CN115549549B - Electric anastomat control method and system - Google Patents
Electric anastomat control method and system Download PDFInfo
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- CN115549549B CN115549549B CN202211514534.7A CN202211514534A CN115549549B CN 115549549 B CN115549549 B CN 115549549B CN 202211514534 A CN202211514534 A CN 202211514534A CN 115549549 B CN115549549 B CN 115549549B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/28—Controlling the motor by varying the switching frequency of switches connected to a DC supply and the motor phases
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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
- A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
- A61B17/115—Staplers for performing anastomosis in a single operation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
Abstract
The invention discloses a control method and a control system of an electric anastomat, wherein the control method comprises the following steps of sampling the current in real time and judging the state of the anastomat; acquiring the actual rotating speed of the current motor; and calculating the speed deviation between the actual rotating speed of the motor and the target speed of the motor, calculating to obtain an output value of the PID by taking the actual rotating speed and the speed deviation as input parameters of PID control, and adjusting the PWM pulse duty ratio loaded on a motor driving signal according to the output value of the PID so as to adjust the rotating speed of the motor to achieve stable speed control. The invention has the following beneficial effects: the control method is simple, the rotating speed of the motor is stabilized to realize better nail bin forming of the electric anastomat, and errors are not easy to occur; and the device has the functions and steps of comprehensively judging the type of the nail bin, the swing angle of the nail bin, the state of the anastomat and the like, and further ensures the control safety of the anastomat.
Description
Technical Field
The invention relates to the technical field of electric anastomats, in particular to a control method and a control system of an electric anastomat.
Background
The surgical anastomat is a common surgical operation instrument at present, is a device used in medicine for replacing the traditional manual suture, has the advantages of rapid suture, simple and convenient operation, few side effects and operation complications and the like, and can also excise the focus of the tumor operation which cannot be excised in the past.
With the development of technology, surgical staplers gradually evolve from open surgical staplers to endoscopic staplers suitable for minimally invasive surgery; the operation mode is changed from a purely manual operation mode to a completely electric operation mode, namely swinging of the nail bin, closing of the nail anvil of the nail bin, automatic stitching and the like are realized through one or more motors, and the motors are driven through a controller.
In the automatic control process, a series of operation nodes need to be noticed, for example: judging the types of the nail bins, wherein the corresponding cutting distances of different nail bin types are different; judging the swing angle of the nail bin, wherein the driving forces of the motors corresponding to different swing angles of the nail bin are different. What is more, the following steps are that: in the actual closing and firing movement process, due to the inconsistency of the tissue thickness, the load generated on the motor in the actual sewing and cutting process is changed all the time, and the rotating speed of the motor is greatly influenced; in addition, the electric product is actually powered by the battery, the battery voltage is reduced along with the consumption of electric quantity in consideration of the characteristics of the battery, and in addition, the motor generates heat in the working process, and the factors can influence the rotating speed of the motor, so that the rotating speed is unstable. The fluctuation of the motor speed can affect the formation of the anastomosis nail and the cutting trace of the cutting knife to the tissue, and has the risk of causing the operation failure. Moreover, it is not negligible that the electric stapler may also generate mechanical faults, such as the blocking of the transmission gear, the staple cartridge and the staple. However, the conventional stapler at present is more or less lack of the above functions of detection process, automatic control of the sewing and cutting speed, failure detection of the stapler and the like, and is operated and judged by depending on the experience of a user, so that errors of subjective judgment easily occur.
In view of this, the prior art discloses a series of patent applications on the control method of an electrically powered stapler, such as WO2018/234891A1, WO2018/234901A1, WO2018/234883A1, WO2018/234904A1, WO2018/234890A1, WO2018/234887A1 and the like, which control the speed of the motor from a plurality of aspects, such as tissue thickness, position of the displacement member, feedback of the closing force of the actuator, feedback of the motor voltage and the like, the principle of which is to produce variable speed control of one motor, but the control manner is relatively complex, such as the speed of the displacement member being determined by measuring the elapsed time at predetermined position intervals of the displacement member or measuring the position of the displacement member at predetermined time intervals, such measurements being used to assess tissue conditions such as tissue thickness, and the speed of the cutting member being adjusted during a stroke in accordance with the tissue conditions such as tissue thickness. The tissue thickness is determined by comparing the expected speed of the cutting member with the actual speed of the cutting member. Such closed loop control requires too many control points to detect and calculate. It is known that, under software control, the more complicated the calculation process, the more error-prone it is.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a control method and a control system of an electric anastomat.
The purpose of the invention is realized by the following technical scheme:
a control method of an electric anastomat comprises the following steps:
s1, initializing a system;
s2, judging the type data of the nail bin, and setting a firing distance according to the type data of the nail bin;
s3, collecting swing angle data of a nail bin, and determining a target speed of a motor by combining the percussion distance;
s4, sampling the current in real time, and judging the state of the anastomat;
and S5, acquiring the actual rotating speed of the current motor, calculating the speed deviation between the actual rotating speed of the motor and the target speed of the motor, calculating to obtain an output value of the PID by taking the actual rotating speed and the speed deviation as input parameters of the PID control, adjusting the PWM pulse duty ratio loaded on a motor driving signal according to the output value of the PID, and further adjusting the rotating speed of the motor to achieve speed stabilization control.
Preferably, the step S1 specifically includes detecting the battery power, and detecting whether the controller and the sensor work normally.
Preferably, the step S2 specifically includes:
s21, collecting real-time voltage generated by the linear Hall switch for n times continuously;
s22, calculating the average value of the real-time voltage;
s23, looking up a table to determine the type of the nail bin;
s24, setting a firing distance according to the staple cartridge model data.
Preferably, the step S3 specifically includes:
s31, collecting voltage generated by a linear Hall switch related to the swing of the nail bin;
s32, calculating the swing angle of the nail bin through a linear function relation based on the linear relation between the voltage and the swing angle of the nail bin;
and S33, determining the target speed of the motor by combining the firing distance and the nail bin swing angle.
Preferably, the stapler states include a mechanical failure state, a staple cartridge staple state, and a load fluctuation state.
Preferably, the step S4 specifically includes collecting the real-time current I for n consecutive times by the controller n 、I n-1 、I n-2 、I n-3 、I n-4 ……、I 1 Calculating the average value I of the current average = Average(
) Through I average Judging the status of the stapler, if I average Greater than a threshold limit value I s1 If the stapler is judged to be in the mechanical fault state P1, the motor is immediately stopped to rotate, and a fault alarm is given; if I average Greater than steady speed threshold I s2 And is less than a threshold limit value I s1 If the stapler state is judged to be the nail bin and staple state P2, the motor controller drives the motor to rotate according to the maximum pulse duty ratio; if I average Less than steady speed threshold I s2 If a small fluctuation occurs, the stapler state is determined to be the load fluctuation state P3, and step S5 is started. Wherein n takes 10 values, and the interval time of real-time current sampling is 1ms.
Preferably, the step S5 specifically includes:
s51, collecting motor Hall signals through a controller, calculating to obtain the actual rotating speed of a current motor, connecting the three motor Hall signals to three GPIO interfaces of the controller, sampling the level high-low state of the GPIO interfaces in timer interruption, converting the low level into the high level for counting triggering, converting the high level into the low level for counting 0, thereby obtaining the duration time of the high level of the motor Hall signals, wherein t = C/Ft, t is the time of 180 degrees of electrical angle, ft is the Hall pulse sampling frequency which is the timer frequency, and C is the sampling counting number; when the motor is n pairs of poles, the calculation formula of the actual rotating speed is Ft 60/(n 2C);
s52, calculating the output value U of the PID according to the following discrete formula k ；
Preferably, the step S5 further comprises,
s53, for the output value U k And performing moving average filtering.
Preferably, the step S51 further includes a process of filtering the actual rotation speed.
The invention also discloses an electric anastomat control system, which comprises:
the initialization unit is used for initializing the system;
the percussion distance setting unit is used for judging the type data of the nail bin and setting the percussion distance according to the type data of the nail bin;
the motor target speed determining unit is used for acquiring the swing angle data of the nail bin and determining the motor target speed by combining the firing distance;
the anastomat state judging unit is used for sampling the current in real time and judging the state of the anastomat;
and the speed stabilizing control unit is used for acquiring the actual rotating speed of the current motor, calculating the speed deviation between the actual rotating speed of the motor and the target speed of the motor, calculating to obtain the output value of the PID by taking the actual rotating speed and the speed deviation as input parameters of the PID control, adjusting the PWM pulse duty ratio loaded on the motor driving signal according to the output value of the PID, and further adjusting the rotating speed of the motor to achieve speed stabilizing control.
The invention has the following beneficial effects:
1. the device is highly integrated and intelligent, and has multiple functions of judging the type of the nail bin, measuring the swing angle of the nail bin, determining the target speed of the motor, controlling the stable speed of the motor and the like;
2. the speed stabilizing control method is simple, the rotating speed of the motor is stabilized to realize better nail bin forming of the electric anastomat, and errors are not easy to occur.
Drawings
The technical scheme of the invention is further explained by combining the drawings as follows:
FIG. 1: a schematic flow diagram of a preferred embodiment of the invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the accompanying drawings. These embodiments are not intended to limit the present invention, and structural, methodical, or functional changes that may be made by one of ordinary skill in the art in light of these embodiments are intended to be within the scope of the present invention.
The electric endoscope linear cutting anastomat comprises a main component, a main component and a driving component, wherein the main component comprises a driving motor and is provided with an output shaft; the working head comprises a nail anvil and a nail bin; a closing mechanism and a firing mechanism; and a controller for controlling all the working processes, etc. When the anastomat is closed in place or the triggering is completed, a signal is fed back to the controller to control the starting, stopping and positive and negative rotation of the motor. The driving motor is preferably a brushless motor with a hall, and any motor capable of providing speed acquisition information is within the protection scope of the present invention. The anastomat is provided with a battery (a rechargeable battery or a dry battery) for supplying power to the control system, in the invention, the controller collects the current to judge the working state, collects the Hall signal of the motor to calculate the speed stabilizing algorithm and control the speed stabilizing rotation of the motor, and the key which accords with the human engineering can control the start and stop, the forward and reverse rotation and the speed stabilizing rotation of the motor.
Specifically, as shown in fig. 1, the present invention discloses a method for controlling an electric stapler, comprising the following steps:
s1, initializing a system;
s2, judging the type data of the nail bin, and setting a firing distance according to the type data of the nail bin;
s3, collecting swing angle data of the nail bin, and determining the target speed of the motor by combining the percussion distance;
s4, sampling the current in real time, and judging the state of the anastomat;
and S5, acquiring the actual rotating speed of the current motor, calculating the speed deviation between the actual rotating speed of the motor and the target speed of the motor, calculating to obtain an output value of the PID by taking the actual rotating speed and the speed deviation as input parameters of the PID control, adjusting the PWM pulse duty ratio loaded on a motor driving signal according to the output value of the PID, and further adjusting the rotating speed of the motor to achieve speed stabilization control. Step S5 forms a closed loop control.
When the anastomat is powered on, the step S1 is started to complete system initialization, specifically, the battery power is detected, and whether the controller and the sensor work normally is detected.
After step S1 is completed, the control system starts step S2. The aim is to realize automatic identification of the nail bin. Because the staple cartridge of the current electric stapler comprises a plurality of forms, the most important difference is that the staple cartridge has different lengths, so that different firing distances exist according to different lengths. The control system needs to calculate the specific percussion distance and then control the number of rotation turns of the motor.
Specifically, different sizes of magnets are contained in different nail bins, the magnets with different sizes generate magnetic fields with different sizes, and according to the principle of the linear Hall switch, when the magnetic fields are different, the voltages generated by the linear Hall switch are also different.
Based on the above technical solution, step S2 of the present invention specifically includes:
s21, collecting continuous n-time linesReal-time voltage V generated by Hall switch n 、V n-1 、V n-2 、V n-3 、V n-4 ……V 1 (ii) a Wherein n generally takes the value of 10 times;
s22, calculating the average value V of the real-time voltage average = Average(
)；
S23, average value V of passing voltage average Looking up a table to determine the type of the nail bin;
and S24, setting a firing distance according to the staple cartridge model data.
After step S2 is finished, the control system starts step S3, which aims to realize automatic identification of the swing angle of the staple cartridge and then determine the target speed of the motor by combining the swing angle of the staple cartridge and the firing distance set in step S2. This is because the main motor (generally adopting a brushless motor with a hall sensor) of the electric stapler pushes the staple cartridge and the staple anvil to close through the main shaft, and then the firing is started. After the nail bin generates the swing angle, different friction forces can be generated between the nail bin and the adapting end of the anastomat, and therefore when the nail bin swings at a large angle, the target speed of the motor is relatively slow. In addition, the length of the nail bins is different, so that the firing distances are different, in order to enable operators to have the same firing hand feeling, the target speeds of the motors corresponding to the nail bins with different lengths are different, and the target speed of the motor corresponding to the short nail bin length is relatively slow.
Specifically, the swing angles of the nail bin are different, so that the distance between the magnet inside the nail bin and the linear Hall switch for detecting the deflection angle of the nail bin is different, the relation between the voltage and the magnet and the linear Hall switch is basically linear, and therefore the relation between the angle and the voltage can also be considered to be linear.
Based on the above technical solution, step S3 of the present invention specifically includes:
s31, collecting voltage generated by a linear Hall switch related to the swing of the nail bin;
s32, calculating the swing angle of the nail bin through a linear function relation theta = aV + b based on the linear relation between the voltage and the swing angle of the nail bin, wherein theta refers to the swing angle, and V refers to sampling voltage;
and S33, determining the target speed of the motor by combining the firing distance and the nail bin swing angle according to the nail bin swing angle.
When the stapler starts the automatic stapling, step S4 is started.
Specifically, in step S4, the controller first collects the real-time current I n times in succession n 、I n-1 、I n-2 、I n-3 、I n-4 ……、I 1 Calculating the average value I of the current average = Average(
) Through I average And judging the state of the anastomat, preferably, wherein n takes 10 values, and the interval time of real-time current sampling is 1ms. The sensitivity is reduced when the value of N is too large, and the influence of signal noise can be caused when the value of N is too small; too fast a real-time current sampling frequency can affect overall system performance. The specific numerical value can be finely adjusted according to practical application.
Generally, the external states of the stapler include: mechanical failure state (transmission failure), staple cartridge and staple state (stress increase), load fluctuation state (due to uneven tissue thickness), and battery characteristic change (long-time battery consumption, battery voltage drop, and motor heating).
In the present invention, if I average Greater than a threshold limit value I s1 If the stapler is judged to be in the mechanical fault state P1, the motor is immediately stopped to rotate, and a fault alarm is given; if I average Greater than steady speed threshold I s2 And is less than a threshold limit value I s1 If the stapler state is judged to be the nail bin and staple state P2, the motor controller drives the motor to rotate according to the maximum pulse duty ratio; if I average Less than steady speed threshold I s2 If a small fluctuation occurs, the stapler state is determined to be the load fluctuation state P3, and step S5 is started.
When the load fluctuates, the actual rotating speed and the target speed of the motor have certain deviation. Therefore, in the steady speed control system, it is necessary to first acquire the actual rotation speed of the motor.
In step S5, the actual rotation speed of the motor is obtained by acquiring a hall signal of the motor through the controller and calculating.
Three routes motor hall signal is connected to three routes GPIO (General-purpose input/output) interface of controller, goes to sample the level height state of GPIO interface in the timer interrupt, and the low level is changed into the high level and is counted the trigger, and the high level is changed into the low level and is put 0 to the count, thereby obtains the duration of hall signal high level, t = C/Ft (t is the time of 180 electric angle, ft is that hall pulse sampling frequency is timer frequency, C is the count number of times of sampling).
When the brushless motor has only one pair of poles, the high and low level duration of three Hall signals of one rotation circle of the motor is the same, and the electrical angle is 180 degrees. The high level duration of one of the hall signals is T = C/Ft, so that the time required for one rotation of the motor is T =2 × C/Ft. The rotational speed (unit s/circle) is thus 1/T = Ft/(2 × c), and the conversion to RPM is Ft × 60/(2 × c). If the motor has n pairs of poles, the rotational speed formula is Ft 60/(n 2 c).
The actual rotating speed obtained through calculation is actually noisy, the jitter error is eliminated through further moving average filtering, an index moving average formula Pt = w x Xt + (1-w) x Pt-1 is adopted, pt represents a predicted value, w represents attenuation weight, and Xt is an observed value, and the index moving average method is strong in real-time performance and can be closer to the observed value at the current moment.
In step S5, the calculated actual rotation speed and the speed deviation from the target speed of the motor are used as input parameters for PID control, and then PID algorithm calculation is performed.
The PID algorithm is a closed-loop control algorithm which combines three links of proportion, integral and differential into a whole, the control flow is that the deviation calculation is carried out on the actual value and the target value, the calculation result is input into the PID control algorithm, the calculation is carried out through the three links of proportion, integral and differential, the output result after the calculation is acted on the control system, and therefore the actual value of the control system tends to the target value.
The discrete formula of the PID algorithm is as follows:
wherein U is k Is the PID calculation output at time k, e k Is the speed deviation at time k, e k-1 Is the speed deviation at the time k-1,
is to accumulate the velocity deviation at time k, k p Is the proportional link coefficient, k i Is the integral element coefficient, k d Is a differential element coefficient.
Output value U calculated by PID algorithm k And carrying out exponential sliding average filtering, then obtaining the duty ratio of PWM (pulse-width modulation) pulse, and realizing the regulation of the rotating speed of the motor by regulating the duty ratio of the PWM pulse to form speed stabilization control.
In the whole sewing and cutting process, when the load is increased, the actual rotating speed of the motor is reduced, the input parameter variable of the PID is reduced, and the deviation e k Increasing, after calculation by PID, the output value U k Will increase, the PWM pulse duty cycle will increase, pulling up the motor speed. Similarly, when the load is reduced, the actual rotating speed of the motor is increased, the input parameter variable of the PID is increased, and the deviation e k Decrease, after calculation by PID, the output value U k The PWM pulse duty ratio is reduced, and the rotating speed of the motor is pulled down. Based on the real-time processing of the system, the sampling adjusting frequency of the whole system is 20kHz, so that the micro speed deviation can be adjusted quickly and stably, and the speed is kept stable.
Meanwhile, in the whole sewing and cutting process, when the voltage of the battery is reduced and the motor generates heat to cause abnormal speed of the motor, the speed is also controlled in a stable manner to form closed-loop control.
By adopting the control method of the invention, after a plurality of experiments, the following results are found: the motor rotation speed can be stabilized around the motor target speed by torque increase (from 0.1n.m to 2n.m) or battery voltage decrease (from 12v to 10 v). The whole system is stable and controllable and has robustness.
Those skilled in the art are familiar with: the filtering manner further includes clipping filtering, median value filtering, arithmetic mean filtering, moving average filtering, and the like.
The invention also discloses an electric anastomat control system, which comprises:
the initialization unit is used for initializing the system;
the triggering distance setting unit is used for judging the type data of the nail bin and setting a triggering distance according to the type data of the nail bin;
the motor target speed determining unit is used for acquiring the swing angle data of the nail bin and determining the motor target speed by combining the percussion distance;
the anastomat state judging unit is used for sampling the current in real time and judging the state of the anastomat;
and the speed stabilizing control unit is used for acquiring the actual rotating speed of the current motor, calculating the speed deviation between the actual rotating speed of the motor and the target speed of the motor, calculating to obtain the output value of the PID by taking the actual rotating speed and the speed deviation as input parameters of the PID control, adjusting the PWM pulse duty ratio loaded on the motor driving signal according to the output value of the PID, and further adjusting the rotating speed of the motor to achieve speed stabilizing control.
The control method is simple, the rotating speed of the motor is stabilized to realize better nail bin forming of the electric anastomat, and errors are not easy to occur; and has the function and the step of judging the state of the anastomat, thereby further ensuring the safety of the anastomat.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (7)
1. A control method of an electric anastomat is characterized in that: comprises the following steps of (a) carrying out,
s1, initializing a system;
s2, judging the type data of the nail bin, and setting a firing distance according to the type data of the nail bin;
s3, collecting swing angle data of the nail bin, and determining the target speed of the motor by combining the percussion distance;
s4, sampling the current in real time, and judging the state of the anastomat; the step S4 specifically comprises the step of collecting real-time current I for n times continuously through the controller n 、I n-1 、I n-2 、I n-3 、I n-4 ……、I 1 Calculating the average value I of the current average = Average(
) Through I average Judging the status of the anastomat, if I average Greater than a threshold limit value I s1 If the stapler is judged to be in the mechanical fault state P1, the motor is immediately stopped to rotate, and a fault alarm is given; if I average Greater than steady speed threshold I s2 And is less than a threshold limit value I s1 If the stapler state is judged to be the staple cartridge staple state P2, the motor controller drives the motor to rotate according to the maximum pulse duty ratio; if I average Less than steady speed threshold I S2 And if the upper and lower small fluctuation is generated, the state of the anastomat is judged to be a load fluctuation state P3, and the step S5 is started;
s5, acquiring the actual rotating speed of the current motor, calculating the speed deviation between the actual rotating speed of the motor and the target speed of the motor, calculating to obtain an output value of a PID (proportion integration differentiation) by taking the actual rotating speed and the speed deviation as input parameters of PID control, and adjusting the PWM pulse duty ratio loaded on a motor driving signal according to the output value of the PID so as to adjust the rotating speed of the motor to achieve speed stabilization control;
the step S2 specifically includes:
s21, collecting real-time voltage generated by the linear Hall switch for n times continuously;
s22, calculating the average value of the real-time voltage;
s23, looking up a table to determine the type of the nail bin;
s24, setting a firing distance according to the model data of the nail bin;
the step S3 specifically includes:
s31, collecting voltage generated by a linear Hall switch related to the swing of the nail bin;
s32, calculating the swing angle of the nail bin through a linear function relation based on the linear relation between the voltage and the swing angle of the nail bin;
and S33, determining a target speed of the motor by combining the firing distance and the nail bin swinging angle.
2. The electric stapler control method according to claim 1, wherein: the step S1 specifically comprises the steps of detecting the electric quantity of the battery, and detecting whether the controller and the sensor work normally.
3. The electric stapler control method according to claim 1, wherein: the states of the anastomat comprise a mechanical failure state, a staple cartridge and staple clamping state and a load fluctuation state.
4. A method for controlling an electric stapler according to claim 3, characterized in that: the step S5 specifically includes the steps of,
s51, motor Hall signals are collected through a controller, the actual rotating speed of a current motor is obtained through calculation, the three motor Hall signals are connected to three GPIO interfaces of the controller, the level high-low state of the GPIO interfaces is sampled in timer interruption, the low level is converted into the high level to be counted and triggered, the high level is converted into the low level to be counted and set to 0, and therefore the duration time of the high level of the motor Hall signals is obtained, t = C/Ft, wherein t is the time of 180-degree electrical angle, ft is the Hall pulse sampling frequency which is the timer frequency, and C is the sampling counting number; when the motor is n pairs of poles, the calculation formula of the actual rotating speed is Ft 60/(n 2C);
s52, calculating the output value U of the PID according to the following discrete formula k ；
5. The electric stapler control method according to claim 4, wherein: said step S5 further comprises the step of,
s53, for the output value U k And performing moving average filtering.
6. The electric stapler control method according to claim 4, wherein: the step S51 further includes a process of filtering the actual rotation speed of the motor.
7. An electric stapler control system, characterized in that: comprises that
The initialization unit is used for initializing the system;
the percussion distance setting unit is used for judging the type data of the nail bin and setting the percussion distance according to the type data of the nail bin;
the motor target speed determining unit is used for acquiring the swing angle data of the nail bin and determining the motor target speed by combining the firing distance;
the anastomat state judging unit is used for sampling the current in real time and judging the state of the anastomat; the anastomat state judgment unit acquires the real-time current I for n times continuously through the controller n 、I n-1 、I n-2 、I n-3 、I n-4 ……、I 1 Calculating the average value I of the current average = Average(
) Through I average Judging the status of the stapler, if I average Greater than a threshold limit value I s1 If the stapler is judged to be in the mechanical fault state P1, the motor is immediately stopped to rotate, and a fault alarm is given; if I average Greater than steady speed threshold I s2 And is less than a threshold limit value I s1 If the stapler state is judged to be the staple cartridge staple state P2, the motor controller drives the motor to rotate according to the maximum pulse duty ratio; if I average Less than steady speed threshold I S2 If the stapler is judged to be in a load fluctuation state P3 when small fluctuation occurs up and down, the speed stabilizing control unit starts to work;
the speed stabilizing control unit is used for acquiring the actual rotating speed of the current motor, calculating the speed deviation between the actual rotating speed of the motor and the target speed of the motor, calculating to obtain the output value of the PID by taking the actual rotating speed and the speed deviation as input parameters of the PID control, adjusting the PWM pulse duty ratio loaded on the motor driving signal according to the output value of the PID, and further adjusting the rotating speed of the motor to achieve speed stabilizing control;
the percussion distance setting unit is used for judging the type data of the nail bin and setting the percussion distance according to the type data of the nail bin, and specifically comprises:
s21, collecting real-time voltage generated by the linear Hall switch for n times continuously;
s22, calculating the average value of the real-time voltage;
s23, looking up a table to determine the type of the nail bin;
s24, setting a firing distance according to the model data of the nail bin;
the motor target speed determining unit is used for acquiring the swing angle data of the nail bin and determining the motor target speed by combining the firing distance, and specifically comprises:
s31, collecting voltage generated by a linear Hall switch related to the swing of the nail bin;
s32, calculating the swing angle of the nail bin through a linear function relation based on the linear relation between the voltage and the swing angle of the nail bin;
and S33, determining the target speed of the motor by combining the firing distance and the nail bin swing angle.
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| CN110167459A (en) * | 2016-12-21 | 2019-08-23 | 爱惜康有限责任公司 | Surgical instruments with primary processor and safe processor |
| CN110785134A (en) * | 2017-06-20 | 2020-02-11 | 爱惜康有限责任公司 | Closed loop control technique for motor speed of surgical stapling and cutting instrument |
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