CN116172637A - Linear type cutting anastomat and anastomosis system for endoscope - Google Patents
Linear type cutting anastomat and anastomosis system for endoscope Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
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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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Abstract
The invention provides a linear cutting anastomat for a cavity mirror and an anastomosis system, and relates to the technical field of anastomat, wherein the anastomosis system comprises an anastomat, an anastomat head, a connecting rod and a control handle, the anastomat head is arranged at one end of the connecting rod, the control handle is arranged at one end of the connecting rod far away from the anastomat head, the anastomat head comprises an anastomat nail seat, the anastomosis system further comprises an analysis control module and an anastomosis detection module, the analysis control module is arranged in the control handle, and the anastomosis detection module comprises a plurality of micro force transducers; according to the invention, through multi-point analysis of the anastomotic clamping force of the anastomotic head, the clamping deviation can be timely adjusted when the clamping deviation occurs in the anastomotic process, so that the problem that the anastomotic effect is not good enough due to insufficient monitoring of the anastomotic force of the existing anastomotic head in the anastomotic process is solved.
Description
Technical Field
The invention relates to the technical field of anastomat, in particular to a linear cutting anastomat for a cavity mirror and an anastomosis system.
Background
Anastomat is the first stapler in the world and has been used for gastrointestinal anastomosis for nearly a century. Generally, they are classified as disposable or multiple use staplers. The stapler is used in medicine to replace traditional manual suturing equipment, has the advantages of reliable quality, convenient use, quick suturing, simple and convenient operation, few side effects and operation complications and the like due to the development of modern technology and the improvement of manufacturing technology, and mainly adopts the working principle that titanium nails are utilized to separate or anastomose tissues, which is similar to a stapler.
In the process of clamping by using the anastomat, the operation is usually performed in the tissue, when the clamping operation is performed in the tissue, only the clamping area of the clamped tissue and the clamping position condition can be judged by naked eyes, and the clamping force and the traction force between the clamped tissue and the anastomosis are inconvenient to find through observation, so that the problems that the clamping force on two sides of the clamped tissue is not uniform and larger traction force exists between the clamped tissue and the anastomat in the clamping process, and the stress is uneven when the tissue is stitched are caused, so that the stitching quality is affected to a certain extent.
Disclosure of Invention
Aiming at the defects in the prior art, the invention can timely adjust the clamping deviation in the anastomosis process by carrying out multi-point analysis on the anastomosis clamping force of the anastomosis head so as to solve the problem that the anastomosis effect is not good enough due to the insufficient monitoring of the anastomosis force of the existing anastomosis head in the anastomosis process.
In order to achieve the above-mentioned purpose, the invention provides a linear cutting anastomotic system for a endoscope, the anastomotic system comprises an anastomat, the anastomat comprises an anastomat head, a connecting rod and a control handle, the anastomat head is arranged at one end of the connecting rod, the control handle is arranged at one end of the connecting rod far away from the anastomat head, the anastomat head comprises an anastomat nail seat, the anastomat system also comprises an analysis control module and an anastomotic detection module, the analysis control module is arranged in the control handle, and the anastomotic detection module comprises a plurality of micro force transducers;
the anastomotic nail seat comprises a first anastomotic seat and a second anastomotic seat, one ends of the first anastomotic seat and the second anastomotic seat, which are close to a connecting rod, are rotationally connected through an anastomotic adjusting mechanism, the anastomotic adjusting mechanism is used for adjusting an included angle between the first anastomotic seat and the second anastomotic seat, an angular adjusting mechanism is arranged at the joint of the anastomotic adjusting mechanism and the connecting rod and comprises a rotary adjusting assembly and an angular adjusting assembly, the anastomotic adjusting mechanism is fixedly connected with the angular adjusting assembly, the angular adjusting assembly is fixedly connected with the rotary adjusting assembly, the rotary center of the rotary adjusting assembly is arranged on the central axis of the connecting rod, the rotary adjusting assembly is used for driving the angular adjusting assembly to rotate along the central axis of the connecting rod, and the angular adjusting assembly is used for driving the anastomotic adjusting mechanism to rotate so as to adjust the included angle between the anastomotic adjusting mechanism and the connecting rod;
the plurality of miniature force transducers are provided with two groups, and the two groups of miniature force transducers are respectively arranged in the first anastomotic base and the second anastomotic base; when the first anastomosis seat and the second anastomosis seat are anastomosed, the positions of the two groups of miniature force transducers are mutually corresponding;
the analysis control module comprises an anastomotic stress analysis unit and a control output unit, wherein the anastomotic stress analysis unit is used for analyzing data acquired by two groups of miniature force transducers to obtain an anastomotic stress result; the control output unit is used for analyzing based on the anastomosis stress result to obtain the adjustment parameters of the anastomosis adjusting mechanism and the angle adjusting assembly, and controlling the anastomosis adjusting mechanism and the angle adjusting assembly to adjust based on the adjustment parameters.
Further, the anastomosis detection module is configured with an anastomosis detection configuration policy, the anastomosis detection configuration policy comprising: extracting the anastomotic surfaces of the first anastomotic base and the second anastomotic base;
setting an anastomotic region demarcation sub-strategy for the anastomotic surface, and obtaining a rectangular configuration region through the anastomotic region demarcation sub-strategy;
setting the anastomotic surface of the first anastomotic base as a first anastomotic surface and the anastomotic surface of the second anastomotic base as a second anastomotic surface; respectively acquiring rectangular configuration areas of the first anastomosis surface and the second anastomosis surface through an anastomosis area demarcation sub-strategy, and respectively setting the rectangular configuration areas as the first rectangular configuration area and the second rectangular configuration area;
and setting a miniature force transducer at four corners of the first rectangular configuration area and the second rectangular configuration area respectively.
Further, the anastomosis region demarcation sub-strategy includes: extracting the outline of the anastomotic surface, dividing the outline of the anastomotic surface by a plurality of square grids to obtain an anastomotic dividing reference grid;
selecting a plurality of rectangular frames on the matched division reference grids, calculating the grid number in the rectangular frames, and selecting the rectangular frame with the largest grid number as a rectangular configuration area.
Further, the coincidence detecting module is further configured with a detection partitioning policy, where the detection partitioning policy includes: respectively setting the micro force transducers at two opposite positions in the first rectangular configuration area and the second rectangular configuration area as a group of azimuth sensors;
setting four sets of azimuth sensors as a first set of azimuth sensors, a second set of azimuth sensors, a third set of azimuth sensors and a fourth set of azimuth sensors respectively; the first group of azimuth sensors and the third group of azimuth sensors are positioned on the diagonal line of the first rectangular configuration area or the second rectangular configuration area, and the second group of azimuth sensors and the fourth group of azimuth sensors are positioned on the other diagonal line of the first rectangular configuration area or the second rectangular configuration area;
the method comprises the steps of setting force measurement values acquired by miniature force sensors positioned in a first rectangular configuration area of a first group of azimuth sensors, a second group of azimuth sensors, a third group of azimuth sensors and a fourth group of azimuth sensors to be L1c1, L1c2, L1c3 and L1c4 respectively; the force measurement values obtained by the miniature force sensors positioned in the second rectangular configuration area of the first group of direction sensors, the second group of direction sensors, the third group of direction sensors and the fourth group of direction sensors are respectively set as L2c1, L2c2, L2c3 and L2c4.
Further, the anastomotic stress analysis unit is configured with an anastomotic stress analysis strategy, which includes: acquiring real-time L1c1, L1c2, L1c3, L1c4, L2c1, L2c2, L2c3 and L2c4, and calculating the real-time L1c1, L1c2, L1c3, L1c4, L2c1, L2c2, L2c3 and L2c4 to obtain a total stress fluctuation value through a stress fluctuation calculation formula;
when the total stress fluctuation value is greater than or equal to a first fluctuation threshold value, setting a first stress comparison sub-strategy, a second stress comparison sub-strategy and a third stress comparison sub-strategy; outputting a normal stress signal when the total stress fluctuation value is smaller than a first fluctuation threshold value;
the first stress comparison sub-strategy is used for calculating the total difference value of the opposite faces of the first anastomotic face and the second anastomotic face; when the total difference value of the opposite faces is larger than or equal to the first opposite face threshold value, executing a second stress comparison sub-strategy; executing a third stress comparison sub-strategy when the total difference of the opposite faces is smaller than the first opposite face threshold value;
the second stress comparison sub-strategy is used for carrying out independent difference calculation on the force measurement values obtained by the four groups of azimuth sensors to obtain the stress difference value in the group; outputting an azimuth inclination signal when the stress difference value in the group is larger than or equal to a first group internal difference threshold value;
the third stress comparison sub-strategy is used for carrying out comparison difference calculation on the force measurement values obtained by the four groups of azimuth sensors to obtain an out-group stress difference; and outputting a clamping inclination signal when the out-of-group stress difference value is greater than or equal to the first group heterodyne threshold value.
Further, the first stress alignment sub-strategy comprises: adding L1c1, L1c2, L1c3 and L1c4 to obtain a first anastomosis stress total value, adding L2c1, L2c2, L2c3 and L2c4 to obtain a second anastomosis stress total value, obtaining the absolute value of the difference value of the first anastomosis stress total value and the second anastomosis stress total value, and setting the absolute value as the opposite surface total difference value.
Further, the second stress alignment sub-strategy includes: the absolute values of the differences among L1c1 and L2c1, L1c2 and L2c2, L1c3 and L2c3 and L1c4 and L2c4 are sequentially obtained, and are respectively set as a first point position difference value, a second point position difference value, a third point position difference value and a fourth point position difference value;
and setting the maximum value of the first point position difference value, the second point position difference value, the third point position difference value and the fourth point position difference value as the stress difference value in the group.
Further, the third stress alignment sub-strategy includes: adding L1c1 and L2c1, adding L1c2 and L2c2, adding L1c3 and L2c3 and adding L1c4 and L2c4 in sequence to obtain a first point stress total value, a second point stress total value, a third point stress total value and a fourth point stress total value;
and calculating the difference value between the maximum value and the minimum value in the first point stress total value, the second point stress total value, the third point stress total value and the fourth point stress total value, and setting the difference value as an out-of-group stress difference value.
Further, the control output unit is configured with an angle control output strategy, the angle control output strategy comprising: when an azimuth inclination signal is received, acquiring a point position difference value corresponding to the stress difference value in the group, and setting two groups of miniature force sensors corresponding to the point position difference value as point position adjustment reference sensors;
setting the position of the point position adjustment reference sensor with the larger force measurement value as a first adjustment point position, and setting the position of the point position adjustment reference sensor with the smaller force measurement value as a second adjustment point position;
setting the direction of the second adjusting point position towards the first adjusting point position as an angle adjusting direction, multiplying the stress difference value in the group by an angle conversion coefficient to obtain an adjusting angle, and controlling the angle adjusting component to adjust along the angle adjusting direction according to the adjusting angle.
Further, the control output unit is further configured with an anastomosis control output policy, the anastomosis control output policy including: when a clamping inclination signal is received, multiplying the out-of-group stress difference value by a clamping adjustment coefficient to obtain a clamping expansion angle;
and increasing the included angle between the first anastomosis seat and the second anastomosis seat according to the clamping expansion angle through the anastomosis adjusting mechanism.
The invention has the beneficial effects that:
1. according to the invention, the angle adjusting assembly, the rotary adjusting assembly and the anastomosis adjusting mechanism are arranged, so that the direction and the anastomosis angle of the anastomosis head in the anastomosis process can be adjusted, and the comprehensiveness of adjustment is improved.
2. According to the invention, the first anastomosis seat and the second anastomosis seat are respectively provided with the group of micro force transducers, when the first anastomosis seat and the second anastomosis seat are anastomosed, the positions of the two groups of micro force transducers are mutually corresponding, and the design can be used for realizing multi-point anastomosis force of the first anastomosis seat and the second anastomosis seat during anastomosis, so that accurate anastomosis adjustment is facilitated.
3. According to the invention, the data obtained by the two groups of miniature force transducers are analyzed to obtain an anastomotic force bearing result; and then analyzing based on the anastomosis stress result to obtain the adjustment parameters of the anastomosis adjusting mechanism and the angle adjusting assembly, and controlling the anastomosis adjusting mechanism and the angle adjusting assembly to adjust based on the adjustment parameters.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
fig. 1 is a block diagram of the anastomosis system of the present invention;
FIG. 2 is a side elevational view of the stapler of the present invention;
FIG. 3 is a schematic diagram of a set of miniature load cells in a rectangular configuration area according to the present invention.
In the figure: 1. an anastomotic head; 11. a staple holder; 12. an anastomosis adjustment mechanism; 13. an angle adjusting mechanism; 2. a connecting rod; 3. a control handle; 4. a anastomosis detection module; 41. a miniature load cell; 5. an analysis control module; 51. an anastomotic stress analysis unit; 52. and controlling the output unit.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1
The invention provides a linear cutting anastomat for a endoscope, which comprises an anastomat head 1, a connecting rod 2 and a control handle 3, wherein the anastomat head 1 is arranged at one end of the connecting rod 2, the control handle 3 is arranged at one end of the connecting rod 2 far away from the anastomat head 1, and the anastomat head 1 comprises an anastomat nail seat 11;
the anastomotic nail seat 11 comprises a first anastomotic seat and a second anastomotic seat, one ends of the first anastomotic seat and the second anastomotic seat, which are close to the connecting rod 2, are rotationally connected through an anastomotic adjusting mechanism 12, the anastomotic adjusting mechanism 12 is used for adjusting an included angle between the first anastomotic seat and the second anastomotic seat, an angular adjusting mechanism 13 is arranged at the joint of the anastomotic adjusting mechanism 12 and the connecting rod 2, the angular adjusting mechanism 13 comprises a rotary adjusting component and an angular adjusting component, the anastomotic adjusting mechanism 12 is fixedly connected with the angular adjusting component, the angular adjusting component is fixedly connected with the rotary adjusting component, the rotary center of the rotary adjusting component is arranged on the central axis of the connecting rod 2, the rotary adjusting component is used for driving the angular adjusting component to rotate along the central axis of the connecting rod 2, and the angular adjusting component is used for driving the anastomotic adjusting mechanism 12 to rotate so as to adjust the included angle between the anastomotic adjusting mechanism 12 and the connecting rod 2; the technical principle adopted by the anastomosis adjusting mechanism 12 and the angle adjusting mechanism 13 refers to the setting mode of the traditional linear anastomat, and when the anastomosis adjusting mechanism 12 refers to the closing principle of scissors, the angle adjusting assembly can be set in a connecting rod pulling mode, the angle adjusting assembly comprises a rotating shaft, the center of the rotating shaft is provided with a central shaft, the anastomotic nail seat 11 is connected with the rotating shaft, and the rotating shaft can be driven to adjust the angle through rotating the central shaft, so that the angle of the anastomotic nail seat 11 is adjusted; the setting mode of the rotation adjusting component is directly a motor rotation driving mode.
Example 2
The invention also provides a linear cutting anastomosis system for the endoscope, which can timely adjust the anastomosis clamping force of the anastomosis head 1 when clamping deviation occurs in the anastomosis process by carrying out multi-point analysis on the anastomosis clamping force so as to solve the problem that the anastomosis effect is not good enough due to insufficient monitoring of the anastomosis force of the existing anastomosis head 1 in the anastomosis process.
The linear cutting anastomosis system for the endoscope comprises an anastomat in the first embodiment, and also comprises an analysis control module 5 and an anastomosis detection module 4, wherein the analysis control module 5 is arranged in the control handle 3, and the anastomosis detection module 4 comprises a plurality of micro force transducers 41; the micro force sensor 41 adopts a micro weighing sensor in the prior art, a force measurement value is obtained by sensing pressure on the surface, and the area of the cross section of the micro force sensor 41 is selected to be smaller than 0.5cm 2 ；
The plurality of micro force transducers 41 are provided with two groups, and the two groups of micro force transducers 41 are respectively arranged in the first anastomotic base and the second anastomotic base; when the first anastomosis seat and the second anastomosis seat are anastomosed, the positions of the two groups of micro force transducers 41 correspond to each other. The coincidence detecting module 4 is configured with a coincidence detecting configuration policy including: extracting the anastomotic surfaces of the first anastomotic base and the second anastomotic base;
setting an anastomotic region demarcation sub-strategy for the anastomotic surface, and obtaining a rectangular configuration region through the anastomotic region demarcation sub-strategy;
setting the anastomotic surface of the first anastomotic base as a first anastomotic surface and the anastomotic surface of the second anastomotic base as a second anastomotic surface; respectively acquiring rectangular configuration areas of the first anastomosis surface and the second anastomosis surface through an anastomosis area demarcation sub-strategy, and respectively setting the rectangular configuration areas as the first rectangular configuration area and the second rectangular configuration area; in the specific implementation, due to the requirement of anastomosis, the setting sizes of the anastomotic surfaces of the first anastomotic base and the second anastomotic base are consistent, the first rectangular configuration area and the second rectangular configuration area of the first anastomotic surface which are actually extracted have the same structure, and particularly the lengths and the widths of the first rectangular configuration area and the second rectangular configuration area are the same;
the four corners of the first rectangular configuration area and the second rectangular configuration area are respectively provided with one micro force sensor 41, and on the premise that the lengths and the widths of the first rectangular configuration area and the second rectangular configuration area are the same, the positions of the four groups of micro force sensors 41 in the first anastomosis seat and the four groups of micro force sensors 41 in the second anastomosis seat can be mutually corresponding when anastomosis is carried out, so that the force measurement values measured by the first anastomosis seat and the second anastomosis seat can be ensured to have mutual contrast, and the clamping force of the relative positions of two sides of clamped tissues can be accurately reflected.
The anastomosis region demarcation sub-strategy includes: extracting the outline of the anastomotic surface, dividing the outline of the anastomotic surface by a plurality of square grids to obtain an anastomotic dividing reference grid;
selecting a plurality of rectangular frames on the anastomotic division reference grids, calculating the grid quantity in the rectangular frames, and selecting the rectangular frame with the largest grid quantity as a rectangular configuration area, wherein the selection principle of the rectangular configuration area is that the area of the rectangular area needs to be large enough, and the rectangular configuration area belongs to the largest rectangular area which can be divided in the anastomotic plane.
The coincidence detecting module 4 is further configured with a detection division policy including: the micro force transducers 41 at two opposite positions in the first rectangular configuration area and the second rectangular configuration area are respectively set as a group of azimuth sensors;
setting four sets of azimuth sensors as a first set of azimuth sensors, a second set of azimuth sensors, a third set of azimuth sensors and a fourth set of azimuth sensors respectively; the first group of azimuth sensors and the third group of azimuth sensors are positioned on the diagonal line of the first rectangular configuration area or the second rectangular configuration area, and the second group of azimuth sensors and the fourth group of azimuth sensors are positioned on the other diagonal line of the first rectangular configuration area or the second rectangular configuration area; in the implementation, the arrangement positions of the first group of azimuth sensors, the second group of azimuth sensors, the third group of azimuth sensors and the fourth group of azimuth sensors are arranged clockwise or anticlockwise along the outline of the rectangular configuration area, and the first group of azimuth sensors, the second group of azimuth sensors, the third group of azimuth sensors and the fourth group of azimuth sensors are arranged at four corners of the first anastomosis seat and the second anastomosis seat, so that the collected force measurement values can be ensured to cover the whole surface of the anastomosis area.
The force measurement values obtained by the micro force sensors 41 located in the first rectangular arrangement area of the first group of azimuth sensors, the second group of azimuth sensors, the third group of azimuth sensors and the fourth group of azimuth sensors are respectively set as L1c1, L1c2, L1c3 and L1c4; the force measurement values obtained by the micro force sensors 41 located in the second rectangular arrangement area of the first, second, third, and fourth sets of direction sensors are set to L2c1, L2c2, L2c3, and L2c4, respectively.
The analysis control module 5 comprises an anastomotic stress analysis unit 51 and a control output unit 52, wherein the anastomotic stress analysis unit 51 is used for analyzing the data acquired by the two groups of miniature force transducers 41 to obtain an anastomotic stress result; the anastomosis stress analysis unit 51 is configured with an anastomosis stress analysis strategy including: acquiring real-time L1c1, L1c2, L1c3, L1c4, L2c1, L2c2, L2c3 and L2c4, and calculating the real-time L1c1, L1c2, L1c3, L1c4, L2c1, L2c2, L2c3 and L2c4 to obtain a total stress fluctuation value through a stress fluctuation calculation formula; the force fluctuation calculation formulas are variance calculation formulas of L1c1, L1c2, L1c3, L1c4, L2c1, L2c2, L2c3 and L2c4, and the unit of force measurement value is g;
when the total stress fluctuation value is greater than or equal to a first fluctuation threshold value, setting a first stress comparison sub-strategy, a second stress comparison sub-strategy and a third stress comparison sub-strategy; outputting a normal stress signal when the total stress fluctuation value is smaller than a first fluctuation threshold value; in specific implementation, the measured values of L1c1, L1c2, L1c3, L1c4, L2c1, L2c2, L2c3 and L2c4 are respectively 15, 10, 11, 16, 9, 10 and 10, the total fluctuation value of the stress calculated by the stress fluctuation calculation formula is 4.6, the first fluctuation threshold value is set to 3, and then the total fluctuation value of the stress is larger than the first fluctuation threshold value;
the first stress comparison sub-strategy is used for calculating the total difference value of the opposite faces of the first anastomotic face and the second anastomotic face; when the total difference value of the opposite faces is larger than or equal to the first opposite face threshold value, executing a second stress comparison sub-strategy; executing a third stress comparison sub-strategy when the total difference of the opposite faces is smaller than the first opposite face threshold value; the first stress alignment sub-strategy includes: adding L1c1, L1c2, L1c3 and L1c4 to obtain a first anastomosis stress total value, adding L2c1, L2c2, L2c3 and L2c4 to obtain a second anastomosis stress total value, obtaining the absolute value of the difference value of the first anastomosis stress total value and the second anastomosis stress total value, and setting the absolute value as the opposite surface total value, wherein in specific implementation, the measured L1c1, L1c2, L1c3, L1c4, L2c1, L2c2, L2c3 and L2c4 are respectively 15, 10, 11, 16, 9, 10 and 10, the first anastomosis stress total value is 47, the second anastomosis stress total value is 45, the opposite surface total difference value is 2, and the first opposite surface threshold value is 8, and the opposite surface total difference value is smaller than the first opposite surface threshold value;
the second stress comparison sub-strategy is used for carrying out independent difference calculation on the force measurement values obtained by the four groups of azimuth sensors to obtain the stress difference value in the group; outputting an azimuth inclination signal when the stress difference value in the group is larger than or equal to a first group internal difference threshold value; the second stress alignment sub-strategy includes: the absolute values of the differences among L1c1 and L2c1, L1c2 and L2c2, L1c3 and L2c3 and L1c4 and L2c4 are sequentially obtained, and are respectively set as a first point position difference value, a second point position difference value, a third point position difference value and a fourth point position difference value; setting the maximum value of the first point difference value, the second point difference value, the third point difference value and the fourth point difference value as an in-group stress difference value, referring to the specific measured values of the L1c1, the L1c2, the L1c3, the L1c4, the L2c1, the L2c2, the L2c3 and the L2c4, obtaining the first point difference value, the second point difference value, the third point difference value and the fourth point difference value which are respectively 1, 1 and 1, wherein the in-group stress difference value is 1, and the first in-group difference threshold value is set to be 5, and the in-group stress difference value is smaller than the first in-group difference threshold value;
the third stress comparison sub-strategy is used for carrying out comparison difference calculation on the force measurement values obtained by the four groups of azimuth sensors to obtain an out-group stress difference; when the difference value of the external stress of the group is larger than or equal to the first heterodyne threshold value, a clamping inclination signal is output, and the third stress comparison sub-strategy comprises: adding L1c1 and L2c1, adding L1c2 and L2c2, adding L1c3 and L2c3 and adding L1c4 and L2c4 in sequence to obtain a first point stress total value, a second point stress total value, a third point stress total value and a fourth point stress total value; and (3) calculating the difference value between the maximum value and the minimum value in the first point stress total value, the second point stress total value, the third point stress total value and the fourth point stress total value, setting the difference value as an out-of-group stress difference value, and referring to the specific measured values of the L1c1, the L1c2, the L1c3, the L1c4, the L2c1, the L2c2, the L2c3 and the L2c4, calculating the first point stress total value, the second point stress total value, the third point stress total value and the fourth point stress total value which are 31, 19, 21 and 21 respectively, wherein the out-of-group stress difference value is 31-19=12, and the out-of-group stress difference value is 8, so that the out-of-group stress difference value is larger than the first heterodyne threshold.
The control output unit 52 is configured with an angle control output strategy including: when receiving the azimuth inclination signal, acquiring a point position difference value corresponding to the stress difference value in the group, and setting two groups of miniature force sensors 41 corresponding to the point position difference value as point position adjustment reference sensors;
setting the position of the point position adjustment reference sensor with the larger force measurement value as a first adjustment point position, and setting the position of the point position adjustment reference sensor with the smaller force measurement value as a second adjustment point position;
setting the direction of the second adjusting point position towards the first adjusting point position as an angle adjusting direction, multiplying the stress difference value in the group by an angle conversion coefficient to obtain an adjusting angle, and controlling the angle adjusting component to adjust along the angle adjusting direction according to the adjusting angle, wherein the angle conversion coefficient is set to be 0.5 when the method is implemented;
the control output unit 52 is also configured with an anastomosis control output policy including: when a clamping inclination signal is received, multiplying the out-of-group stress difference value by a clamping adjustment coefficient to obtain a clamping expansion angle; the included angle between the first anastomosis seat and the second anastomosis seat is increased by the anastomosis adjusting mechanism 12 according to the clamping expansion angle, and in specific implementation, the clamping adjustment coefficient is set to 0.5, and if the out-of-group stress difference obtained by the three-stress comparison sub-strategy is 12, the clamping expansion angle is 6 degrees, namely the included angle between the first anastomosis seat and the second anastomosis seat is increased by 6 degrees by the anastomosis adjusting mechanism.
Working principle: in the anastomosis process, the tissues to be clamped are anastomosed through a first anastomosis seat and a second anastomosis seat, the micro force measuring sensors 41 in the first anastomosis seat and the second anastomosis seat can acquire force measuring values in the anastomosis process, and the force measuring values acquired by the two groups of micro force measuring sensors 41 in the first anastomosis seat and the second anastomosis seat are analyzed to acquire an anastomosis stress result; and then analyzing based on the anastomosis stress result to obtain the adjustment parameters of the anastomosis adjusting mechanism 12 and the angle adjusting component, and controlling the anastomosis adjusting mechanism 12 and the angle adjusting component to adjust based on the adjustment parameters, thereby being beneficial to improving the accuracy of anastomosis positions and anastomosis effects.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied therein. The storage medium may be implemented by any type or combination of volatile or nonvolatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM), electrically erasable Programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
The above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a linear type cutting anastomosis system for endoscope, anastomosis system includes the anastomat, the anastomat includes anastomat head (1), connecting rod (2) and control handle (3), anastomat head (1) sets up the one end at connecting rod (2), control handle (3) set up the one end that keeps away from anastomat head (1) at connecting rod (2), anastomat head (1) includes anastomat nail seat (11), characterized in that, anastomat system still includes analysis control module (5) and anastomat detection module (4), analysis control module (5) set up in control handle (3), anastomat detection module (4) include a plurality of miniature force transducer (41);
the anastomotic nail seat (11) comprises a first anastomotic seat and a second anastomotic seat, one ends of the first anastomotic seat and the second anastomotic seat, which are close to the connecting rod (2), are rotationally connected through an anastomotic adjusting mechanism (12), the anastomotic adjusting mechanism (12) is used for adjusting an included angle between the first anastomotic seat and the second anastomotic seat, an angle adjusting mechanism (13) is arranged at the joint of the anastomotic adjusting mechanism (12) and the connecting rod (2), the angle adjusting mechanism (13) comprises a rotary adjusting component and an angle adjusting component, the anastomotic adjusting mechanism (12) is fixedly connected with the angle adjusting component, the angle adjusting component is fixedly connected with the rotary adjusting component, the rotary center of the rotary adjusting component is arranged on the central axis of the connecting rod (2), the rotary adjusting component is used for driving the angle adjusting component to rotate along the central axis of the connecting rod (2), and the angle adjusting component is used for driving the anastomotic adjusting mechanism (12) to rotate so as to adjust the included angle between the anastomotic adjusting mechanism (12) and the connecting rod (2);
the plurality of micro force transducers (41) are provided with two groups, and the two groups of micro force transducers (41) are respectively arranged in the first anastomotic base and the second anastomotic base; when the first anastomosis seat and the second anastomosis seat are anastomosed, the positions of the two groups of miniature force transducers (41) are mutually corresponding;
the analysis control module (5) comprises an anastomotic stress analysis unit (51) and a control output unit (52), wherein the anastomotic stress analysis unit (51) is used for analyzing data acquired by the two groups of miniature force transducers (41) to obtain an anastomotic stress result; the control output unit (52) is used for analyzing based on the anastomosis stress result to obtain the adjustment parameters of the anastomosis adjusting mechanism (12) and the angle adjusting assembly, and controlling the anastomosis adjusting mechanism (12) and the angle adjusting assembly to adjust based on the adjustment parameters.
2. A linear cutting anastomosis system for endoscopes according to claim 1, wherein the anastomosis detection module (4) is configured with an anastomosis detection configuration strategy comprising: extracting the anastomotic surfaces of the first anastomotic base and the second anastomotic base;
setting an anastomotic region demarcation sub-strategy for the anastomotic surface, and obtaining a rectangular configuration region through the anastomotic region demarcation sub-strategy;
setting the anastomotic surface of the first anastomotic base as a first anastomotic surface and the anastomotic surface of the second anastomotic base as a second anastomotic surface; respectively acquiring rectangular configuration areas of the first anastomosis surface and the second anastomosis surface through an anastomosis area demarcation sub-strategy, and respectively setting the rectangular configuration areas as the first rectangular configuration area and the second rectangular configuration area;
a micro force sensor (41) is respectively arranged at four corners of the first rectangular arrangement area and the second rectangular arrangement area.
3. A laparoscopic linear cutting anastomosis system according to claim 2, wherein the anastomosis region demarcation sub-strategy comprises: extracting the outline of the anastomotic surface, dividing the outline of the anastomotic surface by a plurality of square grids to obtain an anastomotic dividing reference grid;
selecting a plurality of rectangular frames on the matched division reference grids, calculating the grid number in the rectangular frames, and selecting the rectangular frame with the largest grid number as a rectangular configuration area.
4. A linear cutting anastomosis system for endoscopes according to claim 3, wherein the anastomosis detection module (4) is further configured with a detection partitioning strategy comprising: micro force transducers (41) at two opposite positions in the first rectangular configuration area and the second rectangular configuration area are respectively arranged as a group of azimuth sensors;
setting four sets of azimuth sensors as a first set of azimuth sensors, a second set of azimuth sensors, a third set of azimuth sensors and a fourth set of azimuth sensors respectively; the first group of azimuth sensors and the third group of azimuth sensors are positioned on the diagonal line of the first rectangular configuration area or the second rectangular configuration area, and the second group of azimuth sensors and the fourth group of azimuth sensors are positioned on the other diagonal line of the first rectangular configuration area or the second rectangular configuration area;
the method comprises the steps of setting force measurement values acquired by miniature force sensors (41) positioned in a first rectangular configuration area of a first group of azimuth sensors, a second group of azimuth sensors, a third group of azimuth sensors and a fourth group of azimuth sensors to be L1c1, L1c2, L1c3 and L1c4 respectively; force measurement values obtained by miniature force sensors (41) located in the second rectangular configuration area of the first group of direction sensors, the second group of direction sensors, the third group of direction sensors and the fourth group of direction sensors are respectively set as L2c1, L2c2, L2c3 and L2c4.
5. The endoscopic linear cutting anastomosis system according to claim 4, wherein said anastomosis force analysis unit (51) is configured with an anastomosis force analysis strategy comprising: acquiring real-time L1c1, L1c2, L1c3, L1c4, L2c1, L2c2, L2c3 and L2c4, and calculating the real-time L1c1, L1c2, L1c3, L1c4, L2c1, L2c2, L2c3 and L2c4 to obtain a total stress fluctuation value through a stress fluctuation calculation formula;
when the total stress fluctuation value is greater than or equal to a first fluctuation threshold value, setting a first stress comparison sub-strategy, a second stress comparison sub-strategy and a third stress comparison sub-strategy; outputting a normal stress signal when the total stress fluctuation value is smaller than a first fluctuation threshold value;
the first stress comparison sub-strategy is used for calculating the total difference value of the opposite faces of the first anastomotic face and the second anastomotic face; when the total difference value of the opposite faces is larger than or equal to the first opposite face threshold value, executing a second stress comparison sub-strategy; executing a third stress comparison sub-strategy when the total difference of the opposite faces is smaller than the first opposite face threshold value;
the second stress comparison sub-strategy is used for carrying out independent difference calculation on the force measurement values obtained by the four groups of azimuth sensors to obtain the stress difference value in the group; outputting an azimuth inclination signal when the stress difference value in the group is larger than or equal to a first group internal difference threshold value;
the third stress comparison sub-strategy is used for carrying out comparison difference calculation on the force measurement values obtained by the four groups of azimuth sensors to obtain an out-group stress difference; and outputting a clamping inclination signal when the out-of-group stress difference value is greater than or equal to the first group heterodyne threshold value.
6. The endoscopic linear cutting anastomosis system according to claim 5, wherein the first force alignment sub-strategy comprises: adding L1c1, L1c2, L1c3 and L1c4 to obtain a first anastomosis stress total value, adding L2c1, L2c2, L2c3 and L2c4 to obtain a second anastomosis stress total value, obtaining the absolute value of the difference value of the first anastomosis stress total value and the second anastomosis stress total value, and setting the absolute value as the opposite surface total difference value.
7. The endoscopic linear cutting anastomosis system according to claim 6, wherein the second force alignment sub-strategy comprises: the absolute values of the differences among L1c1 and L2c1, L1c2 and L2c2, L1c3 and L2c3 and L1c4 and L2c4 are sequentially obtained, and are respectively set as a first point position difference value, a second point position difference value, a third point position difference value and a fourth point position difference value;
and setting the maximum value of the first point position difference value, the second point position difference value, the third point position difference value and the fourth point position difference value as the stress difference value in the group.
8. The endoscopic linear cutting anastomosis system according to claim 6, wherein the third force alignment sub-strategy comprises: adding L1c1 and L2c1, adding L1c2 and L2c2, adding L1c3 and L2c3 and adding L1c4 and L2c4 in sequence to obtain a first point stress total value, a second point stress total value, a third point stress total value and a fourth point stress total value;
and calculating the difference value between the maximum value and the minimum value in the first point stress total value, the second point stress total value, the third point stress total value and the fourth point stress total value, and setting the difference value as an out-of-group stress difference value.
9. The endoscopic linear cutting anastomosis system according to claim 7, wherein said control output unit (52) is configured with an angular control output strategy comprising: when an azimuth inclination signal is received, acquiring a point position difference value corresponding to the stress difference value in the group, and setting two groups of miniature force sensors (41) corresponding to the point position difference value as point position adjustment reference sensors;
setting the position of the point position adjustment reference sensor with the larger force measurement value as a first adjustment point position, and setting the position of the point position adjustment reference sensor with the smaller force measurement value as a second adjustment point position;
setting the direction of the second adjusting point position towards the first adjusting point position as an angle adjusting direction, multiplying the stress difference value in the group by an angle conversion coefficient to obtain an adjusting angle, and controlling the angle adjusting component to adjust along the angle adjusting direction according to the adjusting angle.
10. The linear cutting anastomosis system for endoscopes according to claim 8, wherein the control output unit (52) is further configured with an anastomosis control output strategy comprising: when a clamping inclination signal is received, multiplying the out-of-group stress difference value by a clamping adjustment coefficient to obtain a clamping expansion angle;
the included angle between the first anastomosis seat and the second anastomosis seat is increased according to the clamping expansion angle through an anastomosis adjusting mechanism (12).
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104042269A (en) * | 2013-03-14 | 2014-09-17 | 伊西康内外科公司 | Articulatable Surgical Instrument Comprising An Articulation Lock |
| US20190059972A1 (en) * | 2017-08-29 | 2019-02-28 | Ethicon Llc | Methods, systems, and devices for controlling electrosurgical tools |
| CN111989053A (en) * | 2018-02-20 | 2020-11-24 | 爱惜康有限责任公司 | Wireless robotic surgical instrument communication |
| CN115607211A (en) * | 2022-11-02 | 2023-01-17 | 武汉大学人民医院（湖北省人民医院） | One shot forming intelligent regulation's cutting anastomat |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104042269A (en) * | 2013-03-14 | 2014-09-17 | 伊西康内外科公司 | Articulatable Surgical Instrument Comprising An Articulation Lock |
| US20190059972A1 (en) * | 2017-08-29 | 2019-02-28 | Ethicon Llc | Methods, systems, and devices for controlling electrosurgical tools |
| CN111989053A (en) * | 2018-02-20 | 2020-11-24 | 爱惜康有限责任公司 | Wireless robotic surgical instrument communication |
| CN115607211A (en) * | 2022-11-02 | 2023-01-17 | 武汉大学人民医院（湖北省人民医院） | One shot forming intelligent regulation's cutting anastomat |
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