CN116370001A

CN116370001A - Surgical instrument

Info

Publication number: CN116370001A
Application number: CN202211682332.3A
Authority: CN
Inventors: 孙宝峰; 孙海盟
Original assignee: Fengh Medical Co ltd
Current assignee: Fengh Medical Co ltd
Priority date: 2021-12-30
Filing date: 2022-12-27
Publication date: 2023-07-04
Also published as: WO2023125564A1

Abstract

The present application provides a surgical instrument comprising: the jaw assembly comprises a nail cartridge seat for installing the nail cartridge assembly, and the nail cartridge seat is provided with a first position and a second position positioned in front of the first position; a cutter assembly; a motor drivingly connected to the cutter assembly for driving the cutter assembly to move; the control module is used for: controlling the motor to run according to a first preset parameter value, and determining whether the cutter assembly exceeds a first position; if not, the control module controls the motor to run so that the cutter assembly exceeds the first position and the second position; if yes, the control module controls the motor to stop. The non-nail bin state can be identified, the percussion cutting knife is prevented from being damaged when the nail bin is empty, the whole machine is simple in structure, and a complex mechanical structure is not required to be designed.

Description

Surgical instrument

The present application claims priority from the patent application filed at 2021, 12 and 30, to the national intellectual property agency of China, application number 2021116508339, entitled "surgical instruments", the entire contents of which are incorporated herein in their entirety.

Technical Field

The application relates to the technical field of medical instruments, in particular to a surgical instrument, and more particularly relates to an electric surgical instrument with a self-protection function, wherein the electric surgical instrument can automatically identify the state of an empty nail bin.

Background

Surgical instruments, such as anastomat, i.e. equipment used in medicine to replace traditional manual suturing, are convenient to use, tight and appropriate in tightness compared with traditional manual operation due to development of modern technology and improvement of manufacturing technology, and particularly have the advantages of rapid suturing, simple and convenient operation, fewer side effects, reduction of surgical complications and the like, are favored and appreciated by domestic and foreign clinicians, sometimes enable tumor surgery which cannot be resected too much to be resected in focus, and promote development of minimally invasive surgery.

The electric anastomat comprises a motor, a cutting knife assembly, a jaw assembly and a nail bin assembly. In normal use, the cartridge assembly is mounted in the jaw assembly and the motor drives the cutter assembly to move forward to drive staples out of the cartridge assembly to staple target tissue while the cutter assembly cuts the target tissue. However, when the used cartridge assembly or the cartridge assembly is not mounted in the jaw assembly, the stapler is in an empty cartridge state, and the stapler should be identified, so that the cutter assembly is prevented from being fired forward under such conditions, and the phenomenon that the staples cannot be pushed out to staple target tissues is avoided, and the target tissues are prevented from being cut but not stapled, so that damage to human bodies is caused, and medical accidents are caused.

In the prior art, the anastomat is provided with a mechanical structure for protecting an empty nail bin, and when a nail bin assembly is not installed or a used nail bin assembly is installed, a cutting knife assembly is limited by the mechanical structure and prevented from moving forwards when being driven by a motor to fire forwards; only when a new (unused) cartridge assembly is installed, the cutter assembly is not limited by the mechanical mechanism and can move forward smoothly.

Therefore, in the prior art, a mechanical structure is required to limit the cutter assembly in the empty cartridge state so as to identify the empty cartridge state and prevent false firing in the empty cartridge state.

Content of the application

In order to solve the technical problem that exists among the prior art, this application provides a surgical instrument, can automatic identification go out empty nail storehouse state and carry out empty nail storehouse protection, avoid the percussion cutting knife and then avoid damaging the human body when empty nail storehouse state, and complete machine simple structure need not to set up alone and is used for spacing mechanical structure.

To achieve the above object, the present application provides a surgical instrument comprising: the jaw assembly comprises a nail bin seat for installing the nail bin assembly and a nail supporting seat which is pivotally connected with the nail bin seat; the nail bin assembly comprises a nail pushing plate and a nail bin body, and the nail pushing plate is accommodated in the nail bin body; the unused cartridge assembly further comprises staples housed in the cartridge body, the ejector plate moving forward in the cartridge body to eject the staples from the cartridge body; the cartridge housing has a first position aligned with a rear end of a staple pusher plate of an unused cartridge assembly mounted into the cartridge housing and a second position forward of the first position aligned with a rear end of a staple of a proximal end of an unused cartridge assembly mounted into the cartridge housing; a cutter assembly; the motor is in transmission connection with the cutting knife assembly to drive the cutting knife assembly to move; the control module is used for: controlling the motor to operate according to a first preset parameter value so as to drive the cutter assembly to move forwards; the motor operates at a first preset parameter value so that the cutter assembly does not exceed the first position in response to the blocking of the staple pushing plate after the cutter assembly reaches the first position; determining whether the cutter assembly is beyond the first position; if not, the control module controls the motor to run so that the cutter assembly exceeds the first position and then exceeds the second position; if yes, the control module controls the motor to stop.

In one embodiment, the control module controls the motor to operate at a first preset parameter value for a preset time to drive the cutter assembly forward such that the cutter assembly overruns the first position but does not overrun the second position without the staple pusher plate blocking.

In one embodiment, the control module includes: a detection unit for acquiring a detection signal representing position information of the cutter assembly; the control unit determines whether the cutter assembly exceeds a first position or not in the preset time when the control unit controls the motor to operate with a first preset parameter value according to the detection signal; if not, the control unit controls the motor to run according to a second preset parameter value so that the cutter assembly exceeds the first position and then exceeds the second position; if yes, the control unit controls the motor to stop.

In one embodiment, the positional information of the cutter assembly includes an amount of displacement of the cutter assembly.

In one embodiment, the positional information of the cutter assembly includes a position of the cutter assembly.

In one embodiment, the positional information of the cutter assembly includes the number of turns of the motor.

In one embodiment, the control module comprises a detection unit and a control unit, wherein the detection unit is used for acquiring a detection signal representing the state of the motor; the control unit determines whether the cutter assembly exceeds a first position according to the detection signal within the preset time when the control unit controls the motor to operate according to a first preset parameter value; if not, the control unit controls the motor to run according to a second preset parameter value so that the cutter assembly exceeds the first position and then exceeds the second position; if yes, the control unit controls the motor to stop.

In one embodiment, the motor state includes: at least one of the voltage, the current and the rotating speed of the motor or whether the at least one of the voltage, the current and the rotating speed of the motor is suddenly changed.

In one embodiment, the predetermined time is 0.1 to 3 seconds.

In one embodiment, the preset time is 0.5 seconds.

In one embodiment, the control module includes a detection unit for acquiring a first detection signal representing position information of the cutter assembly and a second detection signal representing a state of the motor; the control unit controls the motor to operate according to a first preset parameter value so as to drive the cutter assembly to move forwards, and determines whether the cutter assembly exceeds a first position according to a first detection signal and a second detection signal; if not, the control unit controls the motor to run according to a second preset parameter value so that the cutter assembly exceeds the first position and then exceeds the second position; if yes, the control unit controls the motor to stop.

In one embodiment, the first preset parameter value and the second preset parameter value are both duty cycles.

In one embodiment, the first preset parameter value is a duty cycle.

In one embodiment, the cartridge housing further has an initial position aligned with the forward end of the cutter assembly when unfired, the initial position being rearward of the first position.

In one embodiment, the control module includes: the detection unit is used for acquiring position information representing the cutter assembly and/or detection signals representing the state of the motor; the control unit generates a first control signal according to a first preset parameter value and sends the first control signal to the motor driving unit; the control unit is electrically connected with the detection unit; the motor driving unit is electrically connected with the control unit, and after receiving the first control signal, the motor driving unit sends a second control signal to the switch unit; the switch unit is electrically connected with the motor driving unit and controls the motor to run after receiving the second control signal; the control unit also determines from the detection signal whether the cutter assembly is beyond the first position, and the motor is controlled to run or stop by the motor driving unit and the switch unit.

In one embodiment, the control unit generates a third control signal according to a determination result of whether the cutter assembly exceeds the first position, and transmits the third control signal to the motor driving unit; the motor driving unit sends a fourth control signal to the switch unit after receiving the third control signal; and the switch unit is used for controlling the motor to run or stop after receiving the fourth control signal.

When the cutter assembly does not exceed the first position, the control unit generates a third control signal according to a second preset parameter value, the motor driving unit sends a fourth control signal to the switch unit after receiving the third control signal, and the switch unit controls the motor to move forward so as to drive the cutter assembly and the nail pushing plate to move forward to exceed the first position and further exceed the second position.

When the cutter assembly exceeds the first position, the control unit generates a third control signal, and the motor driving unit sends a fourth control signal to the switch unit after receiving the third control signal, and the switch unit controls the motor to stop.

In one embodiment, the surgical instrument further comprises a drive mechanism through which the motor is drivingly connected to the cutting blade assembly.

In one embodiment, the control unit determines whether the motor is stalled based on a detection signal indicative of a state of the motor to determine whether the cutter assembly is beyond the first position.

In one embodiment, the cutter assembly is beyond the first position, determined by the control unit based on the first detection signal, and the control unit controls the motor to stop such that the cutter assembly does not exceed the second position.

In one embodiment, the cutter assembly does not exceed the first position, is determined by the control unit according to the second detection signal, and the control unit controls the motor to operate with a second preset parameter value so that the cutter assembly exceeds the first position and then exceeds the second position.

The beneficial effects are that:

the surgical instrument provided by the application to first parameter value control motor operation of predetermineeing, whether surpass first position A through judging the cutting knife subassembly discerns empty nail storehouse state, in order to control motor shut down when empty nail storehouse state, thereby avoid under empty nail storehouse state, the cutting knife subassembly causes the damage to the human body.

Compared with the prior art, the stapler has the advantages that the stapler does not need to be provided with a mechanical structure for limiting, the empty staple cartridge state can be identified, the empty staple cartridge protection can be carried out, the whole stapler is simple in structure, and the operation reliability is high.

Drawings

FIG. 1 is a schematic view of the external structure of the electric stapler of the present application;

FIG. 2 is a schematic view of the interior of the electric stapler of the present application;

FIG. 3 is a schematic view of the drive mechanism of the electric stapler of the present application;

FIG. 4 is a schematic view of the motor-driven stapler drive mechanism and cutter assembly of the present application;

FIG. 5 is an enlarged view of a portion of FIG. 4;

FIG. 6 is another enlarged partial view of FIG. 4;

FIG. 7 is a schematic view of the drive mechanism of the electric stapler of the present application;

FIG. 8 is a schematic view of a second gear configuration of the present application;

FIG. 9 is a schematic view of the cartridge assembly of the present application;

FIG. 10 is a schematic view of the end effector construction of the present application;

FIG. 11 is a control module schematic diagram of the present application;

FIG. 12 is a schematic view of a first position, a second position, and an initial position of a cartridge housing of the present application with an unused cartridge assembly installed therein;

FIG. 13 is a schematic view of a first position, a second position, and an initial position of a cartridge housing of the present application with a used cartridge assembly installed therein;

FIG. 14 is a schematic view of a first position, a second position, and an initial position of a cartridge housing of the present application, with no cartridge assembly installed therein;

FIG. 15 is a schematic view of a motor and a sensing element of the present application;

FIG. 16 is a schematic view of a staple pusher plate and a cartridge body;

fig. 17 is a partial enlarged view of fig. 16.

Reference numerals:

100. a stapler; 10. an operating assembly; 11. a transmission mechanism; 20. a shaft assembly; 21. a mandrel; 22. a sleeve; 23. a first end; 24. a second end; 30. an end effector; 31. a staple cartridge holder; 32. a nail supporting seat; 40. a cutter assembly; 41. a cutting knife; 42. a push knife; 50. a control module; 51. a nail pushing plate; 52. a staple; 53. a knife slot; 60. a trigger; 61. a first key; 65. a first travel switch; 66. a second travel switch; 70. a motor; 71. a staple cartridge body; 80. an end effector drive; 81. a compression ring assembly; 82. a first gear assembly; 83. a connecting piece; 84. a compression ring; 90. a cutter assembly drive; 91. a rack; 92. a second gear assembly; 93. a third gear assembly; 95. a second gear; 951. a first toothed portion; 952. tooth-missing parts; 953. a toothless portion; 954. a second toothed portion; 97. a third gear; 98. a fourth gear; 73. a fifth gear; 511. a cam; 512. a cam; 514. a cam; 515. a cam; 513. a guide part; 531. a groove portion; 532. a groove portion; 533. a groove portion; 534. a groove portion; 535. a first action part; 536. a second action part; 321. a first detection element; 322. a second detection element; 323. a third detection element; 312. a rotating shaft.

Detailed Description

The technical solutions of the present application will be described in detail with reference to the accompanying drawings and the specific embodiments, it should be understood that these embodiments are merely for illustrating the present application and not for limiting the scope, and that modifications of various equivalent forms of the present application will fall within the scope defined by the present application by those skilled in the art after reading the present application.

In this application, unless specifically stated and limited otherwise, the terms "connected," "coupled," and the like are to be construed broadly, and may be fixedly connected, detachably connected, movably connected, or integrated, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between the two elements or interaction relationship between the two elements such as abutting. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be. It should be noted that, when the terms "connected" and "connected" are used in the meanings defined by the corresponding terms, they are used only to exclude the cases where they are obviously required to be excluded, and not to exclude other possible cases, such as "detachably connected" refers to a detachable connection, and does not include a fixed connection and an integral connection, but a movable connection, a direct connection, an indirect connection via an intermediate medium, etc. are not excluded. It should be noted that when an element is referred to as being "disposed on" another element, it can be directly disposed on the other element or be indirectly disposed on the other element through an intermediate member. Connection refers to mechanical connection. Electrical or electrical connection refers to the transmission of signals or electrical energy through wired or wireless connections.

The motorized surgical instrument and the control method thereof according to the embodiment of the present application will be explained and described with reference to fig. 1 to 15. For convenience of description, in the embodiments of the present application, like reference numerals denote like parts. While, for the sake of brevity, detailed descriptions of the same components are omitted in the different embodiments, and the descriptions of the same components may be referred to and cited with each other. In the following, a surgical instrument and a control method thereof are described with reference to an electric stapler.

The terms "front", "distal" and "rear", "proximal" are used herein with respect to a user operating the electric stapler. The terms "rear", "near" and "front" refer to directions relatively closer to the user, and the terms "front" and "far" refer to directions relatively farther from the user. Specifically, the operating handle is positioned at the rear end or the proximal end of the electric stapler, and the end effector is positioned at the front end or the distal end of the electric stapler. The terms "upper" and "lower" refer to the relative positions of the staple holder and the cartridge holder, specifically, the staple holder is "upper" and the cartridge holder is "lower". It will be appreciated that these orientations of "up", "down", "front", "rear", "far" and "near" are defined for convenience of description, however, the electric stapler may be used in a number of orientations and positions, and thus these terms expressing relative positional relationships are not limiting and absolute.

The examples described below by referring to the drawings are illustrative and intended for the purpose of explaining the present application and are not to be construed as limiting the embodiments of the present application.

As shown in fig. 1-15, a surgical instrument, in particular a powered stapler 100, is described herein that includes an operating assembly 10, a shaft assembly 20 extending lengthwise from the operating assembly 10, and an end effector 30 disposed at one end of the shaft assembly 20. The end effector 30 includes a jaw assembly including a cartridge housing 31 and a staple cartridge housing 32 pivotally connected to the cartridge housing 31, the cartridge assembly being removably mounted in the cartridge housing 31, the staple cartridge housing 32 being selectively movable between an open position and a closed position. The operating assembly 10 includes a body (not shown) and a transmission mechanism 11 mounted to the body. The transmission 11 includes an end effector drive 80 for driving the end effector to effect opening and closing of the end effector, and a cutter assembly drive 90 for driving the cutter assembly 40 forward (firing) and rearward (retracting). The shaft assembly 20 comprises a mandrel 21 and a sleeve 22 sleeved on the mandrel 21, one end of the mandrel 21 is connected with a rack of the cutter assembly driving device 90, and the other end of the mandrel is positioned in the sleeve 22; the sleeve 22 includes a first end 23 connected to the end effector drive 80 and a second end 24 connected to the abutment 32 of the end effector 30, with rearward movement of the sleeve 22 causing the abutment 32 to pivot upwardly to open the end effector 30 and forward movement of the sleeve 22 causing the abutment 32 to pivot downwardly to close the end effector 30. Referring to fig. 2 and 10, the abutment 32 is rotatably connected to the second end 24 of the sleeve 22, i.e., the abutment 32 is connected to the second end 24 of the sleeve 22 and the abutment 32 is rotatable relative to the second end 24 of the sleeve 22. It should be noted that, the nail seat 32 is rotatably connected to the second end 24 of the sleeve 22 to enable the sleeve 22 to move back and forth to drive the nail seat 32 to pivot, which is not described herein.

As shown in FIG. 4, stapler 100 further includes a cutter assembly 40, cutter assembly 40 including a cutter 41 disposed within the end effector and a pusher member 42 coupled to cutter 41, a portion of pusher member 42 being disposed within sleeve 22 and coupled to the other end of mandrel 21, and another portion of pusher member 42 extending into end effector 30 and coupled to cutter 41.

As shown in fig. 1 and 2, the anastomat 100 further comprises a trigger 60, a control module 50 and a motor 70, wherein the trigger 60 and the motor 70 are electrically connected to the control module 50.

As shown in fig. 2, the trigger 60 includes a first key 61, and the first key 61 is electrically connected to the control module 50. The operator (clinician) presses the first key 61 and keeps the pressed state, and the control module 50 instructs the motor 70 to operate after receiving the signal sent by pressing the first key 61, and the motor 70 drives the cutter assembly driving device 90 to operate, so that the cutter assembly 40 is driven to move forward from the initial position C to realize firing by the cutter assembly driving device 90. When the cutter assembly 40 is advanced into position, i.e., the firing position is reached, the control module 50 instructs the motor 70 to continue to operate (retract), the motor 70 drives the cutter assembly drive 90 to operate, and the cutter assembly drive 90 drives the cutter assembly 40 to move rearward until the cutter assembly 40 returns to the initial position C.

As shown in fig. 3, the transmission mechanism 11 includes an end effector driving device 80, a cutter assembly driving device 90, and a fifth gear 73, and the fifth gear 73 is fixed to a rotation shaft of the motor 70. The fifth gear 73 is a driving gear, and the fifth gear 73 is always connected to the motor 70 and is driven to rotate by the motor 70. The end effector drive 80 is configured to drive the end effector 30 open and closed and the cutter assembly drive 90 is configured to drive the cutter assembly 40 forward and backward. The motor 70 drives the fifth gear 73 to rotate in a first direction or a second direction, wherein the first direction is opposite to the second direction. The end effector drive 80 and the cutter assembly drive 90 are both engaged with the fifth gear 73, and rotation of the fifth gear 73 causes either the end effector drive 80 or the cutter assembly drive 90 to operate. When the end effector drive 80 is operated, the end effector drive 80 drives the sleeve 22 forward and rearward, thereby causing the abutment 32 to pivot to close and open the end effector 30; when the cutter assembly drive 90 is operated, the cutter assembly drive 90 drives the spindle 21 to move forward and backward, thereby moving the cutter assembly 40 forward and backward.

The end effector driving device 80 includes a press ring assembly 81 and a first gear assembly 82, the press ring assembly 81 includes a connecting member 83 and a press ring 84, and the press ring 84 is disposed at one end of the connecting member 83. The first end 23 of the sleeve 22 is connected to the press ring 84, and the second end 24 of the sleeve 22 is movably connected to the abutment 32. When the motor 70 drives the fifth gear 73 to rotate along the first direction, the fifth gear 73 drives the first gear assembly 82 to rotate, the first gear assembly 82 drives the compression ring assembly 81 to move forwards, the compression ring assembly 81 drives the sleeve 22 to move forwards, and the second end 24 of the sleeve 22 drives the nail abutting seat 32 to rotate downwards to realize closing; when the motor 70 drives the fifth gear 73 to rotate along the second direction, the fifth gear 73 drives the first gear assembly 82 to rotate, the first gear assembly 82 drives the pressing ring assembly 81 to move backwards, the pressing ring assembly 81 drives the sleeve 22 to move backwards, and the second end 24 of the sleeve 22 drives the nail propping seat 32 to rotate upwards to open.

The cutter assembly driving device 90 includes a rack 91, a second gear assembly 92, and a third gear assembly 93. The second gear assembly 92 includes a second gear 95, the second gear 95 being meshed with the fifth gear 73; the second gear 95 includes a first toothed portion 951 and a tooth-missing portion 952 that are disposed adjacent to each other in the circumferential direction, a first boundary and a second boundary are provided between the first toothed portion 951 and the tooth-missing portion 952, and the tooth-missing portion 952 includes a toothless portion 953 and a second toothed portion 954 that are disposed adjacent to each other in the vertical direction. The second gear 95 is always kept in mesh with the fifth gear 73 by the first toothed portion 951 and the second toothed portion 954. The third gear assembly 93 includes a third gear 97 and a fourth gear 98, the third gear 97 and the fourth gear 98 are integrally formed, the third gear 97 and the fourth gear 98 have different diameters, the third gear 97 is engaged with a portion of the second gear 95 having a first toothed portion 951 parallel to the non-toothed portion 953, and the fourth gear 98 is engaged with the rack 91. The diameter of the fourth gear 98 is larger than the diameter of the third gear 97. The first toothed portion 951, the tooth missing portion 952, and the first gear assembly 82 enable the end effector drive 80 and the cutter assembly drive 90 to be driven alternatively, thereby enabling the end effector 30 and the cutter assembly 40 to be driven alternatively. The cutter assembly driving device 90 further includes a first travel switch 65 and a second travel switch 66 electrically connected to the control unit, respectively.

With the end effector closed, the clinician presses the first button 61 and maintains the pressed state, the control unit receives the signal sent by pressing the first button 61 and analyzes the signal, the control unit sends an operation command to the motor 70 according to the signal after analysis, the motor 70 drives the fifth gear 73 to rotate in the first direction, the fifth gear 73 drives the second gear 95 to rotate in the second direction, the intersection position of the second gear 95 and the third gear 97 is rotated by the toothless portion 953 of the second gear 95 to the portion of the first toothed portion 951 parallel to the toothless portion 953, the first toothed portion 951 of the second gear 95 meshes with the third gear 97 and drives the third gear 97 to rotate in the first direction, the fourth gear 98 also rotates in the first direction due to the fact that the third gear 97 and the fourth gear 98 are integrally formed, the fourth gear 98 drives the rack 91 to move forward, the rack 91 drives the mandrel 21 to move forward, the pusher element 42 drives the pusher element 42 to move forward, and the pusher element 41 drives the cutter 41 to move forward to fire.

When the rack 91 advances to the end position, the first travel switch 65 is triggered and signals the control unit, the control unit controls the motor 70 to stop rotating, the doctor releases the first key 61, the control unit receives the signal released by the first key 61 and sends an operation command to the motor 70, the motor 70 drives the fifth gear 73 to rotate in the second direction, the fifth gear 73 drives the second gear 95 to rotate in the first direction, the first toothed portion 951 of the second gear 95 drives the third gear 97 to rotate in the second direction, the fourth gear 98 also rotates in the second direction due to the fact that the third gear 97 and the fourth gear 98 are integrally formed, the fourth gear 98 drives the rack 91 to move backwards, the rack 91 drives the mandrel 21 to move backwards, the mandrel 21 drives the push cutter 42 to move backwards, the push cutter 42 drives the cutter 41 to move backwards, and thus retracting is achieved, until the second travel switch 66 is triggered, the second travel switch 66 is triggered and then sends a signal to the control unit, and the control unit controls the motor 70 to stop, and the cutter assembly 40 returns to the initial position C. Thus, the presence of the second travel switch 66 enables the cutter assembly 40 to be in the initial position C prior to firing. And, the cutter assembly 40 is set to be at the initial position C at the time of shipment. The second travel switch 66 may be replaced with a photosensor to achieve the same function.

The configurations of the transmission mechanism 11, the end effector drive device 80, and the cutter assembly drive device 90 are exemplary, and the empty cartridge recognition method and the empty cartridge protection method in the present application are not limited to the above, and may be applied to surgical instruments including other configurations of transmission mechanisms and cutter assembly drive devices.

The surgical instrument also includes a power module (not shown) that provides power to the operation of the motor 70.

The cartridge assembly includes a push plate 51 and a cartridge body 71, the push plate 51 being received in the cartridge body 71. The unused cartridge assembly further comprises staples housed in cartridge body 71, and staple pusher plate 51 is movable forward in cartridge body 71 to eject staples from the cartridge body to effect stapling of tissue.

FIG. 9 is a schematic view of the combined installation of the staple pusher plate, cartridge body and cutter assembly of the present application; FIG. 10 is a schematic view of the structural relationship between the cartridge assembly of the present application and the cartridge seat and abutment of the jaw assembly.

As shown in fig. 9 and 10, the cartridge assembly includes a cartridge body 71, staples, a staple driver (not shown) supporting staples 52, and a pusher plate 51 driving the staple driver. The cartridge body 71 is provided with knife channels 53 for providing a path of movement for the cutter assembly 40. Staples in the used cartridge assembly have been ejected from cartridge body 71 and thus no staples are present in the used cartridge assembly.

The cartridge body 71 is provided with a plurality of through holes penetrating up and down, and the through holes form a staple cavity. When the cartridge assembly is not in use, staples 52 are received in the staple cavities, and staples 52 are supported on the staple drivers with the ejector plate 51 at the rear end of cartridge body 71. At least a portion of the staple drivers are disposed within staple cavities that define the staple drivers and staples 52 supported thereby that are only movable up and down relative to cartridge body 71.

The cartridge body 71 is provided with knife channel 53 in a proximal-to-distal direction for movement of the cutter assembly 40. In this manner, cutting knife assembly 40 cuts tissue during a proximal-to-distal movement within knife channel 53 and pushes staples contained in the cartridge assembly out of the staples to staple the tissue. The cutter assembly 40 is retracted by distal and proximal movement within the pocket 53.

With the jaw assembly closed, cutting knife assembly 40 is driven by cutting knife assembly drive 90 to move forward, pushing staple pusher plate 51 from the rear end of cartridge body 71 toward the front end of cartridge body 71, and during movement, pushing staple driver 51 moves upward within the staple cavity, thereby moving staples 52 upward, penetrating the patient's tissue and engaging the incision formed by the tissue until staples 52 are disengaged from the staple cavity.

During the cutting and stapling process, the forward movement of the pusher member 42 drives the cutter blade 41 forward to cut tissue, the cutter blade assembly 40 abuts and urges the staple pusher plate 51 forward, and the staple pusher plate 51 urges the staple drivers upward in the staple cavities to push staples 52 of the cartridge assembly out of the staples to staple tissue. Specifically, the cutter 41 abuts and pushes the ejector plate 51 forward, and the cutter assembly 40 reaching a certain position means that the cutter 41 is located at, reaches or exceeds a certain position. For convenience, the foregoing will be described herein as the cutter assembly 40 abutting and pushing against the ejector plate 51, the cutter assembly 40 being located at, reaching or beyond a certain position. The forward movement of the cutter assembly 40 is a "firing" process. The rearward movement of the pusher member 42 moves the cutter assembly 40, including the cutter blade 41, rearward until the cutter assembly 40 returns to the initial position C, which is referred to as "retracting". As shown in fig. 16, the staple pusher plate 51 includes four

cams

511, 512, 514, and 515 and a guide portion 513 between the

cams

512, 514, the cartridge body 71 includes four

groove portions

531, 532, 533, and 534, the guide portion 513 of the staple pusher plate 51 slides back and forth in the knife groove 53, the four cams of the staple pusher plate 51 slide in the four groove portions of the cartridge body 71 in a one-to-one correspondence to achieve forward and backward movement, and the cooperation of the guide portion 513 with the knife groove 53, the cooperation of the cams with the groove portions achieve guiding of the forward and backward sliding of the staple pusher plate 51. Friction exists between the guide portion 513 and the knife slot 53, between the cam and the slot portion, and between the bottom of the push plate 51 and the bottom of the cartridge body 71. The cutter assembly 40 moves rearward to disengage from the ejector plate 51 so as not to move the ejector plate 51 rearward, and thus, after firing is completed, the ejector plate 51 is pushed to the forward end of the cartridge assembly and the ejector plate 51 is retained at the forward end of the cartridge assembly due to friction between the ejector plate 51 and the cartridge body 71. It should be noted that, the nail pushing plate is an essential component of the nail bin assembly, and the existence of friction between the nail pushing plate and the nail bin body is also a necessary requirement for realizing the function of the nail bin assembly, so that no additional mechanical structure is provided to identify the empty nail bin state. However, it is difficult to identify the empty cartridge state by utilizing the difference in the positions of the ejector pins and the frictional force existing between the ejector pins and the cartridge body.

The friction between the ejector plate 51 and the cartridge body 71, including the friction between the guide portion 513 and the knife slot 53, between the cam and the slot portion, and between the bottom of the ejector plate 51 and the bottom of the cartridge body 71, and further including the friction between the first and

second action portions

535, 536 of the cartridge assembly. As shown in fig. 17, a first acting portion 535 is provided on a side wall of the knife channel 53 of the cartridge assembly, and a second acting portion 536, which cooperates with the first acting portion 535, is provided on a side wall of the guide portion 513. In the initial position, i.e., when the ejector plate 51 is not moved distally, the first and second

active portions

535, 536 are in contact to position the ejector plate 51 and to increase the friction between the ejector plate 51 and the cartridge body 71 to create relative movement to prevent the ejector plate 51 from undesirably moving away from the initial position. Preferably, the first acting portion 535 includes a raised portion and the second acting portion 536 includes a recessed portion into which the raised portion is able to enter, thereby increasing the friction of the cartridge body 71 against the ejector plate 51. Here, as shown in fig. 16 and 17, the first and second acting

portions

535 and 536 are original structures of the cartridge module.

Next, the control principle of the electric stapler will be described with reference to fig. 11.

As shown in fig. 11, to control the operation of the motor 70, the electric stapler 100 further includes a trigger 60 and a control module 50, wherein the trigger 60 and the control module 50 are electrically connected to the power module.

Fig. 11 is a schematic diagram of a control circuit of an electric stapler according to an embodiment of the present application. As shown in fig. 11, the control module 50 includes a detection unit, a control unit, a motor driving unit, and a switching unit. The trigger 60 is electrically connected to the detecting unit of the control module 50. The control module 50 is internally provided with a detection unit electrically connected to the control unit, the control unit is electrically connected to a motor driving unit, and the motor driving unit is electrically connected to the switch unit.

The control module 50 controls motor operation with preset parameter values. The preset parameter value is, for example, a duty cycle, and the duty cycle is controlled to control the operation of the motor through a PWM signal. The present application describes the technical solution taking the parameter value as the duty cycle as an example, but the present application is not limited to the case where the parameter value is only the duty cycle.

In the control module 50, when the control unit controls the motor 70 to operate, the control unit generates a low-voltage PWM signal according to a preset parameter value including a duty ratio, and transmits the low-voltage PWM signal to the motor driving unit, and the motor driving unit converts the input low-voltage PWM signal into a high-voltage PWM signal usable by the switching unit and outputs the high-voltage PWM signal to the switching unit, thereby controlling the on/off of the switching unit. The power module (not shown) of the stapler 100 is connected to the motor 70 through a switching unit, and the frequency of the on-off of the switching unit determines the power supply module to power the motor 70 or to power off the motor, and determines the operation state of the motor 70 (such as start-up, stop, rotation speed and operation direction of the motor 70).

The specific implementation of the switching unit of the control module 50 may employ, for example, 4 Mos switches constituting the H-bridge, and the on/off of the Mos switches of the H-bridge determines the power supply module to supply or disconnect the power to the motor 70. And, the design of the H bridge makes the control module control the H bridge to realize the forward rotation or the reverse rotation of the motor 70. It should be noted that, the H-bridge control and the forward and reverse rotation control of the motor 70 are both in the prior art, and are not described herein.

The motor driving unit of the control module 50 may be embodied as, for example, a Mos driving chip. Motor 70

A specific implementation of the control unit of the control module 50 may employ, for example, a Microcontroller Chip (MCU). The control module controls the voltage provided to the motor by the power module by controlling the duty cycle of the PWM signal, thereby controlling the magnitude of the driving force output by the motor 70.

The detection unit of the control module 50 is used for detecting the state of the trigger 60, and then outputting a detection result signal to the control unit to control the operation of the motor 70.

Trigger 60 includes a first key 61 that is manually activated by user operation to control the activation and deactivation of motor 70 to drive the cutting knife assembly forward or stop forward, i.e., to control stapler 100 to perform a "fire" or "stop fire" by first key 61. The user operating the first key 61 includes pressing the first key 61, which may trigger the first key 61. The first key 61 inputs an electric signal to the control unit through the detection unit, and when the electric signal is a firing signal, the motor 70 is started to drive the cutter assembly to advance; when the user presses the first key 61 and keeps the first key, the motor 70 drives the cutter assembly to automatically drive the cutter assembly to retract after the completion of firing; when the electrical signal is a stop signal, the motor 70 is stopped and the cutter assembly stops moving.

In this application, the first key 61 is preferably a normally open switch, and the control module 50 controls the operation state of the motor 70 to be "on" or "off" according to the triggering state of the first key 61. The trigger state includes triggered and not triggered. When triggered, the normally open switch is turned into a closed state to generate a first signal, the control unit of the control module 50 obtains the first signal through the detection unit, and controls the motor 70 to start, and continuously obtains the first signal, namely the switch is continuously triggered, and the first signal is a firing signal; when the normally open switch is not triggered, the normally open switch is in an open state, and generates a second signal, and the control unit of the control module 50 obtains the second signal through the detection unit, and controls the motor 70 to stop, i.e. the second signal is a stop signal. For example, by circuit design, the first signal may be a low level signal and the second signal may be a high level signal.

First embodiment

Fig. 12-14 are schematic illustrations of a first position a and a second position B on a cartridge housing and a staple pusher plate 51 position in three situations in an embodiment of the present application, when an unused cartridge assembly is installed, when a used cartridge assembly is installed, and when a cartridge assembly is not installed, respectively, by a powered stapler 100.

As shown in fig. 12-14, the cartridge holder 31 has an initial position C and a first position a. The cutter assembly 40 moves forward when feeding and moves backward when retracting.

The initial position C is a position of the front end of the cutter assembly 40 corresponding to the cartridge seat 31 when unfired, and is located in the cartridge seat 31. The initial position C is a start point of forward movement and an end point of backward movement of the cutter assembly 40, in other words, the initial position C is a start point of feeding and an end point of retracting of the cutter assembly 40. As shown in fig. 12, the initial position C is located to the right, i.e., rearward, of the first position a of the cartridge holder 31.

The cartridge housing 31 has a first position a that is aligned with the rear end of the ejector plate 51 of the unused cartridge assembly mounted to the cartridge housing 31. The first position a is located forward of the initial position (i.e., to the left as shown in fig. 12).

Further, for ease of description, when the rear end of the ejector plate 51 is aligned with the first position a, we refer to the ejector plate 51 as being in the first position a. Similarly, hereinafter, when the rear end of the ejector plate 51 is aligned with the second position B, we refer to the ejector plate 51 as being located at the second position B.

As shown in FIG. 12, when a new cartridge assembly (i.e., an unused cartridge assembly) is installed into stapler 100, ejector plate 51 is in first position A. After the start of firing, the cutter assembly 40 moves forward to the first position a where it abuts the rear end of the ejector plate 51. If the driving force provided by the motor 70 to the cutter assembly 40 through the transmission mechanism is large enough, and the pushing force exerted by the cutter assembly 40 on the nail pushing plate 51 is large enough, the cutter assembly 40 pushes the nail pushing plate 51 positioned at the first position A to continue to advance, and the cutter assembly 40 exceeds the first position A; if the driving force provided by the motor 70 to the cutter assembly 40 is insufficient at this time, the pushing force exerted by the cutter assembly 40 on the ejector plate 51 is insufficient, and the cutter assembly 40 cannot push the ejector plate 51 to continue to advance, the ejector plate 51 limits the cutter assembly 40 to the first position a, that is, the cutter assembly 40 is blocked in the first position a by the ejector plate 51, and meanwhile, the motor 70 is blocked. It should be noted that, whether the driving force of the motor is large enough to push the ejector plate or small enough to not push the ejector plate, after the motor 70 is started, the motor 70 can drive the cutter assembly 40 to move forward until it reaches the first position a. Due to the friction between the ejector plate 51 and the cartridge body 71, the cutter assembly 40 cannot push the ejector plate 51 forward when the driving force is insufficient. The motor 70 is controlled to operate at a first preset parameter value such that the driving force provided by the motor 70 to the cutter assembly 40 through the transmission mechanism cannot push the ejector plate 51. Preferably, the first preset parameter value is a duty cycle of 17%.

As described above, since the ejector plate 51, which is originally located at the rear end of the cartridge body 71, moves toward the front end when a new cartridge assembly is used, the ejector plate 51 of the cartridge assembly, which has been used, is no longer located at the first position a of the rear end of the cartridge body 71 but in front of the first position a.

As shown in fig. 13, when the used cartridge assembly is erroneously installed in the stapler 100, since the ejector plate 51 is already positioned in front of the first position a, the cutter assembly 40 moves forward to the first position a and smoothly overruns the first position a regardless of whether the ejector plate 51 can be pushed by the driving force provided by the motor 70 when firing is started, without the restriction of the ejector plate 51. "overrun" refers to an action beyond a certain position.

As shown in fig. 14, when no cartridge assembly is installed in stapler 100, neither first position a nor the front of first position a has a staple pusher plate 51, i.e., there is no restriction of staple pusher plate 51. In this case, the cutter assembly 40 is also able to overrun the first position a after firing is initiated, regardless of whether the driving force provided by the motor 70 is able to push the ejector plate 51.

Stapler 100 with a new cartridge assembly installed is in a non-empty cartridge state and stapler 100 with no cartridge assembly installed or with a used cartridge assembly is in an empty cartridge state.

From the above, the significant differences in the mechanical structure of stapler 100 in the empty cartridge state compared to the non-empty cartridge state are now: whether the ejector plate 51 is in the first position a. When motor 70 provides driving force to cutter assembly 40, staple pusher plate 51 causes stapler 100 to have a difference in motion during "firing" as compared to the empty cartridge state and the non-empty cartridge state: in the empty cartridge state, the cutter assembly 40 is not blocked by the staple pushing plate 51, so that the moving state is not changed; in the non-empty cartridge state shown in fig. 12, the cutter assembly 40 is blocked by the ejector plate 51, and thus the movement state is changed, specifically, the cutter assembly is decelerated to 0 by the ejector plate 51 at the first position a and stopped at the first position a, or is moved backward from the first position a after the deceleration of the cutter assembly is blocked by the ejector plate 51 at the first position a.

It will be appreciated that unchanged movement means that the cutter assembly has exceeded the first position a, and changed movement means that the cutter assembly has not exceeded the first position a.

It should be noted that, the "the cutter assembly surpasses the first position a in the preset time" refers to the condition that the cutter assembly surpasses the first position a at a certain moment in the preset time, and it can be understood that the number of times of surpassing the first position a is at least 1, and does not refer to that the cutter assembly is located in front of the first position a in the whole length of the preset time; accordingly, the "the cutter assembly does not exceed the first position a in the preset time" means that the cutter assembly does not exceed the first position a at any time of the whole preset time, and it is understood that the number of times of exceeding the first position a is 0, which is complementary to the "the cutter assembly exceeds the first position a in the preset time". Likewise, "the cutter assembly overruns the first position a" refers to the condition that the cutter assembly overruns the first position a, and it is understood that the number of times of overrun of the first position a is at least 1, and does not refer to that the cutter assembly is finally positioned in front of the first position a; accordingly, "the cutter assembly does not overrun the first position a" means that the cutter assembly does not overrun the first position a, and it is understood that the number of times of overrun of the first position a is 0, which is the case complementary to the case of "the cutter assembly overrun the first position a". The cutter assembly 40 overruns the first position a means that at least a portion of the cutter assembly 40 overruns the first position a.

Thus, it may be possible to identify whether stapler 100 is in an empty cartridge state or a non-empty cartridge state based on the difference in the movement states of the cutter assemblies.

The cartridge housing 31 also has a second position B. The second position B is located in front of the first position a. Second position B is aligned with the trailing ends of the staples mounted to cartridge bay 31 and the proximal end of the unused cartridge assembly. As shown in FIG. 12, in the non-empty cartridge state, the second position B is aligned with the trailing ends of the proximal staples 52.

Similarly, the phrase "the cutter assembly does not exceed the second position B" means that the cutter assembly does not exceed the second position B, and it is understood that the number of times the cutter assembly exceeds the second position B is 0.

The cartridge assembly accommodates a plurality of staples 52 arranged in a longitudinal direction (i.e., a front-to-rear direction), and the proximal staple 52 is the most proximal staple of the plurality of staples. Thus, cutting knife assembly 40 may push staples 52 out of the way to staple and cut tissue beyond second position B without pushing staples 52 nor cutting body tissue before second position B is exceeded.

In this application, the safety area is set between the first position a and the second position B, and the control module controls the motor to continuously operate for a preset time with a first preset parameter value in the empty cartridge state or in the non-empty cartridge state, and the cutting assembly 40 does not exceed the second position B within the preset time.

"the cutter assembly 40 does not (not) override the second position B within the preset time" means that the cutter assembly does not always override the first position B for the entire preset time, i.e., the cutter assembly is not located in front of the safety zone, so that human tissue is not cut all the time within the preset time.

Specifically, the control module 50 may identify whether a change in motion state has occurred after the cutting blade assembly 40 reaches the first position a, as blocked by the staple pusher plate 51. If the surgical instrument is in a non-empty cartridge state, the control module 50 controls the motor 70 to operate so that the cutter assembly overrides the first position a and, in turn, overrides the second position B; if not, the control module 50 controls the motor 70 to stop if the surgical instrument is in the empty cartridge state.

Accordingly, the electric stapler 100 can utilize the difference of the movement states of the cutting knife caused by the difference of the positions of the push plate in the empty cartridge state and the non-empty cartridge state, and can use a method of executing computer software by the control module 50 to identify whether the stapler 100 is in the empty cartridge state or not and perform the empty cartridge protection.

Specifically, the method for executing the computer software by the control module 50 is as follows:

s1, the control module 50 controls the motor 70 to run for a preset time according to a first preset parameter value; the method specifically comprises the following steps:

S12, the control module 50 controls the motor 70 to operate according to a first preset parameter value so as to drive the cutter assembly 40 to move forwards;

s13, judging whether the cutter assembly 40 exceeds the first position A or not after the preset time T.

In the above method, when stapler 100 is in the empty cartridge state, cutting knife assembly 40 passes beyond first position a without blocking by push plate 51; while staple pusher plate 51 limits cutter assembly 40 from exceeding first position a when stapler 100 is in a non-empty cartridge state.

Specifically, in the empty cartridge state, the control module 50 controls the motor 70 to operate for a preset time T with a first preset parameter value, the movement of the cutter assembly 40 is not blocked at the first position a at any time within the preset time T, and the cutter assembly 40 exceeds the first position a at a certain time T within the preset time T; in the non-empty cartridge state, the control module 50 controls the motor 70 to operate for a preset time T with the same first preset parameter value, and the cutter assembly 40 reaches the first position a at a certain time T' within the preset time T, but the cutter assembly 40 does not exceed the first position a within the whole preset time T due to the blocking of the nail pushing plate 51 at the first position a, i.e. the cutter assembly 40 does not reach the first position a but does not exceed the first position a in the non-empty cartridge state.

The control mode of the software, which controls the operation of the motor by the first preset parameter value and lasts for the preset time T, is to make use of the significant difference of the mechanical structures of the anastomat self in the empty and non-empty cartridge states (whether the nail pushing plate 51 is at the first position A) so as to make the firing movement process (movement state) of the empty and non-empty cartridge states have significant difference: in the empty cartridge state, the cutting assembly 40 overrides the first position a within a preset time T; in the non-empty cartridge state, the first position A is not exceeded within the preset time T. In the prior art, a special mechanical mechanism (such as a blocking mechanism in CN 101224118B) is required to be arranged in a cartridge seat of the anastomat to cause the difference between the empty cartridge state and the non-empty cartridge state in the firing motion, that is, a cutter assembly in the empty cartridge state is blocked at the mechanical mechanism of the cartridge seat, thereby causing the current of a motor to increase, and the cartridge state can be identified by sensing the current flowing through the motor. And this application utilizes the original mechanical mechanism of anastomat itself to make empty nail storehouse state and the empty nail storehouse state produce the difference of percussion motion, compares current design, and the mode of this application need not extra mechanical structure design, and is simple.

When motor 70 is driven at the first preset parameter value, cutter assembly 40 may be driven to move forward, and cutter assembly 40 may output a smaller pushing force insufficient to push staple pushing plate 51, so that stapler 100 may have a significant difference in movement state between the empty state and the non-empty state: whether the cutter assembly 40 is beyond the first position a.

As shown in fig. 11, the control module 50 further includes a detection unit. The detection unit is used to obtain a detection signal indicative of the position information of the cutter assembly 40 or a detection signal of the motor status. The control unit determines whether the cutter assembly 40 exceeds the first position a in the case that the control module 50 controls the motor to operate for a preset time T with a first preset parameter value according to the detection signal outputted from the detection unit, so as to identify whether the cutter assembly 40 is subjected to the above-mentioned change of the movement state blocked by the nail pushing plate 51. If not, i.e. the cutter assembly 40 exceeds the first position a within the preset time T, the cutter assembly 40 is not affected by the nail pushing plate 51 and the motion state of the cutter assembly is not changed, the control module 50 controls the motor 70 to stop; if the cutter assembly 40 does not exceed the first position a within the preset time T, and the cutter assembly 40 is blocked by the ejector plate 51 and its movement state is changed, the control module 50 controls the motor to operate with a second preset parameter value so that the cutter assembly overcomes the blocking of the ejector plate and exceeds the first position, and then exceeds the second position.

When it is determined that the electric stapler 100 is in the non-empty cartridge state, the motor 70 is operated at a second preset parameter value such that the cutter assembly 40 can push the ejector plate 51 and pass through the safety area to normally fire, cut and staple the human tissue in front of the safety area. The parameters of the first preset parameter value and the second preset parameter value may comprise a duty cycle. Of course, the parameter of the preset parameter value may also be other types of parameters, which are not specifically limited in this application.

The second preset parameter value enables the motor 70 to provide sufficient drive force to drive the cutting assembly to advance the ejector plate beyond the first position a. The parameter values of the drive motor 70 include a critical parameter value, and when the parameter value is greater than or equal to the critical parameter value, the motor-driven cutter assembly can push the ejector plate forward, and when the parameter value is less than the critical value, the motor-driven cutter assembly cannot push the ejector plate forward. Therefore, the second preset parameter value is larger than or equal to the critical parameter value capable of pushing the nail pushing plate to advance. In a preferred embodiment, the second predetermined parameter value is 100% duty cycle, and the motor provides the maximum driving force to the cutter assembly.

The detection signals output by the detection unit in the control module 50 can reflect the difference of the empty and non-empty cartridge states in the motion state, so that the application adopts a software mode to identify the empty and non-empty cartridge states.

Whether the stapler 100 is in the empty cartridge state or the non-empty cartridge state can be judged according to the detection signal. If an empty cartridge condition is identified, but the motor 70 is not stopped and firing continues, the cutter assembly 40 will cut tissue resulting in a significant surgical error; if a non-empty cartridge condition is identified, but the motor 70 is still running at the first preset parameter value, it is always limited to the first position a, and the stapler 100 cannot be used normally. Therefore, the application also adopts a software mode to stop the state of the empty nail bin and ensure the normal operation of the state of the non-empty nail bin: according to the detection signal, when the empty cartridge state is identified, the motor 70 is controlled to stop, so that the cutting knife assembly 40 is prevented from cutting tissues, and surgical accidents are avoided; when a non-empty cartridge condition is identified, a second predetermined parameter value is employed to control the motor to cause the cutter assembly 40 to override the first position A and thus the second position B, thereby allowing normal firing and ensuring normal operation of the stapler 100. Software, preset parameter values, etc. are stored in the control unit, and the software is run by the control unit. Further, the electric stapler 100 further includes a timing module, and the timing module stores a preset time T. The timing module is electrically connected to the control module 50. When the first key 61 is triggered, the cutter assembly 40 starts to fire, the control module 50 controls the timing module to start timing, when the timing reaches the preset time T, the timing module sends a signal of finishing timing to the control module, and the timing module is closed and the timing is cleared.

From the above, the present application utilizes the relationship between the position of the ejector pin plate 51 in the empty cartridge state (including the position in front of the first position a in the used cartridge assembly, and no ejector pin plate when the cartridge assembly is not mounted) and the first position a, and adopts a reasonable manner to realize the empty cartridge protection. The method comprises the following elements:

firstly, confirming that the state of the empty nail bin and the state of the non-empty nail bin are obviously different in the motion state of the firing motion process;

secondly, identifying an empty nail bin state and a non-empty nail bin state;

thirdly, stopping the empty nail bin and ensuring the normal operation of the non-empty nail bin.

The pure software empty nail bin protection mode does not need to design a mechanical structure in the anastomat 100 and design a corresponding mechanical structure in a nail bin assembly, and the whole machine has simple structure and high operation reliability.

It will be appreciated that the above-described "preset time T" is a time period during which the motor 70 is in the operating state, and does not include a time period during which the motor 70 is in the off (stopped) state. For example, when the user stops the motor 70 due to the misoperation, the timing of the preset time T is stopped until the user restarts the motor 70, and the timing is continued until the total time length of the motor 70 in the operating state reaches the length of the preset time T.

Additionally, the motor 70 may be rotated in a forward direction and in a reverse direction, wherein the motor is rotated in a forward direction to drive the cutter assembly forward and the motor is rotated in a reverse direction to drive the cutter assembly rearward. And in the preset time T, the motor keeps rotating positively. If the motor rotates reversely, the timing of the preset time T is stopped until the motor rotates positively, and then the timing is continued. As the cutter assembly 40 may be advanced or retracted. Thus, the cutter assembly 40 may remain in front of the first position a after exceeding the first position a for a preset time T in the empty cartridge state, or may move rearward from a position in front of the first position a to behind the first position a when the preset time T is reached, both of which are "the cutter assembly overruns the first position a without the staple pusher being blocked" or "the cutter assembly overruns the first position a within the preset time; in the non-empty cartridge state, the cutter assembly 40 remains in the first position a all the time after reaching the first position a or moves backward from the first position a to be located behind the first position a within the preset time T, and both of the above situations belong to the case of "the staple pushing plate limits the cutter assembly not (not) to exceed the first position a" or "the cutter assembly not (not) to exceed the first position a within the preset time".

It will be appreciated that the preset time T should not be too long or too short. If the set time is too long, the stapler 100 judges that the time of the empty cartridge state and the non-empty cartridge state is long, the stapler 100 does not act for a long time, and a user (e.g., doctor) may consider that the stapler 100 has a fault; if the preset time T is too short, it is difficult to ensure that the motor 70 can drive the cutter assembly 40 to reach the first position a within the preset time T and reach between the first position a and the second position B in the empty cartridge state under the condition of running at the first preset parameter value, so that the cartridge state cannot be identified, and thus the technical scheme of the present application cannot be implemented.

In a preferred embodiment, the preset time T is 0.5S (seconds) in length. That is, the time for which electric stapler 100 recognizes the empty cartridge state is 0.5S. The preset time is set to 0.5S, so that on one hand, a doctor cannot generate misunderstanding that the anastomat 100 fails, and on the other hand, the motor 70 can be guaranteed to drive the cutting knife assembly 40 to reach the first position a under the first preset parameter value, so that the empty staple cartridge state and the non-empty staple cartridge state can be judged. The length of the preset time T may be appropriately shortened or lengthened on the basis of 0.5S, for example, in the interval of 0.1 seconds to 3 seconds, so as to be able to satisfy the above-mentioned criterion for measuring the length of the preset time.

It should be noted that the first preset parameter value may be a fixed value or a variable value. Whether a fixed value or a varying value, it is required to meet the following requirements: the motor operates at a first preset parameter value, and can drive the cutter assembly to move forwards but can not push the nail pushing plate positioned at the first position A through the cutter assembly; the first preset parameter value and the preset time T act together such that the cutter assembly has a certain stroke which is reflected in the empty cartridge state as the cutter assembly reaching between the first position a and the second position B.

In a specific embodiment, the distance between the first position a and the second position B is 4-10mm. This distance ensures, on the one hand, that in the empty cartridge state, the cutter assembly 40 has a movement stroke beyond the first position a, so that the cutter assembly 40 forms a difference in the firing movement from the non-empty cartridge state; on the other hand, after the first preset parameter value is determined, the distance is the basis for determining the preset time T, so that the cutter assembly 40 is ensured not to exceed the safety area in the state of the empty staple cartridge in the preset time length under the driving of the motor running at the first preset parameter value.

The stapler 100 has a significant difference in the firing motion process between the empty and non-empty cartridge states: whether the cutter assembly 40 is beyond the first position a is most directly reflected in the positional information of the cutter assembly 40. In other words, by detecting the positional information of the cutter assembly 40, it can be determined whether the cutter assembly is beyond the first position a.

The detection unit includes a position information detection element for detecting position information of the cutter assembly 40. The detection unit transmits a detection signal in which position information is recorded to the control unit. The positional information of the cutter assembly 40 includes, but is not limited to: displacement, position and number of turns of motor.

In one embodiment, the displacement is a physical quantity representing position information of the cutter assembly, and the displacement at a certain time t is a distance from an initial position C of the cutter assembly 40 to a position where the cutter assembly 40 is located at the certain time t. The position information detecting element is used for detecting the displacement amount of the cutter assembly. In the preset time, the cutter assembly moves in real time, so that the displacement of the cutter assembly changes in real time, but the cutter assembly 40 is beyond the first position A only by detecting and judging that the displacement is larger than a displacement preset threshold value, and the empty nail bin state can be judged; otherwise, the displacement is always less than or equal to the preset value, which indicates that the cutter assembly 40 does not exceed the first position a, and the non-empty cartridge state can be judged.

Therefore, when the displacement amount of the cutter assembly 40 is greater than the displacement amount preset threshold value within the preset time T, the cutter assembly 40 exceeds the first position a, otherwise, the cutter assembly 40 does not exceed the first position a.

The displacement amount is preset to a threshold value, preferably a distance from an initial position C of the cartridge seat to a first position A. The displacement amount refers to the net positive displacement amount in the forward direction, that is, the sum of the moving distances in the forward direction minus the sum of the moving distances in the backward direction.

Specifically, the displacement of the cutter assembly 40 can be calculated by combining the transmission ratio of the transmission mechanism on the basis of the number of turns of the motor. In addition, the displacement of the cutter assembly 40 may be obtained by other conventional technical means in the art, such as photoelectric sensors and gratings, which will not be described herein.

In yet another embodiment, the position information detecting element is used to detect a specific position of the cutter assembly and output a detection signal to the control unit. For example, when the cutter assembly is located at the first position a, the position information detecting element sends a first detection signal to the control unit of the control module 50, and when the cutter assembly is not located at the first position a, the position information detecting element sends a second detection signal to the control unit of the control module 50; when the motor rotates forward within the preset time T, the signal received by the control unit is converted from the first detection signal to the second detection signal, and the cutting knife assembly exceeds the first position within the preset time, otherwise, the cutting knife assembly 40 does not exceed the first position within the preset time.

Thus, the first and second detection signals embody position information of the cutter assembly 40. Wherein the first detection signal indicates that the cutter assembly is located at the first position a and the second detection signal indicates that the cutter assembly 40 is not located at the first position a, including in front of or behind the first position a. The movement of the cutter assembly 40 forward beyond the first position a and the movement of the cutter assembly rearward beyond the first position a within a predetermined time, both, will result in a change of the first detection signal to the second detection signal. The forward rotation of the motor 70 corresponds to the forward movement of the cutter assembly 40, and the reverse rotation of the motor 70 corresponds to the backward movement of the cutter assembly 40, so that the change of the detection signal in combination with the rotation direction of the motor 70 can be used to determine whether the cutter assembly 40 exceeds the first position a. The motor 70 may be judged to be rotating forward or backward in the manner shown in fig. 15. Specifically, the motor 70 includes a rotation shaft 312, and the detection unit includes a first detection element 321, a second detection element 322, and a third detection element 323. When the rotating shaft 312 rotates, the plurality of first detection elements 321 rotate along with the rotating shaft 312, the second detection elements 322 and the third detection elements 323 are arranged at intervals and can be in inductive fit with the first detection elements 321, and when the first detection elements 321 rotate, the second detection elements 322 and the third detection elements 323 can be respectively in inductive fit with the first detection elements 321, and signals obtained through induction are sent to the control unit. The inductive coupling between the first detecting element 321 and the second detecting element 322 and the inductive coupling between the first detecting element 321 and the third detecting element 323 have a tandem order, so that it can be determined whether the rotation direction of the rotation shaft 312 is forward or reverse based on the sequential order in which the inductive coupling between the second detecting element 322 and the third detecting element 323 and the first detecting element 321 occurs. It should be noted that other technical means in the art may be adopted to determine the forward rotation or the reverse rotation of the motor, which is not described herein.

Within a preset time T, the cutter assembly 40 moves in real time, so that the detection signal changes in real time, but as long as the change from the first detection signal to the second detection signal occurs when the motor 70 is sensed to rotate forward, the cutter assembly 40 is indicated to exceed the first position a, and the empty cartridge state can be judged; otherwise, other forms of signal change occur, which indicates that the cutter assembly does not exceed the first position a, and a non-empty cartridge state can be judged, for example, the first detection signal is sensed when the motor rotates positively, and the second detection signal is not sensed within a preset time.

Specifically, the detection unit includes a first position detection element disposed on a rack of the cutter assembly driving device 90. The cutter assembly driving device 90 can drive the cutter assembly 40 and the first position detecting element to move synchronously, and the first position detecting element is arranged on the rack of the cutter assembly driving device 90, has the same effect as the rack of the cutter assembly driving device 40, and can detect the position of the cutter assembly. The rack drives the cutter assembly 40 to advance and retract, and simultaneously drives the first position detecting element to advance and retract. When the cutter assembly 40 reaches the first position a, the first position detecting element sends a first detection signal to the control unit. The first position detecting element is not triggered after the cutter assembly 40 passes the first position a or when the first position a is not reached, at which time the first position detecting element sends a second detection signal to the control unit. In this embodiment, the first position detecting element is a triggering structure of a photoelectric sensor or a travel switch, and the component matched with the first position detecting element is a triggering structure (such as a spring plate) matched with the travel switch or a photoelectric sensor. The position of the photoelectric sensor or the position of the trigger structure of the travel switch corresponds to the first position A, and the position of the trigger structure of the photoelectric sensor and the position of the travel switch correspond to the position of the cutter assembly. Preferably, the photoelectric sensor comprises a light emitting part and a light receiving part, the triggering structure of the photoelectric sensor can be a part of the rack after being blackened, the blackened part can reflect light emitted by the light emitting part to the light receiving part, the light receiving part receives the light and then sends a first detection signal, the part of the rack which is not blackened does not reflect the light, the light can not be reflected when the rack does not reach the photoelectric sensor, and the light receiving part does not send a second detection signal.

It should be noted that the motor 70 may be determined to be rotating forward or backward in the manner described above, and will not be described here.

In yet another embodiment, the position information detecting element is configured to detect a number of turns of the motor and send a detection signal to the control unit. When the number of turns of the motor is larger than a threshold value in the preset time T, judging that the cutter exceeds the first position A in the preset time T, otherwise, judging that the cutter does not exceed the first position A in the preset time T. The number of motor turns is the number of turns of the shaft 312.

As described above, the movement of the cutter assembly 40 is synchronized with the rotation of the motor 70, so that the number of rotations of the motor reflects the positional information of the cutter assembly 40. The number of turns is the net positive number of turns. The number of forward turns refers to the number of turns of the forward movement of the motor-driven cutter assembly 40, and if the motor 70 rotates in the reverse direction to generate the number of reverse turns, that is, if the motor 70 drives the cutter assembly 40 to move in the reverse direction, the number of forward turns counted from the start to a certain moment minus the number of reverse turns is the net number of forward turns at the moment. The cutter assembly 40 moves in real time within the preset time T, so that the rotation number of the motor 70 changes in real time, but the condition that the cutter assembly 40 exceeds the first position A can be judged to be an empty staple cartridge state as long as the rotation number of the motor is detected and judged to be larger than the threshold value; otherwise, the number of turns of the motor is always smaller than or equal to the threshold value, which indicates that the cutter assembly 40 does not exceed the first position A, and the state of the non-empty staple cartridge can be judged.

The surgical instrument has a first predetermined number of turns. The first preset number of turns is the number of turns of the motor required to move the cutter assembly 40 from the initial position C to the first position a. Preferably, the threshold value is equal to a first preset number of turns. Further, the surgical instrument has a second predetermined number of turns. The second preset number of turns is the number of turns of the motor 70 running at the first preset parameter value for a preset time in the empty cartridge state, the start point of the preset time is that the cutter assembly is located at the initial position C, and when the number of turns of the motor reaches the second preset number of turns in the empty cartridge state, the cutter assembly 40 is located between the first position a and the second position B. The second predetermined number of turns is greater than the first predetermined number of turns by allowing the cutter assembly 40 to reach a position farther than the first predetermined number of turns.

The process of acquiring the set threshold will be described below in connection with a specific application scenario:

let the number of turns of the motor corresponding to the linear stroke of 1mm output from the motor 70 be X, (X/reduction ratio) ×2pi×gear radius=1mm, when the gear radius is 8mm and the reduction ratio is 500, X is calculated as 9.95 turns, and the value is 10 turns. The gear in the formula is a gear meshed with the rack. Therefore, when the motor rotates 10 turns, the linear travel corresponding to the output is 1mm. For example, the distance from the initial position C to the first position a is 4mm, the motor 70 needs to be rotated 40 turns, and the cutter assembly 40 reaches the first position a, and the first preset number of turns is 40 turns. Therefore, in the state of non-empty nail bin, the rotation number of the motor is less than or equal to 40.

When the cartridge assembly is not installed or the used cartridge assembly is installed, that is, the electric stapler 100 is in an empty cartridge state, when the operation duration of the motor 70 reaches 0.5S at the first preset parameter value, optionally, the maximum rotation number of the motor 70 is 50 turns within the preset time. The second preset number of turns is 50. And 0.5S is a preset time.

In this embodiment, when the first preset number of rotations is 40 and the second preset number of rotations is 50, it is preferable that the threshold value is 40. When the number of turns of the motor is greater than 40 turns within the preset time, the cutter assembly 40 exceeds the first position A, so that the electric stapler 100 can be identified as being in an empty staple cartridge state; when the number of turns of the motor is always less than or equal to 40 turns within the preset time, the cutter assembly 40 does not exceed the first position a, so that the electric stapler 100 can be identified as being in a non-empty cartridge state.

It should be noted that the cartridge identification method in the present application is applicable to different types of surgical instruments, and the surgical instruments all implement cutting and stapling functions by using a jaw assembly, a cutter assembly, a cartridge assembly, and the like. The maximum number of turns required to move the cutter assembly from the initial position C to the first position a may be different for different types of surgical instruments, or the first preset number of turns may be different based on a preset time, a first preset parameter value, and the threshold may be adjusted accordingly.

In order to detect the number of turns of the motor, in one embodiment, the detection element of the detection unit is a hall encoder, as shown in fig. 15, specifically including: a hall sensor (second detecting element 322); a plurality of magnets (first detection elements 321) surrounding the rotation shaft 312 provided to the motor 70. When the magnet rotates with the rotation shaft 312 of the motor 70, the hall sensor senses the magnet and outputs a pulse signal as a detection signal, and the control unit determines the number of motor rotations based on the number of pulse signals and based on the motor rotation direction determined by the hall sensor (the second detection element 322, the third detection element 323). The direction of rotation of the motor is determined as described above.

Specifically, when the rotation shaft 312 of the motor 70 rotates, the hall sensor outputs a pulse signal every time one magnet passes, and the pulse signal is used as a detection signal, for example, when the number of magnets is 10, 10 pulse signals are output to indicate that the rotation shaft 312 rotates one turn. Correspondingly, the control unit of the control module 50 receives and counts the detection signals in real time, determines the number of motor rotation turns based on the number of the detection signals, and each 10 detection signals indicate that the number of motor rotation turns is one.

Further, when the control module 50 detects that the rotation number of the motor is greater than the threshold value in the preset time, the control module 50 determines that the motor is in an empty staple cartridge state and controls the motor to stop, and similarly, when the control module 50 detects that the rotation number of the motor is not greater than the threshold value all the time in the preset time, the control module determines that the motor is in a non-empty staple cartridge state.

In some possible embodiments, the detection elements in the detection unit of the control module 50 are photoelectric encoders, including a photoelectric sensor and a plurality of gratings, where the photoelectric sensor may emit detection light in an infrared manner, and the plurality of gratings are distributed around the rotation axis 312 of the motor 70; when the rotating shaft 312 rotates, the grating is driven to rotate, and the photoelectric sensor senses the grating and then outputs a pulse signal. The principle of determining the number of turns of the motor by the control module 50 based on the pulse signal is the same as that of the hall sensor described above, and will not be described herein. Of course, the detecting element may be other ways of determining the number of turns of the motor.

Second embodiment

The stapler 100 described above has a significant difference in firing motion during empty cartridge conditions compared to non-empty cartridge conditions: whether the cutter assembly 40 is beyond the first position a is reflected in the motor status in addition to the position information of the cutter assembly. Accordingly, the state of the stapler, i.e., in an empty cartridge state or in a non-empty cartridge state, may be determined by identifying the state of the motor 70 (the state of the motor 70, i.e., the motor state) instead of the position information of the cutter assembly. The motor 70 is driven to operate for a preset time with a first preset parameter value, in a non-empty cartridge state, the cutter assembly 40 is blocked by the nail pushing plate 51 at the first position A, so that the motor 70 is blocked at the first position A, the current of the motor 70 is increased, the rotating speed of the motor 70 is reduced even to 0, the voltage at two ends of the motor 70 is reduced, in a non-empty cartridge state, the cutter assembly is not blocked by the nail pushing plate 51 at the first position A, the motor 70 is not blocked, and the current, the rotating speed and the voltage of the motor are not changed in the operation process of the motor 70.

Thus, empty cartridge conditions and non-empty cartridge conditions may be identified by motor conditions, including current to motor 70, rotational speed of motor 70, voltage to motor 70.

In one embodiment, the detection signal is an operating current of the motor 70, and when the operating current is always less than the current preset value for the preset time T, the cutting assembly 40 overrides the first position a in the preset time, otherwise, the cutting assembly 40 does not override the first position a in the preset time. The motor state detection element collects the voltage of the sampling resistor connected in series in the power supply circuit of the motor 70 as a detection signal, and sends the detection signal to the control unit, and the control unit can obtain the working current of the motor 70 according to the detection signal and the resistance value of the sampling resistor.

In one embodiment, the detection signal is the voltage of the motor 70; when the voltage is always greater than the voltage preset threshold for the preset time T, the inner cutter assembly 40 overruns the first position in the preset time, otherwise, the inner cutter assembly 40 does not overrun the first position a in the preset time. The motor state detecting element collects the voltage of the sampling resistor connected in series in the power supply circuit of the motor 70 as a detection signal, and sends the detection signal to the control unit.

In one embodiment, the detection signal is the rotational speed of the motor 70, and when the rotational speed is always greater than the rotational speed preset value for the preset time T, the cutting tool is beyond the first position a in the preset time, otherwise, the cutting tool assembly 40 is not beyond the first position a in the preset time. The motor state detecting element comprises a fixed Hall sensor and a magnet arranged on a rotating shaft of the motor 70, the rotating shaft rotates to drive the magnet to rotate along with the fixed Hall sensor, the magnet causes the change of the level of the Hall sensor when passing through the Hall sensor, the changed level is used as a detecting signal to be sent to the control unit, and the control unit can obtain the rotating speed of the motor 70.

It should be noted that, in other embodiments, the control module 50 may also calculate the phase difference, the slope, the multi-order derivative, etc. of the above physical quantity by using the current, the rotation speed, or the voltage to determine whether the current, the rotation speed, or the voltage is suddenly changed, and when the sudden change is not generated within the preset time T, the cutting assembly is beyond the first position a within the preset time T, and otherwise, the cutting assembly 40 is not beyond the first position a within the preset time T.

Specifically, for example, the slope of the current: the detection unit detects current, the control unit calculates a current slope, and the current slope is larger than a preset value and reflects current abrupt change caused by locked rotor.

The detection of specific values of the current, the voltage and the rotation speed may be a continuous process or a multi-point detection with a relatively short interval time. The detecting unit detects the current, the voltage and the rotating speed, and the control unit compares the detected value with a preset value or judges whether mutation occurs according to the detected value. The specific detection modes of current, voltage and rotation speed are conventional technical means in the field, and are not repeated here.

The judgment logic for judging whether the physical quantity is mutated is a conventional technical means for those skilled in the art, and will not be described in detail herein.

According to the implementation mode, the detected current in the preset time is always smaller than a preset value or no current mutation is detected, the detected voltage or the detected rotating speed is always larger than the preset value or no voltage or rotating speed mutation is detected, and the fact that the cutter assembly exceeds the first position A is indicated to be in an empty nail bin state; and detecting that the current is larger than a preset value or current mutation occurs in the preset time, and detecting that the voltage or the rotating speed is smaller than the preset value or voltage or rotating speed mutation occurs, wherein the fact that the cutter assembly does not exceed the first position A is indicated to be in a non-empty nail bin state.

In one embodiment, the detection signal may include at least two of the following physical quantities: motor current, motor speed, motor voltage. Correspondingly, the detection unit comprises a detection element capable of detecting the different detection signals mentioned above. The control module determines whether the motor runs at a first preset parameter value and the cutting assembly exceeds a first position A within a preset time according to at least two detection signals, and double or multiple insurance is used for empty cartridge protection.

Specifically, in the present embodiment, the method of executing the computer software by the control module 50 is as follows:

Third embodiment

The principle of this embodiment is basically the same as that of the first embodiment, and the first preset parameter value is used to drive the motor 70 to push the cutter assembly 40 to move forward, so that the cutter assembly 40 outputs smaller pushing force insufficient to push the nail pushing plate, and the stapler has a significant difference in motion state between the empty state and the non-empty state: whether the cutter assembly 40 is beyond the first position a. The difference from the first embodiment is that the present embodiment adopts the following technical means in combination: and detecting the position information of the cutter assembly, judging and identifying, detecting the state of the motor and judging and identifying. Specifically, the cutter assembly position information includes the displacement amount of the cutter assembly, the position of the cutter assembly 40, and the number of turns of the motor, and the motor state includes the current of the motor, the rotational speed of the motor, and the voltage of the motor. The empty cartridge state can be identified by detecting the position information of the cutter assembly, and the non-empty cartridge state can be identified by detecting the motor state. Thus, the present embodiment may not set the "preset time".

Taking the position of the cutter assembly 40 as the cutter assembly position information, the current of the motor 70 is taken as an example for the motor state:

the control module 50 controls the motor 70 to operate with a first preset parameter value to drive the cutter assembly 40 to move forward so that the cutter assembly 40 passes the first position a without the ejector plate 51 blocking, and when the rear end of the ejector plate 51 is located at the first position a, the ejector plate 51 limits the cutter assembly 40 from passing the first position a.

The detection unit includes a position information detection element including a first position detection element for detecting position information of the cutter assembly 40 and outputting a detection signal; when the cutter assembly 40 is located at the first position a, the first position detecting element sends a first detecting signal to the control unit, and when the cutter assembly 40 is not located at the first position a, the first position detecting element sends a second detecting signal to the control unit.

When the signal received by the control unit is converted from the first detection signal to the second detection signal during the forward rotation of the motor, the control module recognizes that the movement state of the cutter assembly 40 is unchanged due to the fact that the cutter assembly 40 is not blocked by the nail pushing plate 51 after reaching the first position a and before reaching the second position B, that is, the cutter assembly 40 exceeds the first position a, and then the control module 50 controls the motor to stop as in the first embodiment.

Alternatively, the position information detecting element includes a second position detecting element that sends a third detection signal to the control unit when the cutter assembly 40 is located between the first position a and the second position B. When the control unit receives the third detection signal, the control unit recognizes that the movement state of the cutter assembly 40 is not blocked by the ejector plate 51 after reaching the first position a and before reaching the second position B, that is, the cutter assembly 40 exceeds the first position a, and then the control module 50 controls the motor to stop as in the first embodiment. At this time, the anastomat is in an empty nail bin state.

The detection unit also comprises a motor detection element for detecting the motor state, and the motor detection element sends a motor detection signal to the control unit after detecting the motor state. When the control unit receives the motor detection signal, it is determined that the motor is locked by recognizing the change of the motor state, and then it is determined that the movement state of the cutter assembly 40 is changed, and at this time, the stapler is in a non-empty cartridge state, and the control module 50 controls the motor 70 to operate with a second preset parameter value, so that the cutter assembly 40 is enabled to overrun the first position a, and to continue to overrun the second position B, and normal firing is performed. The motor state changes, including the following: the current of the motor 70 is greater than or equal to a current preset value, the rotational speed of the motor 70 is less than or equal to a rotational speed preset value, the voltage of the motor 70 is less than or equal to a voltage preset value, and abrupt changes occur in current, voltage or rotational speed. For example, the motor detecting element detects the rotation speed of the motor 70, and when the control unit recognizes that the rotation speed of the motor 70 is less than or equal to a rotation speed preset value (rotation speed threshold value) or the rotation speed of the motor 70 is suddenly changed, the control unit determines that the motor is blocked, and the control module 50 controls the motor 70 to operate with a second preset parameter value so that the cutter assembly 40 exceeds the first position a and continues to exceed the second position B to realize normal firing.

In the above examples, the position information of the cutter assembly 40 is specifically the position of the cutter assembly 40, and the motor state is the rotational speed of the motor 70. The position information of the cutter assembly 40 may be specifically the displacement of the cutter assembly 40 or the number of turns of the motor, and the state of the motor may be specifically the current of the motor 70 or the voltage of the motor. I.e., the specific form of the position information of the cutter assembly 40 and the specific form of the motor state may be used in combination.

s1, the control module 50 controls the motor 70 to run according to a first preset parameter value; the method specifically comprises the following steps:

and S13, judging whether the cutter assembly 40 exceeds the first position A or not by detecting the position information of the cutter assembly 40 and detecting the state of the motor.

It should be noted that the cartridge identification method in the present application is applicable to different types of surgical instruments, where the surgical instruments all use a cutting knife assembly, a cartridge assembly, and the like to perform cutting and stapling functions, and are powered by a motor.

In other prior art, besides the existing structure of the anastomat, the anastomat is provided with an additional mechanical structure, compared with the empty cartridge state, the state of the anastomat after the unused cartridge assembly is installed can change the matching mode between the mechanical structure and the cutter assembly, thereby causing the change of parameters such as current and the like, and whether the empty cartridge state is identified by sensing the change of the parameters such as current and the like.

Compared with the prior art, in order to identify the empty nail bin state and provide the empty nail bin protection, the application firstly recognizes that the position of the nail pushing plate is different in the empty nail bin state and the position of the nail pushing plate in the non-empty nail bin state, and the friction force exists between the nail pushing plate and the nail bin body, then on the basis of the recognition, the empty nail bin state and the non-empty nail bin state are identified by utilizing the mechanical structure of the anastomat, namely the difference of the positions of the nail pushing plate in the empty nail bin state and the non-empty nail bin state and the friction force exists between the nail pushing plate and the nail bin body, and the first preset parameter value operation can push the cutter assembly to move forwards but can not push the nail pushing plate, and the empty nail bin protection is carried out in the empty nail bin state. Therefore, the mechanical structure for limiting or the additional mechanical structure for identifying the empty nail bin state is not required to be arranged in the anastomat. Being able to apply the above knowledge to the identification of the status of an empty cartridge is difficult for a person skilled in the art to think. On the basis, the empty nail bin state is identified through the mechanical structure of the anastomat, which is difficult to think of the person skilled in the art.

The foregoing embodiments are merely illustrative of the technical concept and features of the present application, and are intended to enable those skilled in the art to understand the content of the present application and implement the same according to the content of the present application, not to limit the protection scope of the present application. All equivalent changes or modifications made in accordance with the spirit of the present application are intended to be included within the scope of the present application.

Claims

1. A surgical instrument, comprising:

a jaw assembly comprising a cartridge seat (31) for mounting a cartridge assembly and a staple abutment (32) pivotably connected to the cartridge seat (31); the nail cartridge assembly comprises a nail pushing plate (51) and a nail cartridge body (71), wherein the nail pushing plate (51) is accommodated in the nail cartridge body (71); the unused cartridge assembly further comprises staples (52) housed in the cartridge body (71), the ejector plate (51) being moved forward in the cartridge body (71) so as to eject the staples from the cartridge body; the cartridge housing (31) having a first position aligned with a rear end of the ejector plate (51) of the cartridge assembly mounted in the cartridge housing (31) and unused, and a second position forward of the first position aligned with a rear end of the staples (52) of the cartridge assembly mounted in the cartridge housing (31) and unused;

A cutter assembly (40);

a motor (70) drivingly connected to the cutter assembly (40) for driving movement of the cutter assembly (40);

-a control module (50), the control module (50) being configured to:

controlling the motor (70) to operate with a first preset parameter value to drive the cutter assembly (40) to move forward; -the motor (70) is operated at a first preset parameter value such that the cutter assembly (40) does not overrun the first position in response to blocking of the ejector plate (51) after the cutter assembly (40) reaches the first position;

determining whether the cutter assembly (40) exceeds the first position;

if not, the control module (50) controls the motor (70) to operate so that the cutter assembly (40) passes beyond the first position and further passes beyond the second position;

if yes, the control module (50) controls the motor (70) to stop.

2. The surgical instrument of claim 1 wherein said control module (50) controls operation of said motor (70) at a first preset parameter value for a preset time to drive said cutter assembly (40) forward such that said cutter assembly (40) passes beyond said first position but does not pass beyond said second position without said ejector plate (51) blocking.

3. The surgical instrument of claim 1, wherein the control module (50) comprises:

a detection unit for acquiring a detection signal representing position information of the cutter assembly (40);

the control unit determines whether the cutter assembly (40) exceeds the first position within the preset time for controlling the motor (70) to operate by the control unit at the first preset parameter value according to the detection signal;

if not, the control unit controls the motor (70) to operate with a second preset parameter value so that the cutter assembly (40) exceeds the first position and then exceeds the second position;

if yes, the control unit controls the motor (70) to stop.

4. A surgical instrument as claimed in claim 3, characterized in that the positional information of the cutter assembly (40) comprises the amount of displacement of the cutter assembly (40).

5. A surgical instrument as claimed in claim 3, characterized in that the position information of the cutting blade assembly (40) comprises the position of the cutting blade assembly (40).

6. A surgical instrument as claimed in claim 3, characterized in that the position information of the cutter assembly (40) comprises the number of turns of the motor.

7. The surgical instrument of claim 1, wherein the control module (50) comprises a detection unit for acquiring a detection signal indicative of a motor state and a control unit;

the control unit determines whether the cutter assembly (40) exceeds the first position according to the detection signal within the preset time for controlling the motor (70) to operate according to the first preset parameter value;

if yes, the control unit controls the motor (70) to stop.

8. The surgical instrument of claim 7, wherein the motor state comprises: at least one of the voltage, the current, and the rotational speed of the motor (70), or whether the at least one of the voltage, the current, and the rotational speed of the motor (70) is abrupt.

9. The surgical instrument of any one of claims 2, 3, 7, wherein the preset time is 0.1 to 3 seconds.

10. The surgical instrument of claim 9, wherein the preset time is 0.5 seconds.

11. The surgical instrument of claim 1, wherein the control module (50) comprises a detection unit for acquiring a first detection signal representative of the position information of the cutter assembly (40) and a second detection signal representative of the motor status;

the control unit controls the motor (70) to operate with the first preset parameter value to drive the cutter assembly (40) to move forwards, and the control unit determines whether the cutter assembly (40) exceeds the first position according to the first detection signal and the second detection signal;

if yes, the control unit controls the motor (70) to stop.

12. The surgical instrument of claim 11 wherein the positional information of the cutting blade assembly (40) comprises an amount of displacement of the cutting blade assembly (40).

13. The surgical instrument of claim 11 wherein the positional information of the cutting blade assembly (40) comprises a position of the cutting blade assembly (40).

14. The surgical instrument of claim 11 wherein the positional information of the cutting blade assembly (40) includes a number of motor turns.

15. The surgical instrument of claim 11, wherein the motor state comprises: at least one of the voltage, the current, and the rotational speed of the motor (70), or whether the at least one of the voltage, the current, and the rotational speed of the motor (70) is abrupt.

16. The surgical instrument of any one of claims 3, 7, 11, wherein the first and second preset parameter values are each duty cycles.

17. The surgical instrument of claim 1, wherein the first preset parameter value is a duty cycle.

18. The surgical instrument of claim 1, wherein the cartridge housing (31) further has an initial position aligned with a forward end of the cutter assembly (40) when unfired, the initial position being rearward of the first position.

19. The surgical instrument of claim 1, wherein the control module (50) comprises:

a detection unit for acquiring position information indicative of the cutter assembly (40) and/or a detection signal indicative of a motor state;

the control unit generates a first control signal according to the first preset parameter value and sends the first control signal to the motor driving unit; the control unit is electrically connected with the detection unit;

the motor driving unit is electrically connected with the control unit, and after receiving the first control signal, the motor driving unit sends a second control signal to the switch unit;

the switch unit is electrically connected with the motor driving unit and controls the motor (70) to run after receiving the second control signal;

the control unit also determines whether the cutter assembly (40) exceeds the first position according to the detection signal, and controls the motor (70) to run or stop through the motor driving unit and the switch unit.

20. The surgical instrument of claim 19, wherein the surgical instrument comprises a surgical instrument,

The control unit generates a third control signal according to a determination result of whether the cutter assembly (40) exceeds the first position, and transmits the third control signal to a motor driving unit;

the motor driving unit sends a fourth control signal to the switch unit after receiving the third control signal;

the switch unit is used for controlling the motor (70) to run or stop after receiving the fourth control signal;

when the cutter assembly (40) does not exceed the first position, the control unit generates the third control signal according to a second preset parameter value, the motor driving unit sends the fourth control signal to a switch unit after receiving the third control signal, and the switch unit controls the motor (70) to operate so as to drive the cutter assembly (40) and the nail pushing plate (51) to move forwards to exceed the first position and further exceed the second position;

when the cutter assembly (40) exceeds the first position, the control unit generates the third control signal, the motor driving unit sends the fourth control signal to a switch unit after receiving the third control signal, and the switch unit controls the motor (70) to stop.

21. The surgical instrument of claim 1, further comprising a transmission mechanism through which the motor (70) is drivingly connected with the cutting blade assembly (40).

22. The surgical instrument of any one of claims 7, 11, wherein the control unit determines whether the motor (70) is locked to determine whether the cutter assembly (40) is beyond the first position based on the detection signal indicative of a motor status.

23. The surgical instrument of claim 11 wherein said cutting blade assembly (40) is beyond said first position, determined by said control unit based on said first detection signal, and said control unit controls said motor (70) to stop such that said cutting blade assembly (40) does not exceed said second position.

24. The surgical instrument of claim 11 wherein said cutter assembly (40) does not override said first position, is determined by said control unit from said second detection signal, and said control unit controls operation of said motor (70) at a second preset parameter value to cause said cutter assembly (40) to override said first position and thereby override said second position.