CN113662606A - Intelligent speed control method and device and electric anastomat - Google Patents
Intelligent speed control method and device and electric anastomat Download PDFInfo
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- CN113662606A CN113662606A CN202110829212.0A CN202110829212A CN113662606A CN 113662606 A CN113662606 A CN 113662606A CN 202110829212 A CN202110829212 A CN 202110829212A CN 113662606 A CN113662606 A CN 113662606A
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- 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
- A61B2017/07214—Stapler heads
- A61B2017/07271—Stapler heads characterised by its cartridge
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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
- A61B2017/07214—Stapler heads
- A61B2017/07285—Stapler heads characterised by its cutter
Abstract
The invention belongs to the field of medical instruments, and provides an intelligent speed control method, an intelligent speed control device and an electric anastomat aiming at the problem of how to intelligently and correspondingly change the anastomosis speed of the electric anastomat according to the changed tissue thickness; the intelligent speed control method comprises the following steps: acquiring the cutting direction of a motor, and acquiring current feedback information of the motor when positive cutting is matched; calculating motor load information according to the current feedback information and preset basic information of a circuit where the motor is located; obtaining corresponding tissue thickness according to the motor load information and a preset rule; adjusting the motor speed according to the tissue thickness; according to the scheme, the speed of the motor is adjusted in real time according to the current feedback when the motor positively cuts and inosculates, so that the cutting speed of the motor-driven blade is more in accordance with the thickness of the current tissue.
Description
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to an intelligent speed control method and device and an electric anastomat.
Background
An electric anastomat is a medical instrument frequently used when surgical operations are performed on the physiological tissues of the digestive tract, and in the treatment of general surgical operations, the anastomat is frequently used for completing the cutting and suturing of the tissues and performing the operation processes of closing, inosculating and cutting on the physiological tissues.
Currently available staplers generally use the same speed to perform the anastomosis. Since the distribution of human tissues is different, the thickness of the cut to be made between the corresponding parts of different human bodies, different parts of the same human body, and the like is uncertain. Because the thickness of the cutting anastomosis is uncertain, if the cutting anastomosis is carried out at the same speed corresponding to different thicknesses, the thin tissue anastomosis speed is too slow, and the operation time of a patient is increased; too fast a thick tissue cutting speed results in an unsatisfactory anastomosis.
In view of the above, chinese patent 201110109722.7 discloses an electric surgical stapler, which includes a staple holder, a staple cartridge, and a driver for driving the actuator, wherein the driver is an electric driver, the electric driving device is composed of a power supply, a control panel, a closing driving unit and a triggering driving unit, wherein the closing driving unit is composed of a closing motor and a closing transmission mechanism, the input end of the closing transmission mechanism is connected with the closing motor, the output end of the closing transmission mechanism is connected with an executing mechanism of the osculating part, the triggering driving unit is composed of a triggering generator and a triggering transmission mechanism, the input end of the triggering transmission mechanism is connected with the triggering generator, the output end of the triggering transmission mechanism is connected with the executing mechanism of the osculating part, the closing motor and the triggering generator are both connected with the control panel through leads, and the control panel is connected with the power supply through leads. Two driving motors and two transmission mechanisms are adopted for users to select different cutting speeds. In the scheme, the judgment of the experience of the user is strictly depended, and the same cutting speed is continuously adopted in the cutting process, so that the condition that the front tissues with unknown thickness are inaccurate, and the condition that the anastomosis effect is not ideal or the operation time is wasted still occurs.
Therefore, how to intelligently and correspondingly change the anastomosis speed of the electric anastomat according to the changed tissue thickness is a problem to be solved urgently by designers in the field.
Disclosure of Invention
The invention provides an intelligent speed control method, an intelligent speed control device and an electric anastomat, and solves the technical problem that how to intelligently and correspondingly change the anastomosis speed of the electric anastomat according to the changed tissue thickness in the prior art is realized.
The basic scheme of the invention is as follows: the intelligent speed control method comprises the following steps:
acquiring the cutting direction of a motor, and acquiring current feedback information of the motor when positive cutting is matched;
calculating motor load information according to the current feedback information and preset basic information of a circuit where the motor is located;
obtaining corresponding tissue thickness according to the motor load information and a preset rule;
adjusting the motor speed according to the tissue thickness.
The beneficial effects of the basic scheme are as follows: due to the difference in tissue thickness, the motor receives different resistance when the blade is used to cut tissue, and the corresponding motor has different current feedback. According to the scheme, the speed of the motor is adjusted in real time according to current feedback when the motor positively cuts and inosculates, so that the cutting speed of the motor-driven blade is more in accordance with the thickness of the current tissue. Compare in prior art, directly select motor drive speed through the manual work, this scheme is more intelligent, and it is littleer to rely on to user's self experience. Meanwhile, the tissue thickness is directly calculated according to the load, the whole structure is simple, and the implementation is convenient.
Further, the preset rule is a mapping table between motor load information and tissue thickness;
according to the motor load information and a preset rule, obtaining a corresponding tissue thickness, specifically: and according to the motor load information, searching tissue thickness information corresponding to the motor load information from a mapping table in the preset rule.
Further, the preset rule is a load thickness model, the load thickness model is trained according to a basic data set, and the basic training set comprises motor load information and tissue thickness information;
according to the motor load information and a preset rule, obtaining a corresponding tissue thickness, specifically: and bringing the motor load information into a load thickness model in a preset rule, and calculating to obtain tissue thickness information.
Further, said adjusting the motor speed according to the tissue thickness comprises:
and according to the tissue thickness, sending out a PWM signal corresponding to the tissue thickness so as to change the duty ratio of an MOS (metal oxide semiconductor) tube connected with the forward operation circuit of the motor.
Further, the PWM signals are of a plurality, each PWM signal corresponding to a unique tissue thickness.
The present invention also provides an intelligent speed control device, comprising:
the empty bin detection module is used for detecting whether the anastomat is in an empty bin detection stage; when the anastomat is in the empty nail bin detection stage, a low-speed running signal of a motor is sent to a control module; when the anastomat leaves the empty nail bin detection stage, sending a motor high-speed starting signal to a control module;
the control module is used for controlling the motor to be in a low-speed running state according to the motor low-speed running signal sent by the empty bin detection module; the motor control module is also used for controlling the motor to execute corresponding forward rotation or reverse rotation according to a high-speed motor starting signal sent by the empty bin detection module; the control module also sends a speed regulation starting signal to the speed regulation module and sends an acquisition starting signal to the feedback acquisition module when controlling the motor to rotate forwards;
the feedback acquisition module is used for acquiring current feedback information of the motor according to the acquisition starting signal and sending the current feedback information to the speed adjustment module;
the speed adjusting module is used for starting according to the speed-adjusting starting signal; the motor speed control device is used for calculating motor load information according to the current feedback information and preset circuit basic information, obtaining corresponding tissue thickness according to the motor load information and a preset rule, and sending a corresponding speed control signal to a control module according to the tissue thickness;
and the control module is also used for correspondingly adjusting the rotating speed of the motor rotating in the forward direction according to the speed control signal.
Further, the feedback acquisition module is a motor current feedback circuit, and a circuit where the motor current feedback circuit is located is conducted when the motor current feedback circuit is matched with the motor forward cutting, and is used for monitoring the feedback current in the circuit where the motor is located in real time.
Further, still include:
and the anti-interference module is used for eliminating burrs of control signals when the control module controls the motor to operate so as to maintain the stability of the waveform of the motor when the motor is positively cut and inosculated.
Further, the speed adjusting module comprises a single chip microcomputer; the single chip microcomputer outputs a PWM signal corresponding to the tissue thickness according to the tissue thickness;
the control module comprises an MOS tube, and the MOS tube is connected with a circuit where the motor is positioned when in forward cutting anastomosis; the control module controls the duty ratio of the MOS tube according to the PWM signal, so that the speed of the motor is controlled.
The invention also provides an electric anastomat which comprises a motor capable of rotating in the forward direction or the reverse direction, a blade capable of rotating to feed or withdraw according to the rotating direction of the motor, and the intelligent speed control device.
Drawings
Fig. 1 is a flowchart of an intelligent speed control method according to a first embodiment of the present invention;
fig. 2 is a block diagram of an intelligent speed control device according to a second embodiment of the present invention;
fig. 3 is a schematic circuit diagram of an intelligent speed control device according to a third embodiment of the present invention;
fig. 4 is a schematic circuit diagram of a chip microcomputer in an intelligent speed control device according to a third embodiment of the present invention;
fig. 5 is a circuit diagram of a communication structure in an intelligent speed control device according to a third embodiment of the present invention.
Detailed Description
The following is further detailed by the specific embodiments:
in order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
The first embodiment:
a first embodiment of the present invention provides an intelligent speed control method, including: acquiring the cutting direction of a motor, and acquiring current feedback information of the motor when positive cutting is matched; calculating motor load information according to the current feedback information and preset basic information of a circuit where the motor is located; obtaining corresponding tissue thickness according to the motor load information and a preset rule; adjusting the motor speed according to the tissue thickness.
Due to the difference in tissue thickness, the motor receives different resistance when the blade is used to cut tissue, and the corresponding motor has different current feedback. The speed of the motor is adjusted in real time according to current feedback when the motor positively cuts and inosculates, so that the cutting speed of the blade driven by the motor is more in accordance with the thickness of the current tissue. This scheme is more intelligent, and it is littleer to rely on user's self experience. Meanwhile, the tissue thickness is directly calculated according to the load, the whole structure is simple, and the implementation is convenient.
The following describes the implementation details of the intelligent speed control method according to the present embodiment in detail, and the following only provides implementation details for easy understanding, but the implementation of the present embodiment is not essential, and the specific flow of the present embodiment is as shown in fig. 1, and the present embodiment is applied to an intelligent speed control device.
And S1, acquiring the cutting direction of the motor, and acquiring current feedback information of the motor when the positive cutting is matched.
Specifically, the motor of the anastomat also goes through an empty nail bin detection stage before formally starting to cut the tissue, and after the empty nail detection stage passes, the motor of the anastomat formally is in a working state. The working states of the motor are two, namely a forward rotating feed state and a reverse rotating retracting state.
In step S1, the motor cutting direction is acquired, and it is determined whether the operation state of the motor is a forward-rotation feed state or a reverse-rotation retract state. The specific implementation of the method can be determined by whether the motor is located in a forward rotation control circuit or a reverse rotation circuit, for example, the motor is located in a circuit with SW4 and SW5 switches, the SW4 switch is a feeding switch, the SW5 switch is a retracting switch, and the control of the rotation direction of the motor is implemented according to different switch-on endpoints of SW4 and SW5, so that the "obtaining the motor cutting direction" in step S1 can obtain the cutting direction of the motor according to the switch-on conditions of SW4 and SW 5.
In step S1, current feedback information of the motor is acquired when the positive direction cutting is matched. The step can be implemented by collecting current feedback information of the motor in a feed state. The current detection unit is started in the feed state, and the current instrument detection unit directly detects the feedback current of the motor so as to obtain current feedback information. For example, a feedback current detection circuit is arranged on a circuit when the motor performs forward cutting anastomosis, and an input end of the feedback current detection circuit is connected with a motor forward cutting anastomosis control circuit (that means, a circuit where the motor is located in a forward cutting state) and is used for detecting current feedback information in the motor forward cutting anastomosis control circuit.
And S2, calculating motor load information according to the current feedback information and the preset basic information of the circuit where the motor is located.
Specifically, the basic information of the circuit in which the motor is located refers to the basic information (basic electrical characteristics of elements such as resistance and capacitance) of each electronic component in the circuit in which the motor is located and the connection mode of each electronic component, or refers to the overall electrical characteristics of the circuit in which the motor is located. The circuit is referred to by a designer, and thus, basic information of the circuit should be preset known information. The load information of the motor can be calculated according to the current feedback information and the basic information of the circuit.
And S3, obtaining the corresponding tissue thickness according to the motor load information and a preset rule.
In particular, the preset law represents the correlation between the motor load and the thickness of the tissue touched by the motor. Therefore, there are various embodiments of step S3.
In one embodiment, the preset rule is a mapping table between motor load information and tissue thickness; according to the motor load information and a preset rule, obtaining a corresponding tissue thickness, specifically: and according to the motor load information, searching tissue thickness information corresponding to the motor load information from a mapping table in the preset rule. In this embodiment, the mapping table is used as a representation of the preset rule, and it is obvious that the mapping table is also pre-stored in the implementation, and the step S3 is to find the tissue thickness related to the motor load from the mapping table.
In another embodiment, the preset rule is a load thickness model trained according to a basic data set, and the basic training set includes motor load information and tissue thickness information; according to the motor load information and a preset rule, obtaining a corresponding tissue thickness, specifically: and bringing the motor load information into a load thickness model in a preset rule, and calculating to obtain tissue thickness information. In the embodiment, data summarization is carried out on all motor loads and resistance thicknesses in history to obtain a load thickness model, and the load thickness model represents a mathematical relationship between the motor loads and the resistance thicknesses; and with the increase of the basic training set, the trained load thickness model will be more and more accurate, and correspondingly, the tissue thickness calculated according to the load thickness model will also be more and more accurate.
And S4, adjusting the motor speed according to the tissue thickness.
Specifically, according to the tissue thickness, a PWM signal corresponding to the tissue thickness is sent out to change the duty ratio of an MOS tube connected with a forward running circuit of the motor. The PWM signals are of a plurality, each PWM signal corresponding to a unique tissue thickness. The MOS tube is connected with a circuit for forward operation of the motor, so that the rotation speed of the motor can be controlled through the MOS tube. In addition, the MOS tube is only arranged in the forward rotation, so that the speed of the motor can be adjusted, and is not arranged in the circuit connection of the motor in the reverse operation, so that the tool retracting efficiency after the tool feeding is finished is further improved.
For example, one or more standard tissue thicknesses are preset, each standard tissue thickness corresponds to a unique PWM signal, and different standard tissue thicknesses correspond to different PWM signals. When the tissue thickness output in step S3 exceeds a certain standard tissue thickness, the PWM signal corresponding to the tissue thickness is set to the PWM signal corresponding to the exceeded standard tissue thickness having the smallest difference from the tissue thickness. That is, the standard tissue thicknesses b-1, b-2, and b-3 correspond to the PWM signals PWM-1, PWM-2, and PWM-3, respectively, the tissue thickness output in step S3 is a, and when b-1< b-2< a < b-3, the PWM signal corresponding to the tissue thickness a is set to be PWM-2 corresponding to b-2. And then, adjusting the duty ratio of the corresponding MOS tube according to the difference of the received PWM signals.
For another example, there is an information correspondence between the tissue thickness and the PWM signal, and the PWM signal carries information of the tissue thickness; the controller receives the PWM signal, and then correspondingly changes the duty ratio of the MOS tube according to the tissue thickness in the PWM signal, and the duty ratios of the MOS tubes corresponding to different tissue thicknesses are also different. Meanwhile, the tissue thickness is set to a plurality of units, and the duty ratio of the MOS tube is related to the tissue thickness. In this case, the information transmitted by the PWM signal is directly the tissue thickness, which is more accurate and is accurate in adjusting the duty ratio of the subsequent MOS transistor.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
Second embodiment:
a second embodiment of the present invention provides an intelligent speed control device, as shown in fig. 2, including:
an empty bin detection module 201, configured to detect whether the stapler is in an empty bin detection stage; when the anastomat is in the empty nail bin detection stage, a low-speed running signal of a motor is sent to a control module 202; when the stapler leaves the empty cartridge detection phase, sending a motor high-speed starting signal to a control module 202;
the control module 202 is configured to control the motor 206 to be in a low-speed operation state according to the motor low-speed operation signal sent by the empty bin detection module 201; the controller is further configured to control the motor 206 to perform corresponding forward rotation or reverse rotation according to the high-speed motor starting signal sent by the empty bin detection module 201; when the control module 202 controls the motor to rotate in the forward direction, the control module also sends a speed regulation starting signal to the speed regulation module and sends an acquisition starting signal to the feedback acquisition module 203;
the feedback acquisition module 203 is configured to acquire current feedback information of the motor according to the acquisition start signal, and send the current feedback information to the speed adjustment module 205;
the storage module 204 is used for storing circuit basic information of a circuit where the motor is located when the motor is in forward cutting anastomosis;
a speed adjusting module 205, configured to start according to a speed-adjusting start signal; the speed control module is further configured to calculate motor load information according to the current feedback information and circuit basic information of the storage module 204, obtain a corresponding tissue thickness according to the motor load information and a preset rule, and send a corresponding speed control signal to the control module 202 according to the tissue thickness;
the control module 202 is further configured to correspondingly adjust a rotation speed of the motor 206 rotating in the forward direction according to the speed control signal.
Further, the feedback acquisition module 203 is a motor current feedback circuit, and the motor current feedback circuit is connected with a circuit where the motor is in forward cutting fit, and is used for monitoring the feedback current in the circuit where the motor is located in real time.
Further, the device also comprises an anti-interference module 207, which is used for eliminating the burrs of the control signal when the control module controls the motor to operate, so as to maintain the stability of the motor waveform when the motor is positively cut and inosculated.
Further, the speed adjusting module 205 comprises a single chip microcomputer; the single chip microcomputer outputs a PWM signal corresponding to the tissue thickness according to the tissue thickness; the control module 202 comprises an MOS (metal oxide semiconductor) tube, and the MOS tube is connected with a circuit where the motor is positioned when in forward cutting anastomosis; the control module 202 controls the duty ratio of the MOS transistor according to the PWM signal, so as to control the speed of the motor.
It should be understood that this embodiment is a system example corresponding to the first embodiment, and may be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
The third embodiment:
a third embodiment of the present invention relates to an intelligent speed control device, as shown in fig. 3, fig. 4, and fig. 5, and this embodiment is a specific example of a module schematic diagram of the second embodiment, and specific details of implementation of the second embodiment are still valid in this embodiment and will not be described herein.
As shown in fig. 3, the main switch of the intelligent speed control device is SW1, and when the free end of SW1 is conducted with port 2 and directly connected to the power supply DC12VIN, the power supply DC12VIN supplies power to the whole intelligent speed control device. SW2 is a knife edge reset switch, the free end of SW2 is reset integrally when being conducted with DAO _ IO of port 3, and the free end of SW2 is conducted with port 2, and the power supply outputting +12V is used for supplying power for other modules/circuits of the intelligent speed control device. In addition, SW2 can be used as a knife edge closing detection switch, when the free end of SW2 is conducted with the port 3, the switch is opened, when the free end of SW2 is conducted with the port 2, the switch is closed, and when the knife edge is not closed, the motor can not run.
The empty bin detection module 201 comprises a feed protection switch SW3, the SW3 is used as an empty staple cartridge detection switch, the SW3 is not closed to indicate that the stapler is still in an empty staple cartridge detection stage, the motor 206 is controlled to run at a low speed through the control module 202, and when the SW3 is closed to indicate that the empty staple cartridge detection point is passed, the motor 206 is controlled to run in a forward/reverse direction through the control module 202 to realize high-speed and high-torque cutting of anastomotic tissue.
The control module 202 comprises a feed switch SW4, a retract switch SW5, a MOS tube Q3, a motor forward and reverse rotation control circuit formed by the SW4 and the SW5, and the MOS tube Q3 is connected in series in a circuit where a motor matched with forward cutting is located. When the motor is used for cutting and inosculating in the forward direction, the MOS tube is required to be opened, the reverse cutter withdrawing is not required to be controlled by the MOS tube Q3, and the cutter withdrawing is carried out at the maximum speed.
The feedback acquisition module 203 comprises a current feedback detection circuit consisting of R6 and C14, and can monitor the current change in the motor in real time.
The storage module 204, which uses a register (not shown in the figure), is used to store the circuit basic information of the circuit where the motor is located when the motor is cutting and matching forward.
The speed adjusting module 205, as shown in fig. 4, includes a single chip microcomputer U1, and calculates motor load information according to the current feedback information and the circuit basic information of the storage module 204; the single chip microcomputer U1 is further used for obtaining the corresponding tissue thickness according to the motor load information and a preset rule; the singlechip U1 also outputs a PWM signal corresponding to the tissue thickness according to the tissue thickness, so that the MOS tube Q3 in the control module 202 adjusts the duty ratio of the motor according to the PWM signal sent by the singlechip U1, and the speed of the motor is controlled. The output end of the single chip microcomputer U1 is connected with a communication interface XP3 shown in FIG. 5, and is used for communicating with a display module (not shown in the figure) and displaying current information.
The motor 206 comprises a motor interface XP2.
The anti-interference module 207 comprises a motor interference elimination circuit consisting of R9, C9 and D4, effectively eliminates burrs in the operation of a motor, enables the waveform of the motor to be stable and have no burrs, and facilitates circuit sampling.
Fourth embodiment:
a fourth embodiment of the present invention provides an electric stapler including a motor capable of rotating in a forward direction or a reverse direction, a blade for rotating to advance or retract a knife according to a rotation direction of the motor, and the intelligent speed control device provided in the second embodiment.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. The intelligent speed control method is characterized by comprising the following steps:
acquiring the cutting direction of a motor, and acquiring current feedback information of the motor when positive cutting is matched;
calculating motor load information according to the current feedback information and preset basic information of a circuit where the motor is located;
obtaining corresponding tissue thickness according to the motor load information and a preset rule;
adjusting the motor speed according to the tissue thickness.
2. The intelligent speed control method of claim 1, wherein: the preset rule is a mapping table between motor load information and tissue thickness;
according to the motor load information and a preset rule, obtaining a corresponding tissue thickness, specifically: and according to the motor load information, searching tissue thickness information corresponding to the motor load information from a mapping table in the preset rule.
3. The intelligent speed control method of claim 2, wherein: the preset rule is a load thickness model, the load thickness model is trained according to a basic data set, and the basic training set comprises motor load information and tissue thickness information;
according to the motor load information and a preset rule, obtaining a corresponding tissue thickness, specifically: and bringing the motor load information into a load thickness model in a preset rule, and calculating to obtain tissue thickness information.
4. The intelligent speed control method of claim 1, wherein: said adjusting the motor speed according to the tissue thickness comprises:
and according to the tissue thickness, sending out a PWM signal corresponding to the tissue thickness so as to change the duty ratio of an MOS (metal oxide semiconductor) tube connected with the forward operation circuit of the motor.
5. The intelligent speed control method of claim 4, wherein: the PWM signals are of a plurality, each PWM signal corresponding to a unique tissue thickness.
6. Intelligent speed control device, its characterized in that includes:
the empty bin detection module is used for detecting whether the anastomat is in an empty bin detection stage; when the anastomat is in the empty nail bin detection stage, a low-speed running signal of a motor is sent to a control module; when the anastomat leaves the empty nail bin detection stage, sending a motor high-speed starting signal to a control module;
the control module is used for controlling the motor to be in a low-speed running state according to the motor low-speed running signal sent by the empty bin detection module; the motor control module is also used for controlling the motor to execute corresponding forward rotation or reverse rotation according to a high-speed motor starting signal sent by the empty bin detection module; the control module also sends a speed regulation starting signal to the speed regulation module and sends an acquisition starting signal to the feedback acquisition module when controlling the motor to rotate forwards;
the feedback acquisition module is used for acquiring current feedback information of the motor according to the acquisition starting signal and sending the current feedback information to the speed adjustment module;
the storage module is used for storing circuit basic information of a circuit where the motor is positioned when the motor is in forward cutting anastomosis;
the speed adjusting module is used for starting according to the speed-adjusting starting signal; the motor load information is calculated according to the current feedback information and the circuit basic information of the storage module, the corresponding tissue thickness is obtained according to the motor load information and a preset rule, and a corresponding speed control signal is sent to the control module according to the tissue thickness;
and the control module is also used for correspondingly adjusting the rotating speed of the motor rotating in the forward direction according to the speed control signal.
7. The intelligent speed control device of claim 6, wherein: the feedback acquisition module is a motor current feedback circuit, and the motor current feedback circuit is conducted with a circuit where the motor is located when the motor is in forward cutting fit and is used for monitoring the feedback current in the circuit where the motor is located in real time.
8. The intelligent speed control device of claim 6, further comprising:
and the anti-interference module is used for eliminating burrs of control signals when the control module controls the motor to operate so as to maintain the stability of the waveform of the motor when the motor is positively cut and inosculated.
9. The intelligent speed control device of claim 6, wherein: the speed adjusting module comprises a single chip microcomputer; the single chip microcomputer outputs a PWM signal corresponding to the tissue thickness according to the tissue thickness;
the control module comprises an MOS tube, and the MOS tube is connected with a circuit where the motor is positioned when in forward cutting anastomosis; the control module controls the duty ratio of the MOS tube according to the PWM signal, so that the speed of the motor is controlled.
10. Electric anastomat, its characterized in that: comprising a motor capable of rotating in a forward direction or a reverse direction, a blade for rotating a feed or a retract blade according to a rotation direction of the motor, and an intelligent speed control device according to any one of claims 6 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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