view of a preferred rotary position switch assembly of the present disclosure, which utilizes a pendulum type mechanical switch;
FIG. 5b is a schematic diagram of another preferred rotary position switch assembly according to the present disclosure, which employs a magnetic inductive Hall switch;
fig. 6a is a schematic structural diagram of a rotary position switch trigger when a swing type mechanical switch is adopted in the embodiment of the disclosure.
Fig. 6b is a schematic structural diagram of the rotary position switch trigger when the magnetic induction hall switch is adopted in the embodiment of the present disclosure.
FIG. 7a is a schematic cross-sectional view of the assembled relationship of a pendulum mechanical switch and a switch trigger in an unactuated state in accordance with an embodiment of the present disclosure;
fig. 7b is a schematic cross-sectional structural view illustrating an assembly relationship between a magnetic inductive hall switch and a switch trigger in an unfired state according to an embodiment of the disclosure;
fig. 8a is a schematic view of a pendulum type mechanical switch trigger of an embodiment of the present disclosure as it rotates counterclockwise;
fig. 8b is a schematic diagram of the magnetic inductive hall switch trigger of an embodiment of the present disclosure triggered the hall position switch when it is rotated counterclockwise;
FIG. 9a is a schematic view of a pendulum type mechanical switch trigger of an embodiment of the present disclosure activated when the pendulum type mechanical switch trigger is rotated clockwise;
fig. 9b is a schematic diagram of the magnetic inductive hall switch trigger triggering the hall position switch when rotating clockwise in accordance with the embodiment of the present disclosure;
FIG. 10 is a schematic structural diagram of a deflection position recognition and control unit according to an embodiment of the present disclosure;
FIG. 11 is an exploded view of a preferred deflection position identification and control unit of FIG. 10;
fig. 12a is a schematic view of a pendulum type mechanical deflection position switch assembly and a deflection position trigger in a single assembled relationship in accordance with an embodiment of the present disclosure.
Fig. 12b is a schematic view of another magnetic inductive hall deflected position switch assembly and deflected position trigger in a single assembled relationship, in accordance with an embodiment of the present disclosure.
FIG. 13a is a cross-sectional view of the oscillating mechanical deflection position switch assembly of FIG. 12a in assembled relation with a trigger;
FIG. 13b is a cross-sectional view of the magnetic inductive Hall deflection position switch assembly of FIG. 12b in assembled relation with a trigger;
FIG. 14a is a schematic diagram of an actuator deflected to the right to an extreme position when a pendulum mechanical right deflection position switch of the disclosed embodiment is triggered;
FIG. 14b is a schematic diagram of the magnetic inductive Hall right deflection position switch according to the embodiment of the present disclosure deflected to the right to the extreme position when the actuator is triggered;
fig. 15a is a schematic view of an actuator in an oscillating machine according to the present disclosure staying in a neutral position when a yaw position switch is activated;
FIG. 15b is a schematic diagram of the embodiment of the present disclosure illustrating the actuator staying at the neutral position when the switch for the yaw position is triggered in the magnetic inductive Hall device;
FIG. 16a is a schematic view of an actuator deflected to the left to an extreme position when a pendulum mechanical left deflection position switch of the disclosed embodiment is triggered;
FIG. 16b is a schematic view of the magnetic inductive Hall left deflection position switch in accordance with the present disclosure deflected to the left to an extreme position when triggered;
fig. 17 is a flowchart illustrating the operation of the rotational position recognition control unit recognizing the state of the rotational position switch and defining different deflection directions of the deflection button according to the embodiment of the disclosure.
FIG. 18 is a flow chart illustrating a method for identifying the deflection position of an actuator according to an embodiment of the present disclosure.
Detailed Description
The present disclosure provides a position recognition and control device for an actuator of a surgical instrument, wherein the actuator is mounted to a deflector for horizontal deflection of the actuator, the deflector being connected to a rotator for rotation of the actuator, the position recognition and control device comprising: the device comprises a rotary position switch assembly, a rotary position switch trigger, a deflection key assembly and a rotary position identification control unit. Wherein the rotary position switch assembly comprises at least one rotary position switch having at least two states indicative of the axial rotational position of the actuator; the rotary position switch trigger can rotate around the rotary position switch assembly and is used for triggering the rotary position switch assembly to switch states; the deflection key assembly comprises a first key and a second key and is used for selecting the deflection direction of the actuator; the rotary position identification control unit is used for identifying and recording different states of the rotary position switch assembly and defining deflection directions of the first key and the second key according to the different states of the rotary position switch assembly.
The position of the actuator after rotation can be identified, the definition of the left deflection key and the right deflection key is controlled according to the identification result, and the left deflection and the right deflection are ensured to be consistent with the visual angle of a doctor under the condition that the visual angle of the doctor is not changed.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
It should be noted that, in the present disclosure, the leftward deflection of the actuator means that the actuator deflects in a counterclockwise direction when the surgical instrument is viewed from a top view; deflection of the actuator to the right in this disclosure refers to deflection of the actuator in a clockwise direction from a top view of the surgical instrument.
Certain embodiments of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the disclosure are shown. Indeed, various embodiments of the disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements.
In one exemplary embodiment of the present disclosure, a position identification and control apparatus for an effector of a surgical instrument is provided.
Fig. 1 is a schematic view of a rotary and yaw position recognition and control device of an actuator of a surgical instrument according to an embodiment of the present disclosure. As shown in FIG. 1, the rotary and deflection position identifying and controlling device of the executor of the surgical instrument of the present disclosure has an anvil 1, a nail bin 4, a rotator 2 and a deflection key assembly 3. Wherein, the rotator 2 adopts a rotary hand wheel which is connected on a handle of a surgical instrument, and a deflection key component 3 is arranged on the handle close to the rotary hand wheel. The nail anvil 1 and the nail bin 4 form an actuator, and the actuator is arranged on the rotator 2. From the perspective of the handle orientation of fig. 1, the actuator is deflected to the left by an angle a.
As shown in fig. 2, the rotator 2 is rotated by 180 °, and since the actuator is mounted on the rotator 2, the actuator is rotated by 180 ° with the 180 ° rotation of the rotator 2, as shown in the figure, the actuator becomes deflected to the right by an angle a with the view angle being maintained, and the deflection button 3 of the electric stapler is provided on the handle, which is not rotated with the actuator.
The deflection keys 3 comprise at least two deflection keys, one for deflecting the actuator in one direction and the other for deflecting the actuator in the opposite direction. The deflection key assembly 3 of the present embodiment includes 2 keys, and the left and right keys can be redefined according to the position of the rotator 2. And under the condition of keeping the visual angle unchanged, the right and left deflection directions are ensured to be correct. When the actuator of the surgical instrument is in the condition of fig. 1, the anvil 1 is located at the upper side and the magazine 4 is located at the lower side, and when the position of fig. 2 is changed, i.e. the actuator is rotated by 180 ° by the rotator 2, the anvil 1 is located at the lower side and the magazine 4 is located at the upper side, the former left deflection key in the deflection key assembly 3 is defined as a right deflection key and the former right deflection key is defined as a left deflection key.
Specifically, the surgical instrument is provided with a deflection motor provided with an output screw. The deflection key can control the screw rod of the deflection motor to rotate through the deflection identification control unit, wherein the direction of the deflection key for controlling the screw rod to rotate can be changed, and the direction can be defined according to the output of the rotating position identification control unit.
Fig. 3 is a schematic structural diagram of the rotational position recognition and control device of the present disclosure. As shown in fig. 3, the deflection key assembly 3 includes a first key 31 and a second key 32, the rotator 2 has a rotary position switch trigger 21 on the outside, the rotary position switch assembly 5 is disposed inside the rotator 2, and the rotary position recognition control unit 6 is mounted on the circuit board together with the first key 31 and the second key 32. The first key 31 is defined as a left deflection key and the second key 32 is defined as a right deflection key in the current state. When the rotary hand wheel rotates 180 degrees, the first key 31 is defined as a right deflection key, and the second key 32 is defined as a left deflection key, so that the left and right directions of deflection of the actuator are kept unchanged when the same deflection key is pressed under the condition that the visual angle is unchanged.
Fig. 4 is an exploded view of the rotational position recognition and control device of the present disclosure. The mounting bracket 7 is used for mounting the rotary switch assembly 5, the rotary switch trigger, the rotary position recognition control unit 6, the deflection switch assembly 8, the deflection switch trigger, the deflection position recognition control unit (not shown), the deflection key 3 and the deflection motor 75. As shown in fig. 4, the mounting bracket 7 is provided with a rotary position switch mounting hole 71, and the upper rotary position switch trigger 21 and the rotary position switch unit 5 are mounted thereon. The upper rotary position switch trigger 21 rotates around the mounting hole of the mounting bracket 7, that is, around the rotary position switch assembly 5, and controls the opening and closing of the rotary position switch assembly 5.
In particular, the rotary position switch assembly 5 comprises a rotary position switch having at least two states, e.g. an off-state, an on-state, and a mounting plate. The switch is in one state when not triggered, and the switch is converted into the other state after being triggered. The rotary switch trigger is used in cooperation with a rotary position switch assembly 5 having at least two regions, a triggered region and an unactuated region. The rotary switch trigger is configured to rotate in a 360-degree sequence about the switch assembly in a forward and reverse direction, i.e., the rotary switch trigger is in a relatively rotating assembly relationship with the rotary position switch assembly 5. The rotary position switch assembly 5 is a mechanical position switch assembly, a magnetic induction switch assembly or a photoelectric switch assembly, and the like, wherein the mechanical position switch assembly comprises a swing type mechanical position switch or a telescopic type mechanical position switch.
Fig. 5a is a schematic structural diagram of a rotary position switch assembly according to an embodiment of the disclosure. As shown in fig. 5a, the rotational position switch assembly 5 includes a swing type mechanical switch 51, and the swing type mechanical switch 51 is mounted to a switch mounting plate 52. Among them, the swing type mechanical switch 51 may swing leftward by an angle a or rightward by an angle b. The rocker switch contact is in one state, e.g. not triggered (switch off), when in the central position, and in another state, e.g. triggered (switch on), when rocked to angle a or angle b.
Fig. 5b is a schematic structural diagram of a rotary position switch assembly according to another embodiment of the present disclosure. As shown in fig. 5b, the rotary position switch assembly 5 includes a magnetic induction hall switch assembly 53, the hall switch assembly 53 being mounted to a switch mounting plate 52. The hall switch assembly 53 creates a magnetic induction zone 54, and when the magnet is within this range, the hall switch assembly 53 is in one state, e.g., triggered (switch on), and when the magnet is outside this range, the hall switch assembly 53 is in another state, e.g., not triggered (switch off).
Fig. 6a is a schematic structural diagram of a rotary position switch trigger when a swing type mechanical switch is adopted in the embodiment of the disclosure. As shown in fig. 6a, the upper rotary position switch trigger 21 has a hollow structure, and the inner ring has an upper trigger boss 211 protruding toward the hollow structure and an upper trigger recess 212 recessed toward the outside of the upper rotary position switch trigger 21.
Fig. 6b is a schematic structural diagram of a rotary position switch trigger when the hall switch assembly is employed in the embodiment of the present disclosure. As shown in fig. 6a, the upper rotary position switch trigger 21 has a hollow structure, and the inner ring has an arc-shaped upper magnet bar 213 and a lower trigger recessed table 212 recessed toward the outside of the upper rotary position switch trigger 21.
Fig. 7a is a cross-sectional view of a rotary position switch trigger in assembled relation to a pendulum-type mechanical switch assembly in accordance with an embodiment of the present disclosure. As shown in fig. 7a, the upper rotational position switch trigger 21 is provided in pair with the upper rotational position switch trigger 21, surrounding the rotational trigger having a cylindrical hollow structure. The outside of the rotary trigger is provided with a tooth-shaped structure so as to be convenient for poking. The oscillating mechanical switch assembly 51 is disposed in a cylindrical hollow structure for use with a trigger. The rotary trigger is shown having an upper trigger boss 211, an upper trigger recess 212, a lower trigger boss 221 and a lower trigger recess 222. When the swing type mechanical switch assembly 51 is at the position in the figure, the swing type mechanical switch is in a state of not being triggered by the rotating trigger, namely, the upper trigger boss 211 does not touch the swing type mechanical switch assembly 51, and the swing type mechanical switch assembly 51 is in the area of the upper trigger recess 212.
FIG. 7b is a cross-sectional view of a rotary position switch trigger in assembled relation to a Hall switch assembly in accordance with an embodiment of the present disclosure. As shown in fig. 7b, the upper rotational position switch trigger 21 is provided in pair with the upper rotational position switch trigger 21, surrounding the trigger having a cylindrical hollow structure. The outside of the trigger is provided with a tooth-shaped structure so as to be convenient to stir. The Hall switch assembly is arranged in the cylindrical hollow structure and is matched with the trigger for use. The trigger is shown having an upper magnet bar 213, an upper trigger recess 212, a lower magnet bar 223, and a lower trigger recess 222. When the hall switch assembly 53 is in the illustrated state, neither the upper magnet bar 213 nor the lower magnet bar 223 enters the magnetic induction area 54, and the hall switch assembly 53 is in an unactuated state.
Fig. 8a is a schematic view of the state in which the swing type mechanical switch assembly of fig. 7a is activated. As shown in fig. 8a, the rotary trigger is rotated counterclockwise by an angle, the swing type mechanical switch assembly 51 enters the area of the upper trigger boss 211, and the upper trigger boss 211 comes into contact with the swing switch contact of the swing type mechanical switch assembly 51 and swings it to a triggered state.
Fig. 8b is a schematic diagram illustrating a state in which the hall switch assembly of fig. 7b is triggered. As shown in fig. 8b, the rotary trigger is rotated counterclockwise through an angle and the hall switch assembly is triggered from the area of the upper trigger recess 212 into the area of the upper magnet bar 213.
Fig. 9a is a schematic view of another state in which the swing type mechanical switch assembly of fig. 7a is activated. As shown in fig. 9a, when the rotary trigger is rotated clockwise by an angle, the swing type mechanical switch unit 51 enters the area of the lower trigger boss 221, and the lower trigger boss 221 contacts with the swing switch contact of the swing type mechanical switch unit 51 and swings it to a triggered state.
Fig. 9b is a schematic diagram of another state in which the hall switch assembly of fig. 7b is triggered. As shown in fig. 9b, the rotary trigger is rotated clockwise through an angle, and the hall switch assembly is triggered from the area of the lower trigger recess 222 into the area of the lower magnet bar 223.
Referring to fig. 3 again, the rotational position switch position recognition control unit 6 is used for recognizing the state of the position rotational position switch 5, so as to determine the deflection directions of the first key 31 and the second key 32 according to the state. The rotary position identification control unit comprises a universal single chip microcomputer and a peripheral circuit, and can identify and record the state of a switch of the rotary switch assembly. When the rotation position of the actuator is changed, the rotary switch trigger of the actuator rotates to a new area from a certain area relative to the switch, the switch changes from one state to another state, and the change of the state is identified and recorded by the rotation position identification control unit 6. Further, when the position rotary position switch 5 is switched from one state to another, the rotary position switch position recognition control unit 6 recognizes the change and redefines the deflection key to perform a negation operation on the deflection key assembly 3, thereby changing the rotation direction of the output screw 751 (shown in fig. 11) of the deflection motor.
In addition to the rotary position switch position recognition control unit 6, the present embodiment also provides a yaw position recognition and control device. The deflection position identification control unit comprises a general single chip microcomputer and a peripheral circuit, can identify the state of a deflection position switch, and defines the deflection key to deflect towards different directions according to the different identified states of the deflection position switch, namely the direction definition of the deflection key is completed by the identification control unit, and the deflection key can be defined to deflect towards different directions along with the different states of the deflection position switch. The deflection position identification control unit can receive a control command of the deflection key and is used for controlling the rotation of the deflection motor.
Fig. 10 is a schematic structural diagram of a deflection position recognition and control device according to an embodiment of the disclosure. As shown in fig. 10, the yaw position switch assembly 8 is disposed in a yaw position switch mounting hole 72 of a mounting bracket 7 having a yaw nut feed sleeve 74 with a yaw position trigger 73 fixedly mounted to the yaw nut feed sleeve 74. The yaw position switch assembly 8 is a mechanical yaw position switch assembly, and in other embodiments, the yaw position switch assembly 8 may be a magnetic induction hall yaw position switch assembly, for example.
Fig. 11 is an exploded view of the device of fig. 10. As can be seen in fig. 11, the yaw motor 75 has a yaw motor lead screw 751, and the nut feed housing 74 is adapted to cooperate with the yaw motor lead screw 751 to form a lead screw nut pair. When the deflection motor screw 751 rotates forward or backward, the nut feed sleeve 74 will advance or retract accordingly. The first deflected position trigger 73 mounted above the nut feed sleeve 74 will also advance or retract in unison with the nut feed sleeve 74. Wherein the yaw position trigger 73 has a protruding yaw position trigger striker 731 for toggling the yaw position switch assembly 8.
FIG. 12a is a partial view of a mechanically deflected position switch assembly in assembled relation to a trigger according to an embodiment of the disclosure. As shown in fig. 12a, the mechanical yaw position switch assembly 8 includes a middle position mechanical switch 81, a right mechanical switch 82 and a left mechanical switch 83. It can be seen that the deflected position trigger striker 731 can touch the contacts of the center position mechanical switch 81, the right mechanical switch 82 or the left mechanical switch 83 during the forward and backward movement.
Fig. 12b is a partial view of the magnetic inductive hall deflection position switch assembly in assembled relation to the trigger in accordance with an embodiment of the present disclosure. As shown in fig. 12b, the yaw position switch assembly 8 is a magnetic inductive hall yaw position switch assembly, which includes a center position hall switch 84, a right hall switch 85, and a left hall switch 86. Wherein the second deflected position trigger 73-a has a magnet 732 for triggering the center position hall switch 84, the right hall switch 85 or the left hall switch 86.
Fig. 13a is a cross-sectional view of fig. 12a, this time illustrating the deflected position trigger striker 731 in the position of the position mechanical switch 81. Fig. 13b is a cross-sectional view of fig. 12b, in which the position illustrated is the state in which the magnet 732 triggers the mid-position hall switch 84.
Fig. 14a is a schematic diagram of the deflection position recognition and control device according to the embodiment of the present disclosure when the right mechanical switch is triggered and the actuator deflects to the right by an angle a. Fig. 14b is a schematic diagram of the deflection position recognition and control device according to the embodiment of the present disclosure when the right hall switch is triggered and the actuator deflects to the right to an angle a.
Fig. 15a is a schematic view of the deflected position recognizing and controlling device according to the present disclosure, in which the middle position mechanical switch is triggered, and the actuator returns to the middle position and is not deflected. Fig. 15b is a schematic diagram of the deflected position recognizing and controlling device according to the present disclosure when the hall switch is triggered at the middle position and the actuator returns to the middle position and is not deflected.
Fig. 16a is a schematic diagram of the deflection position recognition and control device according to the embodiment of the present disclosure when the left mechanical switch is triggered and the actuator is deflected to the left to the angle b. Fig. 16b is a schematic diagram of the deflection position recognition and control device according to the embodiment of the present disclosure when the left hall switch is triggered and the actuator deflects to the left by the angle b.
According to the embodiment of the disclosure, the deflection position identification and control device can realize automatic identification of the deflection position and accurate intelligent control of the deflection angle, the rotary position switch position identification control unit identifies the position (direction) where the actuator is located after rotation, and the definition of the left deflection key and the right deflection key is controlled according to the identification result, so that the left deflection and the right deflection are consistent with the visual angle of a doctor under the condition that the visual angle of the doctor is not changed.
Yet another illustrative embodiment of the present disclosure provides a method of identifying a rotational and deflection position of an actuator of a surgical instrument including identifying a rotational position and defining a deflection button and identifying an actuator deflection position.
FIG. 17 is a flow chart illustrating a method for identifying rotational positions and defining deflection keys in accordance with an embodiment of the present disclosure. As shown in fig. 17, the method of identifying a rotational position and defining a deflection key includes:
s101, after the system is initialized, a rotating position identification control unit firstly identifies the state of a rotating position switch, and defines the state of the switch at the moment as a first state;
s102, the rotation position identification control unit defines the first key as a key for deflecting towards the first direction, and defines the second key as a key for deflecting towards the second direction. At the moment, when a doctor (user) looks at the visual angle, the actuator deflects leftwards when the first key is pressed, and the actuator deflects rightwards when the second key is pressed; illustratively, the first direction deflection key is a left deflection key and the second direction deflection key is a right deflection key.
S103, when a doctor rotates the rotator manually or electrically, the actuator is rotated, the rotating position identification control unit monitors whether the state of the rotating position switch is changed or not, if the state of the rotating position switch is changed, the step S104 is switched to, and if not, the step S103 is repeated;
and S104, the rotation position identification control unit defines the first key as a deflection key in the second direction and defines the second key as a deflection key in the first direction.
In the above steps, when the state of the rotary position switch changes, it indicates that the rotary position switch trigger triggers the position switch, and the actuator has been rotated to a new position (angle). From the previous perspective, the initial left deflection will become the current right deflection, and the identification control sheet number will redefine the first key and the second key, whose definitions will be redefined as the right deflection key and the left deflection key, respectively, relative to the previous left inversion operation. At the moment, the first deflection key is pressed, and the actuator keeps the left deflection unchanged under the condition of keeping the original visual angle unchanged.
FIG. 18 is a flow chart illustrating a method for identifying the deflection position of an actuator according to an embodiment of the present disclosure. As shown, the method of identifying the deflection position of the actuator includes:
s201, after the system is initialized, the deflection identification control unit firstly identifies the initial states of the three deflection position switches, and defines the initial states of the left deflection position switch, the middle deflection position switch and the right deflection position switch as a first state.
S202, judging that a first key of the deflection key assembly is pressed down;
s203, the identification control unit monitors whether the states of the three switches change, if yes, the step S204 is carried out, and if not, the step S205 is carried out;
s204, the deflection identification control unit identifies which switch is changed in state, and the left switch, the middle switch and the right switch reach the left position, the middle position and the right position corresponding to the actuator, so that the current specific position of the actuator can be identified;
s205, judging that the actuator will deflect back from the limit deflection position when the second key is pressed, returning to S203, and the identification control unit monitors whether the states of the three switches change.
In the above steps, if the doctor presses the deflection first key and then does not change the state of any switch, it indicates that the actuator is in the extreme deflection position in the initial state, the doctor needs to press the second key at this time, the actuator will deflect from the extreme deflection position at this time, and trigger the deflection position switch, and the identification control unit will identify the change of the deflection position switch, thereby implementing the identification of the deflection position and the instruction execution of the deflection key.
For the purpose of brevity, any technical features described in the above embodiments which can be applied in the same way are all incorporated herein, and the same description need not be repeated.
So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.
It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.
And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.
Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.
The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.
In addition, unless steps are specifically described or must occur in sequence, the order of the steps is not limited to that listed above and may be changed or rearranged as desired by the desired design. The embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e., technical features in different embodiments may be freely combined to form further embodiments.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, this disclosure is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the disclosure as described herein, and any descriptions above of specific languages are provided for disclosure of enablement and best mode of the present disclosure.
The disclosure may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. Various component embodiments of the disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in the relevant apparatus according to embodiments of the present disclosure. The present disclosure may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present disclosure may be stored on a computer-readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
Those skilled in the art will appreciate that the modules in the devices in an embodiment may be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Also in the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (5)
1. A position recognition and control device for an actuator of a surgical instrument, wherein the actuator is mounted to a deflector for horizontal deflection of the actuator, the deflector being connected to a rotator for rotation of the actuator, the position recognition and control device comprising:
a rotary position switch assembly (5) comprising at least one rotary position switch having at least two states indicative of the axial rotary position of the actuator;
a rotary position switch trigger rotatable about the rotary position switch assembly (5) for triggering switching of the state of the rotary position switch assembly (5);
a deflection key assembly (3) comprising a first key (31) and a second key (32) for selecting a deflection direction of the actuator;
the rotary position identification control unit (6) is used for identifying and recording different states of the rotary position switch component (5), and defining deflection directions of the first key (31) and the second key (32) according to the different states of the rotary position switch component (5);
a yaw position switch assembly (8), the yaw position switch assembly (8) including yaw position switches, each yaw position switch having at least two states representing different yaw positions of an actuator;
a deflection position switch trigger movable based on the arrangement of the deflection position switches and triggering any one of the deflection position switches within a travel of movement;
the deflection position identification control unit is used for identifying different states of the deflection position switch and controlling the deflection of the actuator according to the received control instruction of the deflection key assembly (3);
the rotary position switch assembly (5) is a mechanical position switch assembly, a magnetic induction Hall switch assembly or a photoelectric switch assembly;
when the rotary position switch assembly (5) comprises a mechanical position switch assembly, the rotary position switch assembly is provided with a switch contact which can be touched, at least two areas of the rotary position switch trigger comprise a boss area and a concave area, and the boss area is used for shifting the switch contact; or when the rotary position switch assembly (5) comprises a magnetic induction hall switch assembly, at least two regions of the rotary position switch trigger comprise a magnetic region and a non-magnetic region, and the magnetic region is used for triggering the magnetic induction hall switch assembly;
wherein the mechanical switch (51) of the mechanical position switch assembly is mounted to a switch mounting plate (52) of the rotary position switch assembly (5); wherein the mechanical switch (51) can swing leftwards by an angle a or rightwards by an angle b; the swinging switch contact is in one state when in the central position, and the mechanical switch (51) is in the other state when swinging to the angle a or the angle b; the rotary position switch trigger matched with the mechanical switch (51) comprises an upper rotary position switch trigger (21) and a lower rotary position switch trigger (22) which are both of hollow structures, wherein an upper trigger boss (211) protruding towards the hollow structure direction and an upper trigger concave table (212) recessed towards the outer direction of the upper rotary position switch trigger (21) are arranged on the inner ring of the upper rotary position switch trigger (21), and a lower trigger boss (221) protruding towards the hollow structure direction and a lower trigger concave table (222) recessed towards the outer direction of the lower rotary position switch trigger (22) are arranged on the inner ring of the lower rotary position switch trigger (22);
wherein the magnetic induction hall switch assembly (53) is mounted on a switch mounting plate (52) of the rotary position switch assembly (5); the magnetic inductive hall switch assembly (53) generates a magnetic inductive region (54), the magnetic inductive hall switch assembly (53) being in one state when the magnet is within the range, the magnetic inductive hall switch assembly (53) being in another state when the magnet is outside the range; the rotary position switch trigger matched with the magnetic induction Hall switch assembly (53) comprises an upper rotary position switch trigger (21) and a lower rotary position switch trigger (22) which are both hollow structures, wherein an upper magnet strip (213) protruding towards the hollow structure direction and an upper trigger concave table (212) recessed towards the outer direction of the upper rotary position switch trigger (21) are arranged on the inner ring of the upper rotary position switch trigger (21), and a lower magnet strip (223) protruding towards the hollow structure direction and a lower trigger concave table (222) recessed towards the outer direction of the lower rotary position switch trigger (22) are arranged on the inner ring of the lower rotary position switch trigger (22);
wherein the at least two areas of the rotary position switch trigger comprise a triggered area and a non-triggered area, the rotary position switch trigger and the rotary position switch assembly (5) rotate relatively, the rotary position switch assembly (5) is located in the non-triggered area and is in a first state, and the rotary position switch assembly (5) is located in the triggered area and is in a second state; the non-triggering area is a concave area or a non-magnetic area, and the triggering area is a convex area or a magnetic area;
wherein the deflection position switch assembly (8) comprises at least three deflection position switches, the at least three deflection position switches comprising a first direction deflection position switch, a second direction deflection position switch and a neutral deflection position switch, wherein the first direction deflection position switch indicates an extreme position of deflection in a first direction, the second direction deflection position switch indicates an extreme position of deflection in a second direction, and wherein the first direction and the second direction are opposite directions; wherein the surgical instrument comprises a deflection motor for actuator deflection, the deflection motor is provided with an output screw rod, the deflection key assembly controls the screw rod of the deflection motor to rotate through the output of a deflection recognition control unit, the direction of the rotation of the screw rod controlled by the deflection key assembly is variable, and the direction is determined by the rotation position recognition control unit;
the rotary position identification control unit (6) is used for identifying the state of the rotary position switch assembly (5) so as to determine the deflection directions of the first key (31) and the second key (32) according to the state; the rotating position identification control unit comprises a universal single chip microcomputer and a peripheral circuit, and identifies and records the state of a switch of the rotating position switch assembly (5); when the rotation position of the actuator is changed, the rotation position switch trigger of the actuator rotates to a new area from a certain area relative to the switch, the switch changes from one state to another state, and the change of the state is identified and recorded by the rotation position identification control unit (6); when the rotary position switch assembly (5) is converted from one state to another state, the rotary position identification control unit (6) identifies the change, redefines the deflection key and performs negation operation on the deflection key assembly (3), so that the rotation direction of an output screw rod of the deflection motor is changed, and the left and right deflection directions of the actuator are kept unchanged by pressing the same deflection key under the condition that the visual angle is unchanged.
2. The device for identifying and controlling the position of an actuator of a surgical instrument as recited in claim 1,
the deflection position switch assembly (8) comprises a mechanical position switch, the deflection position switch trigger is provided with a deflection position trigger firing pin (731), the motion track of the deflection position switch trigger is a front-back linear motion, and the deflection position trigger firing pin (731) triggers the deflection position switch in the process of the front-back linear motion; or
The yaw position switch assembly (8) comprises a magnetic inductive switch, and the yaw position switch trigger has a magnetic component for triggering the magnetic inductive switch.
3. A surgical instrument, characterized in that it comprises a position recognition and control device according to claim 1 or 2.
4. A position recognition and control method of an actuator of a surgical instrument using the position recognition and control apparatus of the actuator of the surgical instrument according to claim 1 or 2, comprising:
after the system is initialized, identifying the state of a rotary position switch, and defining the state of the switch at the moment as a first state;
defining a first key as a first direction deflection key for controlling the actuator to deflect towards the first direction, and defining a second key as a second direction deflection key for controlling the actuator to deflect towards the second direction;
judging whether the actuator is rotated or not, if so, monitoring whether the state of the rotary position switch is changed into a second state or not, if so, turning to the next step, otherwise, repeatedly judging whether the actuator is rotated or not;
redefining the first key as a deflection key towards the second direction, and defining the second key as a deflection key towards the first direction.
5. The method of position identification and control of an actuator of a surgical instrument of claim 4, wherein the yaw position switch assembly of the surgical instrument comprises a plurality of yaw position switches, the method further comprising:
after the system is initialized, recognizing the initial states of the deflection position switches, and defining the initial states of the deflection position switches as first states;
judging whether a first key of a deflection key assembly is pressed down, and monitoring whether the states of the deflection position switches are changed or not if the first key is pressed down;
if the state of any deflection position switch in the deflection position switches changes, identifying the deflection position switch with the changed state, and determining the current position of the actuator;
and if the states of the deflection position switches are not changed, judging whether the second key is pressed down or not, deflecting the actuator from the current limit deflection position back, and returning to the step of monitoring whether the states of the deflection position switches are changed or not.
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| CN202010970271.5A CN111904515B (en) | 2020-09-15 | 2020-09-15 | Surgical instrument and position identification and control device and method of actuator of surgical instrument |
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| 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 |
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Application publication date: 20201110 Assignee: SINOSURGICAL HEALTHCARE TECHNOLOGIES (BEIJING) Co.,Ltd. Assignor: SURGNOVA HEALTHCARE TECHNOLOGIES (ZHEJIANG) Co.,Ltd. Contract record no.: X2024980004166 Denomination of invention: Position recognition and control device and method for surgical instruments and their actuators Granted publication date: 20230328 License type: Exclusive License Record date: 20240409 |