CN114176689B - Positioning method and device for electric anastomat and driving mechanism of electric anastomat and storage medium - Google Patents
Positioning method and device for electric anastomat and driving mechanism of electric anastomat and storage medium Download PDFInfo
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- CN114176689B CN114176689B CN202010962835.0A CN202010962835A CN114176689B CN 114176689 B CN114176689 B CN 114176689B CN 202010962835 A CN202010962835 A CN 202010962835A CN 114176689 B CN114176689 B CN 114176689B
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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
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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
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Abstract
The invention relates to an electric anastomat, a positioning method, a device and a storage medium of a driving mechanism of the electric anastomat, wherein the driving mechanism comprises a magnetic piece, a plurality of Hall switches matched with the magnetic piece are sequentially arranged along the linear motion stroke of the driving mechanism, and the positioning method comprises the following steps: when the driving mechanism moves between a first position and a second position, the voltage value induced by each Hall switch is obtained; and positioning the driving mechanism according to the voltage value sensed by each Hall switch and the identification information of each Hall switch. The driving mechanism has the beneficial effects of being capable of accurately positioning the driving mechanism and low in cost.
Description
Technical Field
The present invention relates to the field of motor technologies, and in particular, to a positioning method, apparatus and storage medium for an electric stapler and a driving mechanism thereof.
Background
In general, when the motor driving mechanism moves linearly back and forth, positioning control of the distance is a difficulty. In the related art, an encoder and a grating ruler are mainly adopted for feedback positioning, but the two modes have the problem of high cost.
Disclosure of Invention
First, the technical problem to be solved
In view of the above-mentioned drawbacks and shortcomings of the prior art, the present invention provides a positioning method, device and storage medium for an electric stapler and a driving mechanism thereof, which solve the technical problem of high cost caused by distance positioning by an encoder and a grating ruler in the related art.
(II) technical scheme
In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:
In a first aspect, an embodiment of the present invention provides a positioning method for a driving mechanism in an electric anastomat, where the driving mechanism includes a magnetic member, and a plurality of hall switches matched with the magnetic member are sequentially disposed along a linear motion stroke of the driving mechanism, and the positioning method includes the following steps: when the driving mechanism moves between a first position and a second position, the voltage value induced by each Hall switch is obtained; and positioning the driving mechanism according to the voltage value sensed by each Hall switch and the identification information of each Hall switch.
According to the positioning method of the driving mechanism in the electric anastomat, the magnetic piece is arranged on the driving mechanism, the Hall switches matched with the magnetic piece are sequentially arranged along the linear movement stroke of the driving mechanism, when the driving mechanism moves between the first position and the second position, the voltage value induced by each Hall switch is obtained, and the driving mechanism is positioned according to the voltage value induced by each Hall switch and the identification information of each Hall switch. Therefore, the magnetic piece and the Hall switches are matched with each other, so that the driving mechanism can be accurately positioned, and the cost is low.
Optionally, positioning the driving mechanism according to the voltage value sensed by each hall switch and the identification information of each hall switch includes: determining the voltage value sensed by each Hall switch; when the voltage value sensed by any one of the Hall switches reaches the preset maximum voltage, the position of the driving mechanism is determined according to the position of the Hall switch.
Optionally, positioning the driving mechanism according to the voltage value sensed by each hall switch and the identification information of each hall switch includes: determining the voltage value sensed by each Hall switch; when the voltage values sensed by the two adjacent Hall switches are equal and are larger than the preset minimum voltage, the position of the driving mechanism is determined according to the positions of the two adjacent Hall switches.
Optionally, positioning the driving mechanism according to the voltage value sensed by each hall switch and the identification information of each hall switch includes: determining the voltage change condition of each Hall switch according to the voltage value of each Hall switch; and determining the position of the driving mechanism according to the voltage change condition induced by the adjacent Hall switch and the identification information of the adjacent Hall switch.
In a second aspect, an embodiment of the present invention provides a computer readable storage medium, on which a positioning program of a driving mechanism in an electric stapler is stored, where the positioning program, when executed by a processor, implements the positioning method of the driving mechanism in the electric stapler.
The computer readable storage medium provided by the embodiment of the invention can accurately position the driving mechanism and has low cost by executing the positioning method of the driving mechanism in the electric anastomat.
In a third aspect, an embodiment of the present invention provides an electric stapler, including a driving mechanism, where the driving mechanism includes a magnetic member, and a plurality of hall switches matched with the magnetic member are sequentially disposed along a linear motion path of the driving mechanism, the electric stapler further includes a memory, a processor, and a positioning program of the driving mechanism in the electric stapler stored on the memory and capable of running on the processor, where the processor implements the positioning method of the driving mechanism in the electric stapler when executing the positioning program.
According to the electric anastomat provided by the embodiment of the invention, the magnetic part is arranged on the driving mechanism, the plurality of Hall switches matched with the magnetic part are sequentially arranged along the linear movement stroke of the driving mechanism, when the driving mechanism moves between the first position and the second position, the voltage value induced by each Hall switch is obtained, and the driving mechanism is positioned according to the voltage value induced by each Hall switch and the identification information of each Hall switch. Therefore, the magnetic piece and the Hall switches are matched with each other, so that the driving mechanism can be accurately positioned, and the cost is low.
In a fourth aspect, an embodiment of the present invention provides a positioning device for a driving mechanism in an electric stapler, including: the magnetic piece is arranged on the driving mechanism; the Hall switches are sequentially arranged along the linear motion travel of the driving mechanism and are matched with the magnetic piece; and the controller is used for acquiring the voltage value sensed by each Hall switch when the driving mechanism moves between the first position and the second position, and positioning the driving mechanism according to the voltage value sensed by each Hall switch and the identification information of each Hall switch.
According to the positioning device of the driving mechanism in the electric anastomat, the magnetic piece is arranged on the driving mechanism, the Hall switches matched with the magnetic piece are sequentially arranged along the linear movement stroke of the driving mechanism, when the driving mechanism moves between the first position and the second position, the controller obtains the voltage value induced by each Hall switch, and the driving mechanism is positioned according to the voltage value induced by each Hall switch and the identification information of each Hall switch. Therefore, the magnetic piece and the Hall switches are matched with each other, so that the driving mechanism can be accurately positioned, and the cost is low.
Optionally, the controller is further configured to determine a magnitude of the voltage value sensed by each hall switch, and determine a position of the driving mechanism according to a position of the hall switch when the voltage value sensed by any one of the hall switches reaches a preset maximum voltage.
Optionally, the controller is further configured to determine a magnitude of a voltage value induced by each hall switch, and determine a position of the driving mechanism according to positions of two adjacent hall switches when the voltage values induced by the two adjacent hall switches are equal and are both greater than a preset minimum voltage.
Optionally, the controller is further configured to determine a voltage change condition induced by each hall switch according to a voltage value induced by each hall switch, and determine a position of the driving mechanism according to a voltage change condition induced by an adjacent hall switch and identification information of the adjacent hall switch.
(III) beneficial effects
The beneficial effects of the invention are as follows: according to the electric anastomat, the positioning method, the device and the storage medium of the driving mechanism, the magnetic pieces and the Hall switches are matched with each other to position the driving mechanism, so that compared with the prior art, the positioning cost can be effectively reduced, and the aims of accurately positioning the driving mechanism and low cost are fulfilled.
Drawings
FIG. 1 is a schematic diagram of the positioning of a drive mechanism in an electric stapler according to one embodiment of the invention;
FIG. 2 is a flow chart of a method of positioning a drive mechanism in an electric stapler according to one embodiment of the invention;
FIG. 3 is a schematic view of an electric stapler according to an embodiment of the present invention;
Fig. 4 is a schematic structural view of a positioning device of a driving mechanism in an electric stapler according to an embodiment of the present invention.
[ Reference numerals description ]
300: An electric stapler; 310: a driving mechanism; 311: a magnetic member; 312: a Hall switch; 320: a memory; 330: a processor;
400: a positioning device; 430: and a controller.
Detailed Description
The invention will be better explained by the following detailed description of the embodiments with reference to the drawings.
According to the electric anastomat, the positioning method, the positioning device and the storage medium of the driving mechanism of the electric anastomat, provided by the embodiment of the invention, the magnetic piece is arranged on the driving mechanism, the Hall switches matched with the magnetic piece are sequentially arranged along the linear movement stroke of the driving mechanism, then when the driving mechanism moves between the first position and the second position, the voltage value induced by each Hall switch is obtained, and the driving mechanism is positioned according to the voltage value induced by each Hall switch and the identification information of each Hall switch. Therefore, the driving mechanism is positioned by adopting a mode that the magnetic piece and the Hall switches are matched with each other, so that the positioning is accurate, and compared with the mode that feedback positioning is performed through the encoder and the grating ruler in the related art, the cost is low.
In order that the above-described aspects may be better understood, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In an embodiment of the invention, the driving mechanism comprises a magnetic member, and a plurality of Hall switches matched with the magnetic member are sequentially arranged along the linear motion stroke of the driving mechanism.
In particular, referring to fig. 1, the powered stapler can include a drive mechanism, which can be a motor drive mechanism, which can include a magnetic member, such as a magnet, mounted on the drive mechanism and configured to move with the drive mechanism over a linear travel of the drive mechanism, such as a linear reciprocation between a first position and a second position. The hall switch may be a linear hall switch, and the hall switch may include one or more hall switches, and may be specifically determined according to a sensing area range of the hall switch and a linear motion stroke of the driving mechanism. Wherein when the hall switch comprises 1, the hall switch is preferably arranged at a first position, a second position or an intermediate position between the first position and the second position of the linear movement stroke of the driving mechanism, in order to more quickly and simply position the driving mechanism; when the hall switch includes a plurality of, a plurality of hall switches set gradually and guarantee seamless overall arrangement along actuating mechanism's linear motion stroke, a plurality of hall switches for example set up along actuating mechanism's linear motion stroke equidistant, and adjacent two hall switches are to the induction zone intercrossing of magnetic field intensity of magnetic part to prevent because of there being the clearance unable full stroke accurate positioning to actuating mechanism in the middle.
Fig. 2 is a flowchart of a method for positioning a driving mechanism in an electric stapler according to an embodiment of the invention, and referring to fig. 1, the method for positioning a driving mechanism in an electric stapler may include the steps of:
In step S201, the driving mechanism obtains the voltage value induced by each hall switch when moving between the first position and the second position.
Specifically, referring to fig. 1, when the electric stapler is in operation, the drive mechanism of the electric stapler will move between a first position, which may be a zero position, and a second position, which may be an end position; or the second position is a zero point position and the first position is an end point position, and is not limited thereto. In the process of the movement of the driving mechanism, the plurality of Hall switches arranged along the linear movement stroke of the driving mechanism sense the magnetic field intensity of the magnetic piece in real time, output voltage values corresponding to the sensed magnetic field intensity, and meanwhile, the voltage value output by each Hall switch in the plurality of Hall switches can be obtained through the controller.
Step S202, positioning the driving mechanism according to the voltage value sensed by each Hall switch and the identification information of each Hall switch.
Specifically, since the magnetic field strength of the magnetic member varies with the variation of the distance, for example, the closer the magnetic member is to the magnetic member, the larger the magnetic field strength is, the farther the magnetic member is from the magnetic member, and the smaller the magnetic field strength is, the accurate positioning of the driving mechanism can be achieved by the magnetic field strength of the magnetic member induced by the hall switch. In positioning, each of the plurality of hall switches may be marked, for example, in order from the first position to the second position, the four hall switches are respectively marked as hall switch 1, hall switch 2, hall switch 3, and hall switch 4, and the identification information is stored in the controller in advance, and then the driving mechanism is positioned by the controller according to the identification information of each hall switch and the voltage value induced by each hall switch.
In some embodiments of the present invention, positioning the driving mechanism according to the voltage value sensed by each hall switch and the identification information of each hall switch includes: determining the voltage value sensed by each Hall switch; when the voltage value sensed by any one of the Hall switches reaches the preset maximum voltage, the position of the driving mechanism is determined according to the position of the Hall switch.
Specifically, when the driving mechanism moves from one side of the hall switch to the other side of the hall switch, the magnetic field intensity of the magnetic piece sensed by the hall switch is firstly changed from small to large and then is changed from small to large, and correspondingly, the output voltage value is firstly changed from small to large and then is changed from small, wherein when the magnetic piece is opposite to the hall switch, the voltage value sensed by the hall switch is the largest, and then the voltage value is taken as the preset maximum voltage. In the motion process of the driving mechanism, the controller acquires the voltage value output by each Hall switch in real time, judges whether the voltage value output by the Hall switch reaches the preset maximum voltage, and if so, the position opposite to the Hall switch is the position of the driving mechanism.
For example, referring to fig. 1, when the voltage value output by the hall switch 1 in the four hall switches acquired by the controller reaches the preset maximum voltage, it is illustrated that the current driving mechanism is opposite to the hall switch 1, so that it can be determined that the driving mechanism is located at the position opposite to the hall switch 1; when the voltage value output by the Hall switch 2 in the four Hall switches obtained by the controller reaches the preset maximum voltage, the fact that the current driving mechanism is opposite to the Hall switch 2 is indicated, and therefore the driving mechanism can be determined to be positioned at the position opposite to the Hall switch 2; when the voltage value output by the Hall switch 3 in the four Hall switches obtained by the controller reaches the preset maximum voltage, the fact that the current driving mechanism is opposite to the Hall switch 3 is indicated, and therefore the driving mechanism can be determined to be positioned at the position opposite to the Hall switch 3; when the voltage value output by the Hall switch 4 in the four Hall switches acquired by the controller reaches the preset maximum voltage, the fact that the current driving mechanism is opposite to the Hall switch 4 is indicated, and therefore the driving mechanism can be determined to be located at the position opposite to the Hall switch 4. Thus, accurate positioning of the driving mechanism can be achieved.
In this embodiment, through the mutual cooperation of the magnetic part that sets up on actuating mechanism and a plurality of hall switch that set gradually along actuating mechanism's linear motion stroke to through the relation between voltage value and the maximum voltage of predetermineeing according to a plurality of hall switch response, not only can realize the accurate positioning to actuating mechanism, the mode is simpler moreover.
In some embodiments of the present invention, positioning the driving mechanism according to the voltage value sensed by each hall switch and the identification information of each hall switch includes: determining the voltage value sensed by each Hall switch; when the voltage values sensed by the two adjacent Hall switches are equal and are larger than the preset minimum voltage, the position of the driving mechanism is determined according to the positions of the two adjacent Hall switches.
Specifically, in order to realize full-stroke positioning of the driving mechanism, it is necessary to ensure seamless layout of the plurality of hall switches, that is, the sensing areas of the magnetic field intensity of the magnetic member by the adjacent hall switches are intersected with each other, and the voltage values output by the adjacent hall switches at the intersection are equal, so that the position of the driving mechanism can be determined according to whether the voltage values output by the adjacent hall switches are equal.
For example, referring to fig. 1, when the voltage value output by the hall switch 1 and the voltage value output by the hall switch 2 in the four hall switches obtained by the controller are equal and greater than a preset minimum voltage (pre-calibrated according to actual conditions), it is illustrated that the current driving mechanism is located at a position corresponding to an intersection point of sensing areas of the hall switch 1 and the hall switch 2; when the voltage value output by the Hall switch 2 and the voltage value output by the Hall switch 3 in the four Hall switches obtained by the controller are equal and larger than the preset minimum voltage, the current driving mechanism is indicated to be positioned at the position corresponding to the intersection point of the sensing areas of the Hall switch 2 and the Hall switch 3; when the voltage value output by the hall switch 3 and the voltage value output by the hall switch 4 in the four hall switches obtained by the controller are equal and larger than the preset minimum voltage, the current driving mechanism is indicated to be positioned at the position corresponding to the intersection point of the sensing areas of the hall switch 3 and the hall switch 4. Thus, accurate positioning of the driving mechanism can be achieved.
In this embodiment, through the mutual cooperation of the magnetic part that sets up on actuating mechanism and a plurality of hall switch that set gradually along actuating mechanism's linear motion stroke to through the position of confirming actuating mechanism according to whether the voltage value that adjacent hall switch inducted equals, not only can realize the accurate positioning to actuating mechanism, the mode is simpler moreover.
In some embodiments of the present invention, positioning the driving mechanism according to the voltage value sensed by each hall switch and the identification information of each hall switch includes: determining the voltage change condition of each Hall switch according to the voltage value of each Hall switch; and determining the position of the driving mechanism according to the voltage change condition sensed by each Hall switch.
Specifically, as can be seen from the foregoing, when the driving mechanism moves from one side of the hall switch to the other side of the hall switch, the magnetic field intensity of the magnetic member sensed by the hall switch is first changed from small to large, and then, the output voltage value is first changed from small to large, and then, for the same hall switch, two points with equal voltage values, for example, a left and a right in fig. 1, cannot be determined at the time of the driving mechanism at the position corresponding to a left or the position corresponding to a right, so that, for this case, the position of the driving mechanism can be determined according to the voltage change condition output by the hall switch 2.
For example, referring to fig. 1, when the driving mechanism is located at the position corresponding to a left or a right in the figure, since the voltage values of a left or a right are symmetrically equal, the controller cannot determine whether a is a left or a right, at this time, the driving mechanism is controlled to move forward for a small distance according to the control flow of the electric stapler, and whether the voltage value output by the hall switch 2 is lowered or raised is determined, if the driving mechanism is moved from the first position to the second position according to the control flow, when the voltage value output by the hall switch 2 is raised, it is indicated that the driving mechanism is located at the position corresponding to a right; when the voltage value output by the hall switch 2 decreases, it is explained that the driving mechanism is located at the position corresponding to the left a. For another example, according to the control flow of the electric anastomat, the driving mechanism returns to the position corresponding to the right A from the second position, whether the voltage value output by the Hall switch 2 reaches the preset maximum voltage can be judged first, then whether the voltage value output by the Hall switch 2 reaches the voltage of the right A is judged, and if so, the current driving mechanism is positioned at the position corresponding to the right A. Thus, accurate positioning of the driving mechanism can be achieved.
In this embodiment, through the mutual cooperation of the magnetic part that sets up on actuating mechanism and a plurality of hall switch that set gradually along actuating mechanism's linear motion stroke to through the voltage variation condition according to every hall switch response confirms actuating mechanism's position, not only can realize the accurate positioning to actuating mechanism, the mode is simpler moreover.
That is, in the present application, during the operation of the electric stapler, the driving mechanism may stay at any position, and for different positions, the magnetic field strength of the magnetic member induced by each of the plurality of hall switches is different, and the corresponding output voltage value is also different, so that the driving mechanism can be accurately positioned according to the voltage values output by the plurality of hall switches, that is, the distance of the driving mechanism can be accurately obtained, thereby realizing accurate control of the electric stapler.
In summary, according to the positioning method of the driving mechanism in the electric anastomat provided by the embodiment of the invention, through the mutual matching of the magnetic piece arranged on the driving mechanism and the hall switches arranged in sequence along the linear motion stroke of the driving mechanism, the driving mechanism can be accurately positioned, and compared with a mode of adopting an encoder or a grating ruler, the positioning method of the driving mechanism in the electric anastomat provided by the embodiment of the invention has lower cost.
In addition, the embodiment of the invention also provides a computer readable storage medium, on which a positioning program of the driving mechanism in the electric anastomat is stored, and the positioning program is executed by the processor to realize the positioning method of the driving mechanism in the electric anastomat.
According to the computer readable storage medium, the driving mechanism can be accurately positioned, and the cost is low by executing the positioning method of the driving mechanism in the electric anastomat.
Fig. 3 is a schematic structural diagram of an electric stapler according to an embodiment of the present invention, referring to fig. 3, the electric stapler 300 may include a driving mechanism 310, the driving mechanism 310 includes a magnetic member 311, and a plurality of hall switches 312 matched with the magnetic member 311 are sequentially disposed along a linear motion path of the driving mechanism, the electric stapler 300 further includes a memory 320, a processor 330, and a positioning program of the driving mechanism in the electric stapler stored in the memory 320 and capable of running on the processor 330, and the processor implements the positioning method of the driving mechanism in the electric stapler when executing the positioning program, which is specifically referred to above and will not be repeated herein.
According to the electric anastomat provided by the embodiment of the invention, the magnetic part is arranged on the driving mechanism, the Hall switches matched with the magnetic part are sequentially arranged along the linear movement stroke of the driving mechanism, when the driving mechanism moves between the first position and the second position, the voltage value induced by each Hall switch is obtained, and the driving mechanism is positioned according to the voltage value induced by each Hall switch and the identification information of each Hall switch. Therefore, the magnetic piece and the Hall switches are matched with each other, so that the driving mechanism can be accurately positioned, and the cost is low.
Fig. 4 is a schematic structural view of a positioning device of a driving mechanism in an electric stapler according to an embodiment of the present invention, and referring to fig. 4, a positioning device 400 of a driving mechanism in an electric stapler may include: the magnetic member 311, the plurality of hall switches 312, and the controller 430.
Wherein the magnetic member 311 is disposed on the driving mechanism; the plurality of hall switches 312 are sequentially arranged along the linear motion stroke of the driving mechanism and are matched with the magnetic piece 311; the controller 430 is configured to obtain a voltage value sensed by each hall switch 312 when the driving mechanism moves between the first position and the second position, and position the driving mechanism according to the voltage value sensed by each hall switch 312 and the identification information of each hall switch 312.
In one embodiment of the present invention, the controller 430 is further configured to determine the magnitude of the voltage value sensed by each hall switch 312, and determine the position of the driving mechanism according to the position of the hall switch 312 when there is any voltage value sensed by the hall switch 312 reaching the preset maximum voltage.
In one embodiment of the present invention, the controller 430 is further configured to determine the magnitude of the voltage value sensed by each hall switch 312, and determine the position of the driving mechanism according to the positions of the two adjacent hall switches 312 when the voltage values sensed by the two adjacent hall switches 312 are equal and are all greater than the preset minimum voltage.
In one embodiment of the present invention, the controller 430 is further configured to determine a voltage change condition sensed by each hall switch 312 according to the voltage value sensed by each hall switch 312, and determine a position of the driving mechanism according to the voltage change condition sensed by each hall switch 312.
It should be noted that, for the description of the positioning device of the driving mechanism in the electric stapler according to the present application, please refer to the description of the positioning method of the driving mechanism in the electric stapler according to the present application, and detailed descriptions thereof are omitted herein.
According to the positioning device of the driving mechanism in the electric anastomat, provided by the embodiment of the invention, the magnetic piece is arranged on the driving mechanism, the plurality of Hall switches matched with the magnetic piece are sequentially arranged along the linear movement stroke of the driving mechanism, when the driving mechanism moves between the first position and the second position, the controller acquires the voltage value induced by each Hall switch, and the driving mechanism is positioned according to the voltage value induced by each Hall switch and the identification information of each Hall switch. Therefore, the magnetic piece and the Hall switches are matched with each other, so that the driving mechanism can be accurately positioned, and the cost is low.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; may be a communication between two elements or an interaction between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature is "on" or "under" a second feature, which may be in direct contact with the first and second features, or in indirect contact with the first and second features via an intervening medium. Moreover, a first feature "above," "over" and "on" a second feature may be a first feature directly above or obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is level lower than the second feature.
In the description of the present specification, the terms "one embodiment," "some embodiments," "examples," "particular examples," or "some examples," etc., refer to particular features, structures, materials, or characteristics described in connection with the embodiment or example as being included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that alterations, modifications, substitutions and variations may be made in the above embodiments by those skilled in the art within the scope of the invention.
Claims (8)
1. The positioning method of the driving mechanism in the electric anastomat is characterized in that the driving mechanism comprises a magnetic piece, and a plurality of Hall switches matched with the magnetic piece are sequentially arranged along the linear motion stroke of the driving mechanism, and the positioning method comprises the following steps:
when the driving mechanism moves between a first position and a second position, the voltage value induced by each Hall switch is obtained;
Positioning the driving mechanism according to the voltage value induced by each Hall switch and the identification information of each Hall switch;
Positioning the driving mechanism according to the voltage value sensed by each Hall switch and the identification information of each Hall switch, comprising:
determining the voltage change condition of each Hall switch according to the voltage value of each Hall switch, and determining the position of the driving mechanism according to the voltage change condition of each Hall switch;
Positioning the driving mechanism according to the voltage value sensed by each Hall switch and the identification information of each Hall switch, comprising:
determining the magnitude of a voltage value induced by each Hall switch;
When the voltage value sensed by any one of the Hall switches reaches the preset maximum voltage, the position of the driving mechanism is determined according to the position of the Hall switch.
2. The method of positioning a drive mechanism in an electric stapler according to claim 1, wherein positioning the drive mechanism based on the voltage value sensed by each of the hall switches and the identification information of each of the hall switches, comprises:
determining the magnitude of a voltage value induced by each Hall switch;
when the voltage values sensed by the two adjacent Hall switches are equal and are larger than the preset minimum voltage, the position of the driving mechanism is determined according to the positions of the two adjacent Hall switches.
3. The method of positioning a drive mechanism in an electric stapler according to claim 1, wherein positioning the drive mechanism based on the voltage value sensed by each of the hall switches and the identification information of each of the hall switches, comprises:
determining the voltage change condition of each Hall switch according to the voltage value sensed by each Hall switch;
and determining the position of the driving mechanism according to the voltage change condition induced by the adjacent Hall switch and the identification information of the adjacent Hall switch.
4. A computer readable storage medium, wherein a positioning program of a driving mechanism in an electric stapler is stored thereon, which positioning program, when executed by a processor, implements a method of positioning a driving mechanism in an electric stapler according to any one of claims 1-3.
5. An electric stapler, comprising a driving mechanism, wherein the driving mechanism comprises a magnetic member, and a plurality of hall switches matched with the magnetic member are sequentially arranged along the linear movement stroke of the driving mechanism, the electric stapler further comprises a memory, a processor and a positioning program of the driving mechanism in the electric stapler which is stored on the memory and can run on the processor, and the positioning method of the driving mechanism in the electric stapler according to any one of claims 1-3 is realized when the processor executes the positioning program.
6. A positioning device for a drive mechanism in an electric stapler, comprising:
the magnetic piece is arranged on the driving mechanism;
the Hall switches are sequentially arranged along the linear motion stroke of the driving mechanism and are matched with the magnetic piece;
The controller is used for acquiring the voltage value induced by each Hall switch when the driving mechanism moves between the first position and the second position, and positioning the driving mechanism according to the voltage value induced by each Hall switch and the identification information of each Hall switch;
The controller is also used for determining the voltage change condition induced by each Hall switch according to the voltage value induced by each Hall switch and determining the position of the driving mechanism according to the voltage change condition induced by each Hall switch;
the controller is further used for determining the voltage value sensed by each Hall switch, and determining the position of the driving mechanism according to the position of the Hall switch when the voltage value sensed by any one Hall switch reaches the preset maximum voltage.
7. The positioning device of a driving mechanism in an electric stapler according to claim 6, wherein said controller is further configured to determine the magnitude of the voltage value induced by each of said hall switches, and determine the position of said driving mechanism based on the positions of the two adjacent hall switches when there are two adjacent hall switches whose voltage values are equal and both are greater than a preset minimum voltage.
8. The positioning device of a drive mechanism in an electric stapler of claim 6, wherein the controller is further configured to determine a voltage change induced by each of the hall switches based on a voltage value induced by each of the hall switches, and to determine a position of the drive mechanism based on a voltage change induced by an adjacent hall switch and identification information of the adjacent hall switch.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010962835.0A CN114176689B (en) | 2020-09-14 | 2020-09-14 | Positioning method and device for electric anastomat and driving mechanism of electric anastomat and storage medium |
| PCT/CN2021/115587 WO2022052835A1 (en) | 2020-09-14 | 2021-08-31 | Electric surgical stapler, positioning method and apparatus for driving mechanism thereof, and storage medium |
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| CN202010962835.0A CN114176689B (en) | 2020-09-14 | 2020-09-14 | Positioning method and device for electric anastomat and driving mechanism of electric anastomat and storage medium |
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|---|---|---|---|---|
| CN105395232A (en) * | 2015-12-22 | 2016-03-16 | 苏州英途康医疗科技有限公司 | Electric anastomotic device |
| CN110786900A (en) * | 2019-12-05 | 2020-02-14 | 山东威瑞外科医用制品有限公司 | Electric anastomat and control system thereof |
| CN111542886A (en) * | 2017-12-28 | 2020-08-14 | 爱惜康有限责任公司 | System for adjusting end effector parameters based on perioperative information |
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| AU2011200961B2 (en) * | 2010-03-12 | 2014-05-29 | Covidien Lp | Method and apparatus for determining parameters of linear motion in a surgical instrument |
| AU2014200501B2 (en) * | 2013-03-07 | 2017-08-24 | Covidien Lp | Powered surgical stapling device |
| US10470762B2 (en) * | 2013-03-14 | 2019-11-12 | Ethicon Llc | Multi-function motor for a surgical instrument |
| US11607239B2 (en) * | 2016-04-15 | 2023-03-21 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
| US10357247B2 (en) * | 2016-04-15 | 2019-07-23 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105395232A (en) * | 2015-12-22 | 2016-03-16 | 苏州英途康医疗科技有限公司 | Electric anastomotic device |
| CN111542886A (en) * | 2017-12-28 | 2020-08-14 | 爱惜康有限责任公司 | System for adjusting end effector parameters based on perioperative information |
| CN110786900A (en) * | 2019-12-05 | 2020-02-14 | 山东威瑞外科医用制品有限公司 | Electric anastomat and control system thereof |
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