CN1830398A - A surgical device - Google Patents
A surgical device Download PDFInfo
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- CN1830398A CN1830398A CN 200610073038 CN200610073038A CN1830398A CN 1830398 A CN1830398 A CN 1830398A CN 200610073038 CN200610073038 CN 200610073038 CN 200610073038 A CN200610073038 A CN 200610073038A CN 1830398 A CN1830398 A CN 1830398A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
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- Surgical Instruments (AREA)
Abstract
A surgical device includes a first jaw and a second jaw in opposed correspondence with the first jaw. A first driver is configured to cause relative movement of the first jaw and the second jaw in a plane. The first driver is configured to engage a drive shaft rotatable about a rotation axis arranged in non-parallel, e.g., perpendicular, correspondence to the plane. The device may also include a surgical member, e.g., a cutting and stapling element, disposed within the first jaw. A second driver is configured to cause relative movement of the surgical member in a direction parallel to the plane. The second driver is configured to engage a drive shaft rotatable about a rotation axis arranged in non-parallel correspondence to the plane.
Description
The application is to be on January 2nd, 2003 applying date, and application number is No.03803483.2, and name is called the dividing an application of patent application of " surgical instruments ".
The cross reference of related application
The present invention requires the priority of the 60/346th, No. 656 U.S. Patent application of submission on January 8th, 2002, and its whole content is hereby expressly incorporated by reference.
The present invention relates to the 09/510th of submission on February 22nd, 2000, the 09/723rd of No. 923 U.S. Patent applications, submission on November 28th, 2000, submit on No. 715 U.S. Patent applications, April 17 calendar year 2001 the 09/836th, submit on No. 781 U.S. Patent applications, June 22 calendar year 2001 the 09/887th, No. 789 U.S. Patent applications and calendar year 2001 December submitted in 4th the 60/337th, No. 544 U.S. Patent applications, the content of above-mentioned application all is hereby expressly incorporated by reference.
Technical field
The present invention relates to a kind of surgical instruments.Especially, the present invention relates to a kind ofly be used to clamp, cut and clamping, cutting and the suture instruments of suture tissue.
Background technology
This document comprises the explanation of a large amount of relevant surgical instrumenties.Some surgical instrumenties wherein are described in people's such as Sjostrom No. the 4th, 705,038, United States Patent (USP); No. the 4th, 995,877, people's such as Ams United States Patent (USP); No. the 5th, 249,583, the United States Patent (USP) of Mallaby; No. the 5th, 395,033, people's such as Byrne United States Patent (USP); No. the 5th, 467,911, people's such as Tsuruta United States Patent (USP); The United States Patent (USP) the 5th, 383,880,5,518,163,5,518,164 and 5,667 of Hooven, No. 517; No. the 5th, 653,374, people's such as Young United States Patent (USP); No. the 5th, 779,130, people's such as Alesi United States Patent (USP); And in people's such as Viola the United States Patent (USP) the 5th, 954,259.
One type surgical instruments is the straight line suture instruments, and this suture instruments is the apparatus of chopper type (guillotine-type), is used for cutting and sews up part tissue.Figure 1A shows United States Patent (USP) the 3rd, 494, an example of this apparatus described in No. 533.That apparatus shown in Figure 1A comprises is relative, can mobile clamp parallel with respect to each other..Be provided with row's stitch in first clamp, second clamp has an anvil block, is used to hold and closed this stitch.A stitch thrust piece is arranged in this first clamp, and the far-end from the proximal extension of this first clamp to this first clamp.A driving shaft is positioned at the plane of movement of first clamp and stitch thrust piece, and is connected on first clamp and the stitch thrust piece.When starting, drive shaft stitch thrust piece pushes up on the stitch guide structure in the anvil block of second clamp to promote all stitch simultaneously.
Other example of surgical instruments has been described in the United States Patent (USP) the 4th, 442, No. the 5th, 413,267, No. 964, No. the 4th, 671,445, United States Patent (USP) and United States Patent (USP).That this surgical stapling device comprises is relative, each other can parallel mobile clamp, wherein, be provided with row's stitch in first clamp, and second clamp is provided with an anvil block, is used to hold and closed this stitch.A stitch thrust piece is arranged in this first clamp, and the far-end from the proximal extension of this first clamp to this first clamp.A driving shaft is positioned at first clamp and the angle of rake plane of movement of stitch, and is connected on first clamp and the stitch thrust piece.When starting, drive shaft stitch thrust piece pushes up on the stitch guide structure in the anvil block of second clamp to promote all stitch simultaneously.
The surgical instruments of another kind of type is linear clamping, cutting and suture instruments, and for example United States Patent (USP) the 6th, 264, described in 087.This apparatus is used for surgical operation, with cutting canceration or abnormal structure from gastrointestinal tract.The solid of Figure 1B there is shown a kind of traditional linearity clamping, cutting and suture instruments.This apparatus comprises a pistol gripping type structure, and this structure has elongated bar and a far-end.This far-end comprises a pair of scissors-type clamping element, and the opening that is used for the clamping colon makes it closed.The anvil portion of one of two scissors-type clamping elements can move or rotate with respect to total, and another clamping element then is maintained fixed with respect to total.The startup of this shears element, promptly the rotation of anvil block part is to control by the clamping trigger piece that is arranged on the handle place.Except that this scissor-type device, far-end also comprises a suturing mechanism.The fixed clamp element of scissor type mechanism comprises that a stitch storehouse box holds the district, and one be used to drive stitch and pass the pinching end of tissue and push up anvil portion, thus will before the mechanism sewed up of the end that open.This scissors-type element can be integrally formed with axle, perhaps also can be dismountable, so that can exchange various shears and sew up element.
Usually, these surgical instrumenties are used in the following manner: after the canceration or other abnormal structures in confirming intestines and stomach (and after confirming the position of this cancerous issue in colon), at first open patient's abdominal part, intestinal portion is exposed.The surgeon is at the both sides of cancerous issue excision colon pipe then, and two openings of sewn closed intestines (end that leads to anus is a far-end, with an intestines immediate end in bottom be near-end).This interim sealing is the pollution that is subjected to enteral prods for the abdominal part that reduces as far as possible to expose.Especially, when between the clamp that makes colon in surgical instruments, can realize the interim closure of two openings of intestines.By starting first driving mechanism, the surgeon can lump together clamp.Start second driving mechanism then, driving a series of stitch and cutting blade by clamped colon end, thus sealing and this end of crosscut.This process will repeat once more at the opposite side of canceration or abnormal structure usually.
A problem of aforementioned surgical instruments is that this apparatus possible operation gets up very difficult.Because these apparatuses are generally used on the body, as using in the patient body, thereby the structure of this apparatus should be able to be operated in the patient body.Traditional surgical instruments, those surgical instrumenties shown in Figure 1A and 1B are difficult to operation, especially more are difficult to operation in the patient body.
Summary of the invention
According to one embodiment of present invention, the present invention relates to a kind of surgical instruments.This surgical instruments comprises first clamp and second clamp relative with this first clamp.First driver makes that this first clamp and second clamp can be in plane relative motioies.This first driver engages with a driving shaft, and that this driving shaft can wind is non-parallel with respect to this plane, as vertically disposed rotating shaft rotation.This apparatus also comprises surgery parts that are arranged in first clamp.Second driver makes that these surgery parts can be along being parallel to this planar direction relative motion.This second driver engages with driving shaft, and this driving shaft can rotate around the rotating shaft with this non-parallel setting in plane.
According to one embodiment of present invention, the configuration of first drive seat is used for being coupled with an end of first rotating driveshaft, this first rotating driveshaft is with an angle, be provided with as plane perpendicular to first and second clamps of electromechanical actuators, wherein, this electromechanical actuators is rotated this first driving shaft.This first rotating driveshaft along first direction rotation opening clamp, and along the second direction rotation opposite with first direction with closed clamp.This first driver can comprise, for example, a pair of spur gear, has worm and worm wheel of rotation and meshing relation each other.This first driver also comprises external threaded, and it is fixedly connected on an end of worm gear, and engages with the internal thread hole of second clamp, thereby the relative motion between the gear can make the also relative motion of clamp and second clamp of winning.
As mentioned above, this surgical instruments also can comprise operation parts, for example, and the cutting element such as cutter, and be installed to stitching element in the push pedal that is provided with in first clamp.According to this embodiment, second driver is arranged in first clamp.The direction that second driver can parallel along the plane of movement with first and second clamps moves this operation parts.This second driver comprises second drive seat, and this second drive seat is with an angle, as being provided with perpendicular to this plane.
According to one embodiment of present invention, second drive seat configuration of second driver is used for being coupled with an end of second rotating driveshaft, this second rotating driveshaft is with an angle, be provided with as plane perpendicular to first and second clamps of electromechanical actuators, wherein, this electromechanical actuators is rotated this second driving shaft.This second driving shaft, and rotates with these operation parts that raise along the second direction relative with first direction reducing this operation parts along first direction rotation.This second driver can comprise, for example, a pair of spur gear, has worm and worm wheel of rotation and meshing relation each other.This all has a built-in internal thread hole in the worm gear each, is meshed with each external threaded on being fixedly attached to these operation parts.The rotation of gear can make also relative motion of these operation parts.
Description of drawings
Figure 1A is a kind of side view of conventional surgical apparatus;
Figure 1B is the axonometric chart of a kind of conventional linear clamping, cutting and suture instruments;
Fig. 2 is the axonometric chart of motor machine Surgery Systems according to an embodiment of the invention;
Fig. 3 is for cutting according to an embodiment of the invention and sew up the side view that adnexa is in extended position;
Fig. 4 is for cutting shown in Figure 3 and sew up the side view that adnexa is in retracted position;
Fig. 5 is for the cutting shown in Fig. 3 and 4 and sew up the side view that adnexa is in retracted position;
Fig. 6 is for cutting shown in Fig. 3 to 5 and sew up the side view that adnexa is in retracted position;
Fig. 7 is cutting shown in Fig. 3 and 4 and the vertical view of sewing up adnexa;
Fig. 8 A is cutting according to an embodiment of the invention and the exploded view of sewing up adnexa;
Fig. 8 B is cutting according to another embodiment of the invention and the exploded view of sewing up adnexa;
Fig. 9 A is cutting shown in Fig. 8 A and the axonometric chart of sewing up adnexa;
Fig. 9 B is cutting shown in Fig. 8 B and the axonometric chart of sewing up adnexa;
Figure 10 is the side view of band partial cutaway of the flexible axle of motor machine surgical instruments shown in Figure 2;
Figure 11 is the cross-sectional view of the flexible axle of the line 11-11 intercepting in Figure 10;
Figure 12 is the rearview of first jointer of flexible axle shown in Figure 10;
Figure 13 is the front view of second jointer of flexible axle shown in Figure 10;
The sketch map that Figure 14 arranges for the motor of motor machine Surgery Systems shown in Figure 2;
Figure 15 is the sketch map of motor machine Surgery Systems shown in Figure 2;
Figure 16 is the sketch map of the encoder of flexible axle shown in Figure 10;
Figure 17 is the sketch map of the storage device of linear clamping according to an embodiment of the invention, cutting and suture instruments;
Figure 18 is the sketch map of the wireless remote control unit of motor machine Surgery Systems shown in Figure 2;
Figure 19 is the sketch map of the wired remote control unit of motor machine Surgery Systems shown in Figure 2;
Figure 20 A shows to 20C in the operating process of surgical instruments according to an embodiment of the invention, the flow chart of the main function of performed step;
Figure 21 A shows the flow chart of Figure 20 A according to an embodiment of the invention to the jaws close program of the main function shown in the 20C to 21C;
Figure 22 A shows the flow chart of Figure 20 A according to an embodiment of the invention to the calibration procedure of the main function shown in the 20C to 22C;
Figure 23 shows Figure 20 A according to an embodiment of the invention opens program to the clamp of the main function shown in the 20C flow chart;
Figure 24 A shows the flow chart of Figure 20 A according to an embodiment of the invention to clamping, cutting and the stitching program of the main function shown in the 20C to 24C; And
Figure 25 A shows the flow chart of Figure 20 A according to an embodiment of the invention to the trace routine of the main operation flow process shown in the 20C to 25B.
The specific embodiment
An embodiment according to surgical instruments 11 of the present invention is shown among Fig. 3 to 7.Referring to Fig. 3 and 4, show a surgical instruments 11, for example clamp, cut and the embodiment of suture instruments.In this embodiment, surgical instruments 11 comprises a parallel gripping mechanism that separates, and second clamp 50 of this gripping mechanism is relative with first clamp 80.The first end 50a of second clamp 50 mechanically is coupled to the first end 80a of first clamp 80.Relative clamp 50 and 80 is keeping parallelism relative to each other.Selectively, relative clamp 50 and 80 can similar shears mode and folding, wherein, the first end 50a of second clamp 50 and the first end 80a of first clamp 80 are by hinge or other rotatable and mechanically be connected, thereby first clamp 80 rotatably is coupled to second clamp 50.
Fig. 3 shows the surgical instruments 11 that is shown in an open position, and wherein, second clamp 50 and first clamp 80 contact with each other at its first end 50a and 80a.First clamp 80 and second clamp 50 can keep in the fore-and-aft plane of X shown in Figure 3 and Y-axis qualification and move.Side at first clamp 80 is equipped with a gear housing 255.Gear housing 255 comprises first drive seat 180 that is connected on first driver 150,, is and schematically shows for for the purpose of clear at this.First driver 150 is connected to the first end 50a of second clamp 50, with open and close first clamp 80 and second clamp 50.In addition, gear housing 255 also comprises one second drive seat 310.
Fig. 4 shows the surgical instruments that is in the close position.In make position, second clamp 50 and first clamp 80 its first end 50a and 80a with and the second end 50b and 80b all contact each other.In make position, with one section tissue holder between second clamp 50 and first clamp 80.
Fig. 5 and 6 also shows the surgical instruments 11 that is in the close position.Second drive seat 310 that Fig. 5 and 6 schematically shows gear housing 255 is coupled on second driver 261.Second driver 261 is coupled on the surgical operation element 262.This surgical operation element 262 can comprise a cutting and suturing assembly 262, and certainly, the surgical operation element of other types also can.
Fig. 7 is the vertical view of the surgical instruments 11 shown in Fig. 3 to 6.Fig. 7 illustrates this surgical instruments 11 and removably or for good and all is connected on the electromechanical actuators parts 610.Surgical instruments 11 shown in Fig. 7 comprises first driver 150, by first drive seat 180, is connected to by first driving shaft 630 on first motor 680 of device 610.When first driver 150 engages with device 610, can operate first clamp, 80 relative second clamp, 50 open and closes.In addition, the surgical instruments 11 shown in Fig. 7 comprises second driver 261, by second drive seat 310, is connected to by second driving shaft 632 on second motor 676 of device 610.When second driver 261 engages with device 610, can operate driving cutting and suturing assembly 262.As shown in Figure 7, first drive seat 180 and second drive seat 310 are arranged on the surgical instruments 11, thereby first driving shaft 630 and second driving shaft 632 promptly, are connected to perpendicular to X-Y plane shown in Figure 3 on the surgical instruments 11 with an angle.That is to say that first driving shaft 630 and second driving shaft 632 are connected on the surgical instruments 11 in Z-direction shown in Figure 7.
Fig. 8 A is the decomposition view of surgical instruments 11 according to an embodiment of the invention, and Fig. 9 A is the axonometric chart of the surgical instruments 11 after the assembling.According to this embodiment, second clamp 50 comprises an anvil block 505, and this anvil block is connected to anvil block as rivet and loads on the part 509 by securing member 527.Comprise a vertically disposed internal thread hole 5051 on the top 5052 of this anvil block 505.In addition, this anvil block 505 also comprises the stitch guide structure 5053 of a plurality of zone 5054 parallel arrangements along anvil block 505, and this stitch guide structure is relative with first clamp.Edge bearing 520 is arranged between a plurality of stitch guide structures 5053.
The connector 511 of quick connection is installed on gear housing 255, and applies bias voltage by a sleeve spring 538.This gear housing 255 comprises one first drive seat 180 and one second drive seat 310.In this embodiment, this first drive seat 180 comprises the first pinion 508a, and an end 5081 of this pinion extends by the perforate 2551 of gear housing 255, and the other end 5082 of pinion comprises the commutating tooth gear teeth 5083.Second drive seat 310 comprises the second pinion 508b, and an end 5084 of this second pinion extends by second perforate 2552 of gear housing 255, and the other end 5085 of this second pinion comprises the commutating tooth gear teeth 5086.Memory module 501 is arranged in the gear housing 255 and comprises an adapter 2554, and it can extend through or can be near the perforate 2553 of gear housing 255.Memory module 501 remains on the appropriate location in the gear housing 255 by an internal gasket 530 and outer pad 531.This memory module 501 also is subjected to bias voltage by spring 539 on its position.
The first and second pinion 508a and 508b are meshed with corresponding spur gear 529a and 529b respectively.The first spur gear 529a comprises an endoporus 5293, and this endoporus non-rotatably engages with the end 5231 of the first worm screw 523a.This second spur gear 529b comprises an endoporus 5294, and this endoporus non-rotatably engages with the end 5234 of the second worm screw 523b.Shown in Fig. 8 A, hole 5293 and 5294 and end 5231 and 5234 can be square for instance.Be appreciated that this hole 5293,5294 and end 5231,5234 can be for providing the Any shape and the structure of non-rotatable joint between them.
In this embodiment, the first worm screw 523a has an end 5231, and it non-rotatably engages with the endoporus 5293 of the first spur gear 529a, and the second end 5232, and it comprises the screw thread 5233 that is provided with along circumference.This second worm screw 523b has an end 5234, and it non-rotatably engages with the endoporus 5294 of the second spur gear 529b, and second end 5235, and it comprises the screw thread 5236 that is provided with along circumference.Second end 5232 of the first worm screw 523a is arranged in the frame case 506, and the other end 5231 of worm screw 523a extends to engage with the first spur gear 529a in the gear housing 255 by the lateral through hole 5063 of frame case 506.Second end 5235 of the second worm screw 523b is arranged in the frame case 506, and the other end 5234 of worm screw 523b by the through hole on the side of frame case 506 5064 to engage with the second spur gear 529b on the gear housing 255.
In frame case 506, also be provided with worm gear 522 in addition.Worm gear 522 has the tooth 5221 that is provided with along circumference, and this tooth is meshed with the screw thread 5233 of second end 5232 of worm screw 523a.Worm gear 522 comprises an endoporus 5222, and screw rod 521 passes this hole and is provided with.This screw rod 521 has a head 5211, and head has a part 5212, and this part non-rotatably engages with the endoporus 5222 of worm gear 522.Endoporus 5222 can be complementary with the part 5212 of screw rod 521, for example can be for square.Screw rod 521 also comprises the part 5213 of head 5211, and this part is extended by hole 5351 on packing ring 537 and the backing plate 535.This screw rod 521 also can have external screw thread 5214, and it engages with the internal thread hole 5051 of anvil block 505.
In frame case 506, be provided with a worm gear 516 and a worm gear 517.Worm gear 516 and worm gear 517 are positioned at the relative both sides of worm screw 523b.Especially, worm gear 516 comprises the gear teeth 5161 that are provided with along circumference, and these gear teeth are meshed with first side of worm screw 523b, and worm gear 517 comprises the gear teeth 5171 that are provided with along circumference, and these gear teeth are meshed with second side of worm screw 523b.Worm gear 516 comprises a cylindrical projections 5162, and it passes the hole 5352 on the backing plate 535 and stretches out.Locating ring 536a engages with the groove 5163 of cylindrical projections 5162, and therefore, worm gear 516 backing plate 535 relatively rotates around its vertical center axis 5165.Worm gear 517 comprises a cylindrical projections 5172, and it passes the hole 5353 on the backing plate 535 and stretches out.Locating ring 536b engages with groove 5173 on the cylindrical projections 5172, so as to make worm gear 517 relatively backing plate 535 rotate around its vertical center axis 5175.
The threaded screw rod 504 of external belt passes the internal thread hole 5164 of worm gear 516 and is provided with.The threaded worm screw 503 of external belt passes the internal thread hole 5174 of worm gear 517 and is provided with.Because worm gear 516 is positioned at and is engaged in the relative both sides of worm screw 523b with 517, so, worm gear 516 and 517 internal thread hole 5164 and 5174, and external threaded 504 and 503 can be set to opposite screw thread each other.In an illustrated embodiment, the internal thread hole 5164 of worm gear 516 is right-handed thread also, and with the right-handed thread engagement of screw rod 504, the internal thread hole 5174 of worm gear 517 is left hand thread also, is meshed with the left hand thread of screw rod 503.Screw rod 503 and 504 all is fixedly connected to the end face 5021 of thrust plate 502.This thrust plate 502 is between the relative both sides of case frame 506.
Stitch supporting plate 540 is connected on the following parallel edges 5066 of frame case 506, perhaps is connected to the lower surface of stitch seat 513.The structure of stitch supporting plate 540 is arranged to cover the bottom surface of stitch seat 513, so that stitch 528 remains in the stitch seat 513, and can prevent that exterior materials enters when this surgical instruments 11 of transportation from the groove 5132 of stitch seat 513.Stitch supporting plate 540 also has a through hole 5401, and this through hole has limit 5402 taper or the inclined-plane.This stitch supporting plate 540 also has one and grasps position 5403, and this structure is available for users to grasp.
Be used for holding an end 5181 of pin 518 with the hole 5133 of the adjacent stitch seat 513 of an end 5134 of stitch seat 513.This end 5181 of pin 518 is tapers, thereby can be placed on the tapered edges 5402 of through hole 5401 of stitch supporting plate 540.In this embodiment, pin 518 remains on vertical substantially position, so that perpendicular with stitch seat 513.The opposite end 5184 of this pin 518 comprises an endoporus 5183 that is arranged on the center, to admit a spring 524.In addition, be provided with a lever 5182 at these end 5184 places of pin 518, this lever vertically is connected to pin 518.When with stitch seat 540 when surgical instruments 11 is taken out, spring 524 is biased into the end 5181 of pin 518 in the hole 5057 of anvil block 505.
Storehouse medicated cap 515 for example is connected by welding on the end 5067 of frame case 506.The latch 5151 of storehouse medicated cap 515 and 5152 engages with the groove 5068 of case frame 506.Storehouse medicated cap 515 comprises that also is arranged on an inner hole 5154, and this hole is used for ccontaining pin 518.The hole 5154 of storehouse medicated cap 515 comprises a groove that is communicated with it 5153, and this groove 5153 is formed for guiding the lever 5182 of pin 518.In this embodiment, does not extend by the end face 5155 of storehouse medicated cap 515 in the inner hole 5154 that is arranged on of storehouse medicated cap 515; But being remained on, spring 524 is arranged in the inner hole 5154.The biasing force of spring 524 is shifted the end 5181 of pin 518 onto in the hole 5133 of stitch seat 513, and the location of guaranteeing stitch seat 513, thereby groove 5132 can align with the tooth 5143 of the downward setting of stitch thrust piece 514 and with the stitch guide structure 5053 of anvil block 505.Storehouse medicated cap 515 also remains on the position by snap close 526, and this snap close is pivotally connected on the case frame 506 by securing member 507.Case top 510 is arranged between the relative both sides 5062 and 5065 of case frame 506, with the assembly in the protection case frame 506.
Comprise a thin planar stitch supporting plate 540 among the embodiment shown in Fig. 8 A.When surgical instruments remains on make position at first, the structure of this stitch supporting plate 540 is fit to stitch 528 is remained in the stitch seat 513, for example, when surgical instruments 11 being transported at first the user when locating, first clamp 80 and the relative contact both sides of second clamp 50 at stitch localizer 540.This structure of stitch supporting plate 540 can guarantee that in transportation, stitch 528 is positioned at stitch seat 513, and can prevent the damage of the stitch guide structure 5053 of the damage of stitch 528 and anvil block 505.Yet according to another embodiment of the present invention, this surgical instruments 11 also can promptly be shown in an open position at first.Fig. 8 B illustrates the decomposition view of surgical instruments 11 according to an embodiment of the invention, and Fig. 9 B shows the axonometric chart after 11 assemblings of the surgical instruments shown in Fig. 8 B.More definitely, the structure of the stitch supporting plate 525 shown in Fig. 8 B can make this surgical instruments 11 initially promptly remain on open position, and for example, when surgical instruments 11 was transported to the user, first clamp 80 and second clamp 50 were isolating.
Shown in Fig. 8 B, stitch supporting plate 525 is connected to by joint 5251 on the limit 5066 of lower parallel of frame case 506, thereby stitch 528 can be remained in the stitch seat 513, to prevent in transportation the damage of the stitch guide structure 5053 of the damage of stitch 528 and anvil block 505.This stitch supporting plate 525 comprises a pair of guide structure 5254 along side 5253a and 5253b setting, and this guide structure extends downwards.Guide structure 5254 contacts with the outside 5056 of anvil block 505, thereby when transportation and processing procedure, can fix first clamp 80, for example, and the case frame 506 of the surgical device 11 that parallels with second clamp 50 etc.Therefore, this guide structure 5254 can prevent to be shown in an open position at transportation first clamp 80 and second clamp 50 surgical instruments 11 time first clamp 80 that takes place and second clamp 50 situation about can not align.
Should be appreciated that Fig. 3 is to being stitching and the cutting element that male contact type is arranged according to having comprised in the embodiments of the invention shown in the 9B, in another embodiment, sew up and cutting element also can move between the near-end of this surgical instruments 11 and far-end.For example, in an alternate embodiments of this surgical instruments 11, comprise the gear that is connected with cutting element with stitch, this gear moves between the near-end of this surgical instruments 11 and far-end, this gear for example is driven with the perpendicular driving shaft that is connected of first clamp 80 and the plane of movement of second clamp 50 by non-parallel connection.
According to one embodiment of present invention, this surgical instruments 11 can be used as a motor machine Surgery Systems, the adnexa of electromechanical actuators parts 610 for example, perhaps also can with its formation one.In another embodiment, this surgical instruments also can be used as the adnexa of a mechanical actuation device, or with its formation one.
Fig. 2 shows the axonometric chart according to electromechanical actuators parts 610 of the present invention.The embodiment of this electromechanical actuators parts has description in following document, for example: U.S. Patent application the 09/723rd, No. 715, No. the 09/836.781st, U.S. Patent application and U.S. Patent application the 09/887th, No. 789, above-mentioned each document all clearly is incorporated by reference thereto on the whole.Electromechanical actuators parts 610 can comprise that for example, remote power console 612, this remote power console comprise a housing 614 with front panel 615.A display device 616 and indicator 618a, 618b are installed on this front panel 615.Be extended with flexible axle 620 from housing 614, by first jointer 622, this flexible axle can be detachably connected on the front panel.The far-end 624 of this flexible axle 620 can comprise one second jointer 626, be suitable for removably will, for example above-mentioned surgical instruments 11 is connected to the far-end 624 of flexible axle 620.This second jointer 626 can be suitable for removably being connected with different surgical instrumenties or adnexa.In another embodiment, the far-end 624 of flexible axle 620 also can be fixedly connected on the surgical instruments, or forms one with surgical instruments.
Referring to Figure 10, this figure is the side view of the band partial cutaway of flexible axle 620.According to an embodiment, this flexible axle 620 comprises a tubular housing 628, this housing comprises a coating (coating) or other sealing setting, so that form fluid-tight (fluid-tight seal) between portion's pipeline 640 and the external environment within it.Shell 628 can be made by the compatible mutually germ-resistant elastomeric material of energy of a kind of and physiological tissue.This shell 628 also can be made by the material of autoclavable.First rotating driveshaft 630, second rotating driveshaft 632, first handles cable 634, the second manipulation cable 635, the 3rd manipulation cable 636, the 4th manipulation cable 637 and data transmission cable 638 can be arranged in the internal pipeline of flexible axle 620, and extends along its whole length.Figure 11 illustrates the cross-sectional view of the flexible axle 620 of the line 11-11 intercepting in Figure 10, and shows each cable 630,632,634,635,636,637,638.Each far-end of handling cable 634,635,636,637 is attached to the far-end 624 of flexible axle 620.In the shell that each cable 630,632,634,635,636,637,638 can remain on separately.
First rotating driveshaft 630 and second rotating driveshaft 632 can form the driving shaft that for example has highly flexible, for example, and driving shaft establishment or spiral helicine.The drive cable that is appreciated that this highly flexible may have limited torque transfer characteristic and ability.Be appreciated that equally also the surgical instruments 11 or other adnexaes that are connected on the flexible axle 620 need be than importing by the bigger moment of torsion of driving shaft 630,632 moments of torsion that transmitted.Therefore driving shaft 630,632 can be to transmit lower moment of torsion at a high speed, by geared system can with at a high speed/low torque axis is changed to low speed/high moment of torsion, and this geared system can be arranged on the far-end and/or the near-end of the flexible axle 620 on surgical instruments or adnexa and/or the remote power console 612.It will be appreciated, of course, that this geared system can be arranged on along dynamofluidal any position, this power transmission chain is at the motor on the housing 614 and be connected between the surgical instruments or other adnexaes on the flexible axle 620.This gear can comprise, for example, and spur gear means, epicyclic gearing, harmonic gear drive, cycloid driving device, epicyclic gear arrangement (epicyclicgear) etc.
Referring now to shown in Figure 12,, this figure is the rear end view of first jointer 622.First jointer 622 comprises 648, one the 3rd connectors 652 of 644, one second connectors of one first connector and one the 4th connector 656, and each connector all is rotatably fixed on first jointer 622.Each connector 644,648,652,656 comprises groove 646,650,654,658 separately.As shown in figure 12, each groove 646,650,654,658 can be hexagonal shape.Yet, can know, this groove 646,650,654,658 also can be shape and structure arbitrarily, non-rotatably engages and connector 644,648,652,656 is rigidly connected on the corresponding driving axle that is fixed on the electronic device in the housing 612 as long as be suitable for.Can know, on the corresponding driving axle of electronic device, also be provided with complementary projection, thereby can drive the driving element of flexible axle 620.Can also know equally, also can on connector 644,648,652,656, complementary projection be set on the driving shaft groove being set.Any other connecting device also can be set, as long as it can be non-rotatably and releasably is connected on connector 644,648,652,656 and the electronic device driving shaft.
One in the connector 644,648,652,656 non-rotatably is fixed on first driving shaft 630, and in the connector 644,648,652,656 another non-rotatably is fixed on second driving shaft 632.Two of in the connector 644,648,652,656 all the other engage with conveying element, and this conveying element is used for applying pulling force to handling cable 634,635,636,637, therefore can handle the far-end 624 of flexible axle 620.Data transmit cable 638 and are connected with logic with data connector 660 electrical connections.Data connector 660 comprises that for example electric contact 662, and this electric contact is corresponding with each electric wire in the data cable 638, and quantity also equates.First jointer 622 comprises a bond structure 642, so that first jointer 622 is correctly navigated on the complimentary engagement apparatus that is complementary that is arranged on the housing 612.This bond structure 642 can be arranged on first jointer 622 and the housing 612 in the complimentary engagement apparatus that is complementary that is provided with on any one, or is provided with this key member on both.First jointer 622 can comprise the connector of a quick connecting-type, and this connector just can join first jointer 622 on the housing 612 to by simple racking.With arbitrary connector 644,648,652,656,660, also be provided with sealing member, so that can between the inside of first jointer 622 and external environment, provide fluid-tight.
Referring to Figure 13, be the front end view of second jointer 626 of flexible axle 620.In this embodiment, second jointer 626 comprises one first connector 666 and one second connector 668, each all is fixed on second jointer 626 rotatably, and each all non-rotatably is fixed to corresponding one far-end in first and second driving shafts 630,632.Quick-connect type fitting 664 is arranged on second jointer 626, so that apparatus 11 is detachably fixed on it.This quick-connect type fitting 664 can be for example, to rotate quick-connect type fitting, bayonet socket (bayonet) connecting-type joint etc.Bond structure 674 is arranged on second jointer 626, is used for this apparatus 11 is correctly aligned with this second jointer 626.This bond structure or other can be arranged on other devices that this apparatus 11 and this flexible axle 620 correctly align in second jointer 626 and the apparatus 11 on any one, perhaps all are provided with on both.In addition, this quick-connect type fitting also can be arranged on the apparatus 11, and conduct connects jointer 511 fast shown in Fig. 8 A.Also be provided with the data connector 670 that has electric contact 672 on second jointer 626.Similar to the data connector 660 of first jointer 622, the data connector 670 of second jointer 626 comprises with each lead of data transmission cable 638 and is electrically connected the contact 672 that is connected with logic and the contact 662 of data connector 660.Also be provided with sealing member with connector 666,668,670, so that between the inside of second jointer 626 and external environment, provide fluid-tight.
The electromechanical actuators element is arranged on housing 614 inside of remote power console 612, be used to drive driving shaft 630,632 and handle cable 634,635,636,637, thus surgical instruments 11 work that make these electromechanical actuators parts 610 and be connected with second jointer 626.In the embodiment shown in fig. 14, be provided with five motor 676,680,684,690,696 in the remote power console 612, each motor all comes work by a power supply that can be arranged in this distal power control station.Yet, can know, the motor of any suitable number also can be set, and motor can wait also and carries out work by battery feed, line current, dc source and Electronic Control dc source.Should expect that equally this motor also can be connected on the DC power supply, this DC power supply is connected to again on the line current in turn, and like this, this line current is supplied with the operating current of motor.
Figure 14 schematically shows a kind of possible layout of motor.The output shaft 678 of first motor 676 engages with first connector 644 of first jointer 622, at this moment, first jointer 622, and then, flexible axle 620 engages with housing 614, to drive first connector 666 of first driving shaft 630 and second jointer 626.Similarly, the output shaft 682 of second motor 680 engages with second connector 648 of first jointer 622, first jointer 622, and then flexible axle 620 at this moment engages with housing 614, thereby drives second connector 668 of second driving shaft 632 and second jointer 626.The output shaft 686 of three-motor 684 engages with the 3rd adapter 652 of first jointer 622, this moment first jointer 622, and then, thereby flexible axle 620 engages with housing 614 and can drive the first and second manipulation cables 634,635 by first pulley gear 688.The output shaft 692 of the 4th motor 690 engages with the 4th adapter 656 of first jointer 622, this moment first jointer 622, and then flexible axle 620 engages with housing 614, handles cable 636,637 thereby can drive third and fourth by second pulley gear 694.This third and fourth motor 684,690 can be fixed on the carriage 1100, this carriage can optionally move between the primary importance and the second position by the output shaft 698 of the 5th motor 696, optionally to engage with third and fourth motor 684,690 and to throw off, and this third and fourth motor connects together with corresponding pulley gear 688,694, strains also and can control or become soft thereby make flexible axle 620 to become as required.Should expect that other machinery, electricity and/or dynamo-electric mechanism etc. all can be used to optionally engage with this handle structure or throw off.As an example, motor can be as U.S. Patent application the 09/510th, arrange described in No. 923 and have a described structure, its title is " being used to control the carriage assembly of handling heart yearn mechanism in the flexible axle ", and its whole content is hereby expressly incorporated by reference clearly.
Can know, in the motor 676,680,684,690,696 any one or a plurality ofly can be, for example, at a high speed/low torque motor, low speed/high torque motor etc.As already pointed out, first rotating driveshaft 630 and second rotating driveshaft 632 can dispose and be used for transmitting at a high speed and low moment of torsion.Like this, first motor 676 and second motor 680 can be configured at a high speed/hang down the motor of moment of torsion.Selectively, first motor 676 and second motor 680 also can be configured to low speed/high torque motor, and are provided with one between in first motor 676 and second motor 680 and corresponding first rotating driveshaft 630 and second rotating driveshaft 632 one and subtract moment of torsion/speedup gear system.This subtracts moment of torsion/speedup gear system and can comprise, for example, and spur gear means, epicyclic gearing, harmonic gear drive, cycloid driving device, epicyclic gear arrangement etc.Can know that any this geared system all can be arranged in the remote power console 612 or the near-end of flexible axle 620, for example is arranged in first jointer 622.Can know that geared system can be arranged on the far-end and/or the near-end of first rotating driveshaft 630 and/or second rotating driveshaft 632, to prevent its distortion (windup) and to damage.
Referring to shown in Figure 15, be the sketch map of electromechanical actuators parts 610.Controller 1122 is arranged on the housing 614 of remote power console 612, and configuration is used for controlling electromechanical actuators parts 610 and linear clamping, cutting and suture instruments 11 or other surgical instrumenties or is connected to all functions and the operation of the adnexa on the flexible axle 620.Also be provided with a memory element 1130, this memory element can comprise storage arrangement, for example, and ROM element 1132, RAM element 1134 etc.ROM element 1132 is electrically connected with controller 1122 by line 1136 and is connected with logic, and RAM element 1134 is electrically connected with controller 1122 by line 1138 and is connected with logic.RAM element 1134 can comprise the random access memory of any type, for example magnetic memory, optical memory, magneto-optic memory, electronic memory etc.Similarly, ROM element 1132 also can comprise the read only memory of any type, for example, and removable memory, for example PC card or PCMCIA type equipment etc.Can know that ROM element 1132 and RAM element 1134 can be configured to an one unit, perhaps can form unit separately, and ROM element 1132 and/or RAM element 1134 also can be set to PC card or PCMCIA type equipment.
According to embodiments of the invention, first encoder 1106 can be arranged in second jointer 626, and its structure can be configured to the rotation that can respond first driving shaft 630, and exports a signal according to this rotation.Second encoder 1108 also is arranged in second jointer 626, and is configured to respond the rotation of second driving shaft 632, and exports a signal according to this rotation.The signal of each encoder 1106,1108 output can be expressed the position of rotation and the direction of rotation thereof of each driving shaft 630,632.This encoder 1106,1108 can comprise, for example, and Hall effect device, optics etc.Although encoder 1106,1108 is described to be arranged in second jointer 626, be appreciated that this encoder 1106,1108 also can be arranged on any position between electric motor system and this surgical instruments 11.Should expect, be arranged on encoder 1106,1108 in second jointer 626 or be arranged on the far-end of flexible axle 620, can obtain the accurate determination data of this driving shaft rotation.If encoder 1106,1108 is arranged on the near-end of flexible axle 620, then the distortion of first and second rotating driveshafts 630,632 may cause measuring mistake.
Figure 16 is the sketch map of encoder 1106,1108, and this encoder comprises a Hall effect device.Magnet 1240 with the arctic 1242 and South Pole 1244 non-rotatably is installed on the driving shaft 630,632.This encoder 1106,1108 also comprises a first sensor 1246 and one second pick off 1248, and these two pick offs separate with approximate 90 ° with respect to the vertical or rotation axis of driving shaft 630,632.The output of pick off 1246,1248 continues, and changes its state along with the change in polarity in residing magnetic field in the detection range of this pick off.Therefore, according to the output signal of encoder 1106,1108, the position, angle of driving shaft 630,632 can be defined in the scope of quadrant, thereby can measure the direction of rotation of driving shaft 630,632.The output signal of each encoder 1106,1108 is sent to controller 1122 by the respective lines 1110,1112 of data transmission cable 638.Controller 1122 is by the angular coordinate and the direction of rotation of the entrained driving shaft 630,632 of the output signal of following the tracks of encoder 1106,1108, thereby can determine position component and/or the state that is connected to the surgical instruments on the electromechanical actuators parts 610.That is to say that by calculating the revolution of this driving shaft 630,632, this controller 1122 can be measured position component and/or the state that is connected to the surgical instruments on the electromechanical actuators parts 610.
For example, the forward travel distance between first clamp 80 and second clamp 50 and this push pedal 502 is the function of the rotation situation of each driving shaft 630,632, and rotation situation that can each driving shaft is determined.By in time determining that second clamp 50 and push pedal 502 are in certain absolute position on a bit, any time the absolute position of first clamp 80 and push pedal 502 can utilize based on second clamp 50 of the output signal of encoder 1106,1108 and the relative displacement of push pedal 502 after this, and the known spiral shell square of screw rod 521 and screw rod 503,504 is determined push pedal.When this surgical instruments 11 at first was connected on the flexible axle 620, the absolute position of this second clamp 50 and push pedal 502 can be fixed and be confirmable.Selectively, this second clamp 50 and push pedal 502 with respect to, for example, the position of first clamp 80 can be measured according to the output signal of encoder 1106,1108.
This surgical instruments 11 can further comprise a data connector 1272, and shown in Fig. 8 A, the size of this data connector and structure are suitable for being electrically connected with logic and are connected on the connector 670 of second jointer 626.In this embodiment, data connector 1272 comprises the contact that equates with the quantity of the lead 672 of connector 670.Memory module 501 is electrically connected with data connector 1272 and is connected with logic.Memory module 501 can be following form, for example EEPROM, EPROM etc., and can be loaded into, for example, in second clamp 50 of surgical instruments 11.
Figure 17 has schematically illustrated memory module 501.As shown in figure 17, data connector 1272 comprises contact 1276, and each this contact all is electrically connected by corresponding circuit 1278 and logic is connected on the memory module 501.These memory module 501 configurable being used for are stored, for example, and serial number data 1180, type of attachment identifier (ID) data 1182 and use data (usage data) 1184.This memory module 501 also can be stored other data in addition.Serial number data 1180 and ID data 1182 all can be set to read-only data.This serial number data 1180 and/ID data 1182 can be stored in the read-only region of memory module 501.In this embodiment, serial number data 1180 can be the data that only are used for discerning specific surgical instruments, and these ID data 1182 can be the data that are used for discerning type of attachment, and this adnexa can be, for example, be connected to the surgical instruments or the adnexa of the other types in the system 610.Use the use of data 1184 expression particular attachment, for example, the number of times of first clamp, 80 open and closes of surgical instruments 11, the perhaps progressive number of times of the push pedal of surgical instruments 11.These use data 1184 can be stored in the read/write district in the memory module 501.
Should expect that be connected to the adnexa on the far-end 624 of flexible axle 620, for example surgical instruments 11 can design and be configured to only can use once, maybe can use repeatedly.This adnexa also can be designed and be configured to use predetermined times.Correspondingly, these use data 1184 can be used for determining whether this surgical instruments 11 is used, and whether access times have surpassed predetermined maximum access times.As described in more detail below, if after the maximum times that allows to use reaching, still attempt to use this adnexa, can produce a kind of " makeing mistakes " state so.
Please referring again to shown in Figure 15, when surgical instruments 11 was connected on the flexible axle 620 at first, this controller 1122 was configured to read ID data 1182 from the memory module 501 of surgical instruments 11.The circuit 1120 of this memory module 501 by data transmission cable 638 is electrically connected and logic is connected on the controller 1122.According to the ID data 1182 that read, this controller 1122 is provided with and is used for reading or select and be connected to the surgical instruments on this flexible axle 620 or the corresponding operation sequence exclusive disjunction of the type rule of adnexa from memory cell 1130.But these memory cell 1130 configurations are used for storing the surgical instruments or the used operation sequence exclusive disjunction rule of adnexa of various use patterns, the ID data that this controller 1122 reads according to the memory module 501 from the surgical instruments that connects or adnexa, and from memory cell 1130, select and/or read working procedure exclusive disjunction rule.As mentioned above, this memory cell 1130 comprises movably a ROM element 1132 and/or a RAM element 1134.Like this, can as required the operation sequence exclusive disjunction rule that is stored in the memory cell 1130 be upgraded, add, delete, improve or other modification.The operation sequence exclusive disjunction rule that is stored in the memory cell 1130 can basis, for example, and user's specific demand and custom-made.Data input device, for example, keyboard, mouse, pointing device, touch screen etc. can be connected to memory cell 1130 by for example data connectivity port, so that the customization of operation sequence exclusive disjunction rule is more prone to.Selectively or additionally, this operation sequence exclusive disjunction rule can customize and be organized in advance in the memory cell 1130 away from electromechanical actuators parts 610.Should expect, this serial number data 1180 and/or use data 1184 also to can be used to determine from this memory cell 1130, to read or selected a plurality of operation sequence exclusive disjunction rules in which.Can recognize that as selection, this working procedure exclusive disjunction rule also can be stored in the memory module 501 of surgical instruments 11, and is transferred in the controller 1122 by data transmission cable 638.In case suitable operation sequence exclusive disjunction method controlled device 1122 reads or selected or be sent to this controller, then this controller 1122 will according to the user by wired RCU 1150 and/operation that wireless RCU1148 carries out begins to carry out this operation sequence exclusive disjunction rule.As mentioned above, this controller 1122 is electrically connected by corresponding circuit 1116,1118,1124,1126,1128 and logic is connected on the first, second, third, fourth, the 5th motor 676,680,684,690,696, and configuration is used for controlling this motor 676,680,684,690,696 according to this operation sequence exclusive disjunction rule that reads by each circuit 1116,1118,1124,1126,1128, selectes or transmit.
Now, be the sketch map of wireless RCU 1148 referring to shown in Figure 180.Wireless RCU comprises a steering controller 1300, and it has a plurality of switches 1302,1304,1306,1308 that are arranged under the four-way rocker (four-wayrocker) 1310.By rocker 1310, switch 1302,1304 work, and pass through the work that cables 634,635 are handled in three-motor 684 controls first and second.Similarly, by rocker 1310, switch 1306,1308 work, and pass through the work that cable 636,637 is handled in 392 controls third and fourth of the 4th motor.Can know, the setting of this rocker 1310 and switch 1302,1304,1306,1308 can make the work of switch 1302,1304 to handle flexible axle 620 in North and South direction, and the work of switch 1306,1308 can be handled flexible axle 620 on east-west direction.In this north and south, thing according to a relative coordinate system and fixed.Selectively, digital joystick also can be set, analog joystick waits and replaces rocker 1310 and switch 1302,1304,1306,1308.Also can use the actuator of potentiometer or any other type to replace rocker 1310 and switch 1302,1304,1306,1308.
According to each position component that is connected to the apparatus on the flexible axle 620 (this position is to determine according to the output signal of encoder 1106,1108), controller 1122 can according to the qualification of the corresponding operation sequence exclusive disjunction of the apparatus that is connected rule, these electromechanical actuators parts 610 are worked or inoperative.For example, unavailable by the startup function that the operation of switch 1320 is controlled for surgical instruments 11, unless space or gap between second clamp 50 and first clamp 80 are determined within the acceptable range.
Now see also Figure 19, this figure is the sketch map of wired RCU 1150.In this embodiment, wired RCU 1150 comprises and wireless RCU 1148 essentially identical control elements, therefore will be omitted further describing of these elements.Similar element is represented with additional subscript at Figure 19.Should expect that electromechanical actuators parts 610 and the adnexa that is connected on the flexible axle 620 can be controlled by wired RCU 1150 and/or wireless RCU 1148 as the function of surgical instruments 11.As an example, under the situation of the battery failure of wireless RCU 1148, wired RCU 1150 can be used to the function controlling electromechanical actuators parts 610 and be connected to the adnexa on the flexible axle 620.
As mentioned above, the front panel 615 of housing 614 comprises display device 616 and indicator 618a, 618b.This display device 616 can comprise an alphanumeric display (alpha-numeric display) device, for example LCD display device.This display device 616 also can comprise an audio output device, for example, and speaker, buzzer etc.These display device 616 bases and the adnexa that is connected on the flexible axle 620, for example surgical instruments 11 corresponding operation sequence exclusive disjunction rules are moved with controlled by controller 1122.If do not have surgical instruments or adnexa to be connected like this, so default operation sequence exclusive disjunction rule may controlled device 1122 read or select or be transferred to this controller, with the work of control display device 616, and other aspects and the function of electromechanical actuators parts 610.If surgical instruments 11 has been connected on the flexible axle 620, then display device 616 can show, for example, the data according to the gap between determined expression second clamp 50 of the output signal of encoder 1106,1108 and first clamp 80 above are described to this.
Similarly, indicator 618a, 618b can according to the adnexa 11 that is connected on the flexible axle 620, for example surgical instruments 11 corresponding operation sequence exclusive disjunction rules are moved with controlled by controller 1122.Indicator 618a and/or indicator 618b can comprise an audio output device, and for example, speaker, buzzer etc., and/or a visual detector device are as LED, lamp (lamp), optical window (light) etc.If surgical instruments 11 is connected on the flexible axle 620, indicator 618a can indicate, for example, electromechanical actuators parts 610 are positioned at "open" state, and indicator 618b can indicate, for example, whether the gap between second clamp 50 and first clamp 80 is in the receptible scope.Can recognize,, the indicator of any amount can be set additionally in case of necessity although only described two indicator 618a, 618b.In addition, also should expect,, the display of required any amount can be set additionally in case of necessity although only described a single display 616.
The display 616 of wired RCU 1150 ' and indicator 618a ', 618b ', and the display 616 of wireless RCU 1148 " and indicator 618a ", 618b " by corresponding controller 1322,1322 ', similarly move and control according to the operation sequence exclusive disjunction rule that is connected to the apparatus on the flexible axle 620.
As mentioned above, surgical instruments 11 can dispose and be used for clamping, cuts and fixing part tissue.Below with reference to the canceration of patient's intestinal portion tissue or the excision of unusual part, the operation of apparatus 11 is described, and this only is to use one type tissue that surgical instruments 11 carries out and one type surgical operation.Normally, during operation, after canceration in gastrointestinal tract or abnormal structure were positioned, the abdominal part of at first opening patient was to expose intestinal portion.According to the long-range action that electromechanical actuators parts 610 are provided with, first and second clamps 50,80 of this surgical instruments 11 are advanced to the position of opening by first driver.As mentioned above, this surgical instruments can remain on open position at the very start, therefore just no longer needs at first this surgical instruments 11 to be advanced to open position.The intestinal tube of next-door neighbour's cancerous issue one side is placed between first clamp of opening 80 and second clamp 50.By long-range action, this first driver engages in the other direction, and first clamp 80 and second clamp 50 are close, clamp the intestinal tissue between the two.In case when intestinal was firmly clamped, second driver engaged, this makes push pedal (above stitch thrust piece and cutter are installed) mobile between primary importance shown in Figure 5 and the second position shown in Figure 6, thereby can cut and sew up this intestinal.Then, engage second driver in the other direction, make stitch thrust piece and cutter get back to primary importance shown in Figure 5, first driver engages then, gets back to the position of opening with first clamp 80 and second clamp 50 that drive this surgical instruments 11.Opposite side in cancerous issue repeats these steps, thereby can excise the intestinal tissue with cancerous issue, and the two ends of this intestinal tissue are all pinned, flows in the abdominal part of opening to avoid enteral prods.
More properly, according to embodiments of the invention, this surgical instruments 11 is connected on the adnexa jointer 626 of electromechanical actuators parts 610, thereby first drive seat 180 engages with first driving shaft 630 of electromechanical actuators parts 610, and second drive hole 310 engages with second driving shaft 632 of electromechanical actuators parts 610.Pinion 508a rotates by the rotation of first drive seat 180, rotates and the rotation of first drive seat is the rotation of the corresponding driving axle 630 by electromechanical actuators parts 610.Pinion 508a clockwise or be rotated counterclockwise the direction of rotation that depends on motor 680.Pinion 508b rotates by the rotation of second drive seat 310, rotates and the rotation of second drive seat is the rotation of the corresponding driving axle 632 by electromechanical actuators parts 610.Pinion 508b clockwise or be rotated counterclockwise the direction of rotation that depends on motor 676.
When this surgical instruments 11 was in as shown in Figure 4 first closure position, 680 operations of first motor were so that make this surgical instruments place open position.Especially, start and first driving shaft, 630 corresponding first motor 680, and this first driving shaft engages with first drive seat 180, thereby, can make pinion 508a in first rotation direction, for example, counterclockwise rotate.Because the gear teeth 5083 along the circumference setting of pinion 508a are meshed with the gear teeth 5291 along the circumference setting of spur gear 529a, so the rotation of pinion 508a makes this spur gear in first rotation direction, for example clockwise direction rotates, and its direction of rotation with pinion 508a is opposite.The endoporus 5293 of the first spur gear 529a engages with the end 5231 of the first worm screw 523a, therefore makes win worm screw 523a edge and the identical direction of the first spur gear 529a, i.e. clockwise direction rotation.The screw thread 5233 of worm screw 523a is meshed with the gear teeth 5221 of worm gear 522, therefore makes worm gear 522 with first rotation direction, for example (from top-direction) rotation counterclockwise.The endoporus 5222 of worm gear 522 engages with the part 5212 of the head 5211 of screw rod 521, thereby, make screw rod 521 in first rotation direction, for example (from top-direction) rotation counterclockwise.The threaded engagement of the external screw thread 5214 of screw rod 521 and the internal thread hole 5051 of anvil block 505, thus make anvil block 505 in a downward direction, that is, move away from the direction of frame case 506.Like this, this second clamp 50 is opened in a continuous manner.In an illustrated embodiment, second clamp and first clamp 80 are for example opened in a plane in the mode of parallel alignment, and beginning separates with first clamp 80.Motor moves continuously in this mode, finally makes this surgical instruments 11 be in a state of opening, and as shown in Figure 3, has a space between first clamp 80 and second clamp 50.
Next, the lower parallel edge 5066 of frame case 506 will be connected to, or the stitch supporting plate 540 that is connected to the lower surface of stitch seat 513 is removed.According to an embodiment, the stitch seat is configured to the end 5181 of pin 518 be pulled out the through hole 5401 of stitch supporting plate 540 by the lever 5182 that upwards draws pin 518.That can catch stitch supporting plate 540 grasps position 5403, thereby stitch supporting plate 540 can be pulled away from this surgical instruments 11.Next, one section tissue is put between first clamp 80 and second clamp 50.Along with stitch seat 540 is removed from this surgical instruments 11, and this section tissue is placed between first clamp 80 and second clamp 50, the end 5181 of pin 518 is inserted in the hole 5057 of anvil block 505, and the bias voltage according to spring 524 remains on position, so that this section is organized all the time between clamp.
First motor, 680 reverse direction operations are to place make position with this surgical instruments.Particularly, begin action with first driving shaft, 630 corresponding first motor 680, and this first driving shaft engages with first drive seat 180, therefore, makes pinion 508a in second direction of rotation, rotates as clockwise direction.Because the gear teeth 5083 that along the circumferential direction are provided with of pinion 508a are meshed with the gear teeth 5291 that along the circumferential direction are provided with of spur gear 529a, the rotation of pinion 508a makes spur gear 529a in second direction, as, counterclockwise, promptly opposite with the direction of rotation of pinion 508a direction is rotated.The endoporus 5293 of the first spur gear 529a engages with the end 5231 of the first worm screw 523a, thereby the rotation of this first spur gear 529a makes win worm screw 523a edge and the identical direction of rotation of the first spur gear 529a, that is, and and rotation counterclockwise.The screw thread 5233 of this worm screw 523a is meshed with the gear teeth 5221 of worm gear 522, thereby the rotation of this first worm screw 523a makes this worm gear 522 along second direction, that is, and and clockwise direction (from the top) rotation.The endoporus 5222 of worm gear 522 engages with the part 5212 of the head 5211 of screw rod 521, and therefore, the rotation of worm gear 522 makes this screw rod 521 along second direction, i.e. clockwise direction (from the top) rotation.The external screw thread 5214 of this screw rod 521 and the threaded engagement of the internal thread hole 5051 of anvil block 505, thereby the rotation of screw rod 521 makes anvil block 505 in the upward direction, promptly the direction towards frame case 506 moves.Like this, second clamp 50 is closed in a continuous manner, and near first clamp 80.Motor moves continuously in this kind mode, makes this surgical instruments 11 be in closure state the most at last, and as shown in Figure 4, wherein, this tissue holder is held between this first clamp 80 and second clamp 50.Under this closed state, this portion of tissue that is sewn and cuts is clamped between the zone 5054 of edge 5253a that the pair of parallel of stitch seat 513 is provided with and 5253b and anvil block 505.
In order to begin this stitching and cutting process, second motor 676 begin action with push pedal 502 from first lifting position, for example retracted position moves to second down position, for example the position of Yan Shening.Particularly, begin to start with second driving shaft, 632 corresponding second motor 676.This second driving shaft 632 engages with second drive seat 310, and like this, this second driving shaft 632 as rotation counterclockwise, makes pinion 508b in first direction of rotation at first direction, i.e. rotation counterclockwise.The gear teeth 5086 along the circumference setting of this pinion 508b are meshed with the gear teeth 5292 along the circumference setting of spur gear 529b, the rotation of this pinion 508b makes this spur gear 529b along first direction, for example opposite with the direction of rotation of pinion 508b clockwise direction rotation.The endoporus 5294 of this spur gear 529b engages with the end 5234 of this second worm screw 523b, thereby, the rotation of this spur gear 529b make the second worm screw 523b along and the identical direction of rotation of the second spur gear 529b, rotate as clockwise direction.The screw thread 5236 of this worm screw 523b is meshed with the worm-gear toothing 5161 of worm gear 516, thereby the rotation of this second worm screw 523b makes this worm gear 516 along first direction, rotates as counterclockwise direction (from the top).The screw thread of the internal thread hole 5164 of this worm gear 516 and the threaded engagement of screw rod 504.Because screw rod 504 is non-rotatably to be connected in the push pedal 502, so screw rod 504 and push pedal 502 are moved in downward direction together.Simultaneously, the screw thread 5236 of worm screw 523b is meshed with the gear teeth 5171 of worm gear 517, thereby the rotation of worm screw 523b makes worm gear 517 at first rotate as clockwise direction (from the top).The screw thread of the internal thread hole 5174 of worm gear 517 and the threaded engagement of screw rod 503.Because screw rod 503 non-rotatably is connected to push pedal 502, thereby screw rod 503 moves in a downward direction with push pedal 502.Like this, push pedal 502 moves down in a continuous manner, and the stitch thrust piece 514 and the cutter 519 that are installed on the bottom surface 5022 of this push pedal 502 also move down in a continuous manner.
Along with stitch thrust piece 514 is fallen, the tooth 5143 of the downward setting of stitch thrust piece 514 passes the groove 5132 of stitch seat 513 and advances.Be arranged on the lower openings that stitch 528 in the groove 5132 of stitch seat 513 is pushed downwards out groove 5132 at first, and pass clamped tissue, touch up to the tip 5281 of stitch 528 till the stitch guide structure 5053 of corresponding anvil block 505.This stitch guide structure 5053 is crooked and closed with the tip 5281 of this stitch 528, thereby can sew up this tissue.Simultaneously, the cutter 519 that is installed on the bottom surface 5022 of push pedal 502 passes the groove 5131 of vertical setting of stitch seat 513, touches up to this cutter till the edge bearing 520 of anvil block 505, thereby can excise this clamped tissue.
After finishing stitching and excision program, second motor 676 begins action so that push pedal 502 is moved to first lifting position from second to upper/lower positions.Particularly, start with second driving shaft, 632 corresponding second motor 676, and this second driving shaft is corresponding with second drive seat 310.The rotation of second driving shaft 632 makes pinion 508b along second direction, rotates as clockwise direction.The tooth 5086 of pinion 508b is meshed with the gear teeth 5292 of spur gear 529b, so the rotation of this pinion 508b makes this spur gear 529b rotate as counter clockwise direction along second direction.The endoporus 5294 of this spur gear 529b engages with the end 5234 of the second worm screw 523b, thereby the rotation of this spur gear 529b makes this second worm screw 523b along second direction of rotation, as rotation counterclockwise.The screw thread 5236 of worm screw 523b is meshed with the gear teeth 5161 along the circumference setting of worm gear 516, thereby the rotation of this worm screw 523b makes this worm gear 516 along second direction, for example clockwise direction (from the top) rotation.The screw thread of the internal thread hole 5164 of this worm gear 516 and the engage threads of screw rod 504, because this screw rod 504 is non-rotatably to be connected in this push pedal 502, thereby screw rod 504 and push pedal 502 are together moved in the upward direction.Simultaneously, the screw thread 5236 of this worm screw 523b is meshed with the gear teeth 5171 of this worm gear 517, thereby the rotation of this worm screw 523b makes this worm gear 517 along second direction, for example (from the top) rotation counterclockwise.The screw thread of the internal thread hole 5174 of worm gear 517 and the engage threads of screw rod 503, and owing to screw rod 503 non-rotatably is connected in this push pedal 502, thereby screw rod 503 together moves in the upward direction with this push pedal 502.Like this, push pedal 502 is risen in a continuous manner, thereby the stitch thrust piece 514 and the knife 519 that are installed on the bottom surface of this push pedal 502 rise to its initial retracted position too in a continuous manner.
After finishing cutting and sewing up this tissue and make knife 519 turn back to retracted position, first motor 680 starts so that this surgical instruments is placed open position.Particularly, with first driving shaft, 630 corresponding first motor start-ups.This first driving shaft 630 engages with first drive seat 180, thereby the rotation of this first driving shaft 630 makes pinion 508a along first direction of rotation, as rotation counterclockwise.The tooth 5083 of pinion 508a engages with the gear teeth 5291 of spur gear 529a, thereby the rotation of pinion 508a makes this spur gear along first direction, for example clockwise direction rotation.The endoporus 5293 of this first spur gear 529a engages with the end 5231 of this first worm screw 523a, thus the rotation of this first spur gear 529a make win worm screw 523a along and the identical direction of this first spur gear 529a, rotate as clockwise direction.The screw thread 5233 of this worm screw 523a engages with the gear teeth 5221 of worm gear 522, thereby the rotation of worm screw 523a makes this worm gear 522 along first direction, for example clockwise direction (from the top) rotation.The endoporus 5222 of this worm gear 522 engages with the part 5212 of the head 5211 of screw rod 521, thereby the rotation of this worm gear 522 makes this screw rod 521 along first direction, for example (from the top) rotation counterclockwise.The external screw thread 5214 of this screw rod 521 engages with the internal thread hole 5051 of anvil block 505, thereby the rotation of this screw rod 521 makes this anvil block 505 move in a downward direction, for example moves away from frame case 506.Like this, second clamp 50 and first clamp 80 are separated, and are positioned at open position up to this surgical instruments 11, as shown in Figure 3, have a space between first clamp 80 and second clamp 50.
Afterwards; this surgical instruments 11 is separated with these electromechanical actuators parts; and replace with another surgical instruments 11, thereby can be in different tissue parts, for example the opposite side in unusual or cancerous issue carries out same clamping, cutting and stitching program.In case second end of these intestines is also clamped, cutting and sew up, this surgical instruments 11 also can be separated with electromechanical actuators parts 610.In case of necessity, the operator also can abandon this adnexa or it be carried out disinfection to re-use.
Be noted that before this surgical instruments 11 starts and carry out calibration procedure.This program is described in calendar year 2001 No. the 60/337th, 544, the U.S. Provisional Application submitted to of December 4 days to some extent, and the title of this provisional application is " calibration of surgical instruments ", and its content is hereby expressly incorporated by reference.
According to the embodiments of the invention shown in Fig. 8 A and the 8B, this surgical instruments 11 can be a non-repetition loading type (non-reloadable), for example, the operator can not remove and use again stitch in a row 523 subsequently to load this surgical instruments 11 from housing 506 this stitch seat 513, thereby can not reuse this surgical instruments 11 to identical or other patient, or reuse this surgical instruments and finish identical or other program.Like this, after the stitch 528 in starting these surgical instruments 11 usefulness stitch seats 513 was come the suture tissue part, this surgical instruments 11 can not start once more with one overlapped new stitch 528 or new stitch seat 513 is sewed up another part tissue.This surgical instruments 11 is set to the non-type of reloading, because this surgical instruments 11 can not be had a mind to or by mistake two different patients are used, can not reuse same patient, thereby can reduce the danger polluting or infect.Yet according to one embodiment of present invention, this surgical instruments 11 also can be the repetition loading type.For example, in this embodiment, some parts that this surgical instruments 11 can be set to wherein can be removed from this surgical instruments 11, thereby are removable with respect to this surgical instruments 11.For example, according to one embodiment of present invention, storehouse medicated cap 515, pin 518, be equipped with on it knife 519 stitch thrust piece 514, with and on be connected with the stitch seat 513 of stitch supporting plate 540, form the storehouse box (cartridge) that to change, this storehouse box can be detachably connected on the housing 506, thereby can remove so that change another storehouse box from housing 506 after use.This removable storehouse box can be removed when last clamp 80 is in the position of opening fully with following clamp 50, to prevent that this storehouse box shifts out accidentally when last clamp 80 is organized with following clamp 50 clampings, cutting and sutured portion.In the embodiment shown in Fig. 8 A and the 8B, comprise the guide rail 5091 that is positioned on the anvil block filling part (filler) 509, when last clamp 80 is not in a fully open position with following clamp 50, this guide rail engages with the guide-track groove 5135 of this stitch seat 513, and when clamp on this 80 and this time clamp 50 are in the position of opening fully, this guide rail does not engage with this guide-track groove, therefore, the stitch seat 513 and other the parts of this replaceable storehouse box can be pulled down slippingly, so that change from housing 506.In an alternate embodiments, this stitch seat 513 can slip into and skid off housing 506, thereby after the first cover stitch 528 was used, the user can slip into the new stitch seat 513 with the new stitch 528 of a cover in housing 506.Selectively, after the cover of first in the stitch seat 513 stitch 528 was used, the operator can replace stitch 528 in this identical stitch seat 513, thereby can reuse same stitch seat 513.Pin 518 can be withdrawn from the hole 5133 of stitch seat 513, thereby this storehouse medicated cap 515 can be removably or is connected to movably on the housing 506.
According to another embodiment of the invention, this surgical instruments 11 also can be set to have restricted repetition loading.For example, this surgical instruments 11 can be set to only allow to change one time stitch seat 513, like this, same patient is only allowed to carry out twice clamping, cutting and sew application, for example, can carry out at the opposite side of cancerous issue, but the replacing of this stitch seat 513 does not allow above twice.
In another embodiment of the present invention, this surgical instruments 11 also can be configured to a side that keeps two cover stitch, 528, the first cover stitch to be used for the tissue canceration part in the stitch seat 513, and second cover is used for the opposite side of tissue canceration part.Should be appreciated that this surgical instruments 11 can dispose and be used for using arbitrary number of times, its operating position can be according to using data 1184 to determine.That is to say that memory module 501 can be used to the reload data of number of times of this surgical instruments 11 of storage representation.Like this, according to this operation sequence, electromechanical actuators parts 610 can limit the number of times of surgical instruments 11 repetition loadings according to the use information in the memory module 501 of being stored in.
The operation of repetition loading type surgical instruments 11 is similar to the operation of the surgical instruments 11 of aforesaid non-repetition loading type.Yet the repetition loading of this surgical instruments 11 makes the operator can carry out other step in the operating process of this surgical instruments 11.For example, when in case this surgical instruments 11 is shown in an open position at first, the operator can pick and place this stitch seat 513, also can check to determine whether this stitch 528 has been ready to and/or has determined whether to be necessary more suitable stitch seat 513 of this stitch seat 513 usefulness is replaced it.Similarly, in case carried out clamping, cutting and sew application, and used a cover stitch 518, then the operator can pick and place this stitch seat 513 once more, so that change this stitch seat 513, perhaps on same stitch seat 513, insert another set of stitch 518 with another stitch seat 513.
According to the embodiments of the invention shown in Fig. 8 A and the 8B, this surgical instruments 11 can dispose and be used for operating in a plurality of opereating specifications.This feature has following advantage: when tissue part has different thickness, be fit to very much use this surgical instruments 11.For example, according to one embodiment of present invention, this surgical instruments 11 can be set to, when this surgical instruments 11 is in the close position, can change the distance that goes up between clamp 80 and the following clamp 50, perhaps when push pedal 535 is in complete extended position, can change the position of this push pedal 535 with respect to last clamp 80.According to an embodiment, this surgical instruments 11 can be the repetition loading type, like this, can use the stitch seat 513 of two or more different sizes, for example, and the stitch seat 513 of different-thickness or hold the stitch seat of the stitch 518 of different length.In this embodiment, the operator can select to use in the two or more different stitch seats 513 that are provided with different size stitch 528 in it one.This stitch seat 513 can comprise a memory module that can read by controller 1122, so that this controller 1122 is when identification stitch seat 513, can discern according to its stitch that whether comprises the tissue that is suitable for sewing up respective thickness.Then, this controller 1122 can be controlled first driving shaft 630 in operating process, make that when this surgical instruments 11 is moved to make position the distance between last clamp 80 and the following clamp 50 is corresponding with the thickness of tissue that will cut and pass through stitch 523 stitchings.Similarly, this controller 1122 can be controlled second driving shaft 632, makes when moving to extended position, and the position of this push pedal 535, stitch thrust piece 514 and cutter 519 is corresponding with the thickness of tissue that will cut and pass through stitch 523 stitchings.
According to another embodiment of the present invention, also can use the surgical instruments 11 of the non-repetition loading type of different size, each size of this non-repetition loading type surgical instruments 11 is corresponding to the different-thickness of the tissue that will cut and sew up.In this embodiment, the memory module 501 of surgical instruments 11 comprises the data that can be read by controller 1122, makes controller 1122 can identify the corresponding surgical instruments 11 of specific thicknesses with the tissue that will cut and sew up.
In another embodiment of the present invention, these controller 1122 configurations are used for providing more than one opereating specification for same set of stitch 523.For example, this controller 1122 can be configured to make the operator can select different-thickness corresponding setting with the tissue that will excise or sew up.For example, according to an embodiment, 1122 configurations of this controller are used for starting first driving shaft 630 and are closed into the primary importance relative with following clamp 50 will be arranged on tissue part's clamping therebetween will go up clamp 80.Then, the operator can select whether to start second driving shaft 632 with excision and suture tissue, perhaps whether starts first driving shaft 630 once more and is closed into the second position relative with following clamp 50 will go up clamp 80.This embodiment has following advantage: the tissue that will excise and sew up expose with and before thickness determines, the operator does not need the concrete size of this surgical instruments 11 of preliminary election, perhaps the used removable storehouse box of this surgical instruments of preliminary election 11.This kind layout can prevent the size of operator's preliminary election mistake or preserve the inventory of an above useful size.
This surgical instruments 11 also can be configured to when being connected to electromechanical actuators parts 610 and can calibrate automatically.For example, controller 1122 can be configured to will open before operation or closed this surgical instruments 11, so that determine opening fully or complete make position of this surgical instruments 11.According to an embodiment, this surgical instruments 11 and 610 configurations of electromechanical actuators parts are used for being independent of the existence of stitch supporting plate 540 and the automatic calibration procedure of thickness by adopting anxious (hard-stop) calibrator unit that stops of machinery, carrying out.As mentioned above, the embodiment that is used for a kind of calibration procedure of surgical instruments describes in the 60/337th, No. 544 U.S. Provisional Patent Application to some extent, and its content is hereby expressly incorporated by reference.
Figure 20 A shows the flow chart that is used to operate the main function of this surgical instruments 11 according to an embodiment of the invention to 20C.According to one embodiment of present invention, this main function is carried out by controller 1122, certainly can understand, other or the also configurable some or all of steps that are used for carrying out in this flow chart such as other controller, electronic equipment.Referring to Figure 20 A, in step 2002, the initialization main function.This step 2002 can comprise, for example, obtains the step of operation sequence as mentioned above from memory element 1130 or from the memory module 501 of this surgical instruments 11.In step 2004, (DLUPRESENT) Q-character (flag), " DLU is former " (DLU OLD) Q-character, " DLU is ready " (DLU READY) Q-character, " DLU startup " (DUL FIRED) Q-character and " repacking survey " (SHAFT TEST) Q-character carry out zero clearing to each respective memory locations removing in RAM 1134 to " DLU is current ".Term " DLU " is meant this surgical instruments 11 or other device or is connected to surgical instruments 11 or other devices or adnexa on the electronics motivation tool drive unit 610.In step 2006, to motor/instrument, the end position that for example drives the motor 676,680 of this surgical instruments 11 carries out initialization.According to one embodiment of present invention, the end position initialization of cutter 519 is at 0mm, and the end position initialization of anvil block 505 is at 1.5mm.In step 2008, with the serial number of this surgical instruments 11, for example store the ID data 1182 in the memory module 501 of this surgical instruments 11 into, from this memory module 501, read and preserve.According to one embodiment of present invention, if read and preserve the serial number failure of this surgical instruments 11, then step 2008 will repeat predetermined times in the preset time section, perhaps repeat at interval according to preset time.This predetermined times can be, for example three times, this preset time section can be, for example 100ms.No matter if be in when beginning or behind the retry pre-determined number, the serial number that reads and preserve this surgical instruments all fails, then can be defined as error status, in this case, operate end as described below.
In step 2010, determine whether these ID data 1182 are successfully read and/or whether these ID data 1182 are effective.If determine that in step 2010 ID data 1182 are not successfully read and/or these ID data 1182 are invalid, so, in step 2012, kernel program is returned in control, for example, and the basic working procedure of electromechanical actuators parts 610.If determine that in step 2010 the ID data 1182 that these ID data 1182 have successfully been read and/or this reads are effective, so, in step 2014, read the Q-character of RAM 1134 " DLU is new " in step 2008.In step 2016, whether whether this " DLU is new " Q-character of judgement is successfully read and/or be somebody's turn to do " DLU is new " Q-character effective." DLU is new " Q-character is not successfully read and/or this Q-character is invalid if determine to be somebody's turn to do in step 2016, and then control sequence enters step 2012, returns kernel program in this step control.If determine that in step 2016 DLU NEW Q-character has been successfully read and/or effectively, then control sequence enters step 2018.
In step 2018, judge based on DLU NEW Q-character whether this surgical instruments 11 is new.If determine that in step 2018 this surgical instruments 11 is new, then control sequence enters step 2026.In step 2026, this surgical instruments 11 is carried out the automatic zero set operation, and control sequence enters step 2028.Automatic zero set program in the step 2026 makes an explanation to the flow chart shown in the 22C below with reference to Figure 22 A.If determine that in step 2018 this surgical instruments 11 is not new, then control sequence enters step 2020, and in this step, the display device 616 of electromechanical actuators parts 610 is designated as this surgical instruments 11 and determines it is not new in step 2018.For example, in step 2020, this display device 616 can fast blink and/or is sent the acoustical signal of an audio frequency.In step 2022, in display device 616, can show information as " connecting new DLU ".In step 2024, storage device is set, as this " DLU is former " Q-character of RAM 1134, thus all functions of cancellation except that opening function.In addition, set storage device,, start axle test function and automatic zero set function with cancellation as " DLU axle " and " automatic zero set " Q-character of RAM 1134.In step 2028, reset " DLU verification (check) " timer, " start button " timer and " start button " enumerator.
After step 2028 was finished, control sequence entered in the step shown in the flow chart of Figure 20 B.In step 2030, judge whether the main motor power supply of electric mechanical drive unit 610 is cut off.If determine that in step 2030 this main motor power supply is cut off, control sequence enters in the step 2032, shows the information such as " mistake 010-checks operator's manual " in this step in display device 616.In step 2034, index signal is provided, for example repeat to send an acoustical signal, for example once cut off the electricity supply each second up to electromechanical actuators parts 610.If determine that in step 2030 the main motor power supply is not cut off, and then reads data at step 2036 medium-long range control device.In step 2040, judge for example whether setting " DLU is former " Q-character among the RAM 1134.If set " DLU is former " Q-character, then control sequence enters in the step 2054.If determine not set " DLU is former " Q-character in step 2040, then control sequence enters in the step 2042, in this step, judges "start" button, as the switch 1320 of wireless RCU 1148, or the switch 1320 of wired RCU 1150 ' whether be pressed.If determine that in step 2042 this "start" button is pressed, then control sequence enters in the step 2044, carries out start-up operation in this step.This start-up operation will be described below, and it is shown in Figure 24 A in 24C.If determine that in step 2042 this "start" button is not pressed, then control sequence enters step 2046.
In step 2046, judge " closure " key, as the switch 1320 of wireless RCU 1148 or the switch 1320 of wired RCU 1150 ' whether be pressed.If determine in step 2046 and should be pressed by " closure " key that then control sequence enters step 2048, in this step, carry out as Figure 21 A to the closed procedure shown in the 21C.If determine in step 2046 and should not be pressed by " closure " key that then control sequence enters step 2054, in this step, judge " opening " key, as the switch 1320 of wireless RCU 1148 or the switch 1320 of wired RCU 1150 ' whether be pressed.If determine in step 2054 and should be pressed by " opening " key that then control sequence enters step 2056, in this step, carry out opening operation as shown in figure 23.If determine in step 2054 and should not be pressed by " opening " key that then control sequence enters step 2058.
In step 2058, judge other any key, whether be pressed as any key of wireless RCU 1148 or wired RCU 1150.Be pressed if define a key in step 2058, then control sequence enters step 2064.If determining in step 2058 does not have key to be pressed, then control sequence enters step 2060.In step 2060, judge whether the start button timer has surpassed predetermined periods, as 10 seconds.If determine that in step 2060 the start button timer has surpassed the preset time section really, then this start button timer sum counter is reset in step 2062.Control sequence enters step 2064 then, in this step, judges whether the start button enumerator has value " 1 ".If determine that in step 2064 the start button enumerator has value " 1 ", then control sequence enters step 2066, in this step, recovers to show anvil gap in the display device 616.After step 2066 was finished, control sequence entered step 2050, in this step, and replacement start button enumerator.Afterwards, in step 2052, call in kernel program (kernel) so that check manipulation or throw off button, and carry out this program.
After step 2044, execution in step 2052 or step 2060, control sequence enters the step shown in Figure 20 C.In step 2068, judge that DLU detects the value of timer whether more than or equal to predetermined value, as 100ms.If determine in step 2068, this DLU checks the timer void value more than or equal to predetermined value, and then control sequence enters step 2082.If determine in step 2068, this DLU checks the value of timer more than or equal to predetermined value, and then in step 2070, this DLU that resets checks timer.In step 2072, read the serial number of this DLU.In step 2074, judge whether the serial number of DLU can be read.Can not be read if in step 2074, determine the serial number of this DLU, then with " DLU is current " Q-character zero clearing among the RAM 1134.Can be read if in step 2074, determine the serial number of this DLU, then in step 2078, set the current Q-character of this DLU.
In step 2080, judge whether the serial number of this surgical instruments 11 changes.If determine that in step 2080 this serial number is not changed, then control sequence enters in the step 2082, calls in the IDLE program in this step.Afterwards, step 2030 is returned in control.If determine that in step 2080 serial number does not change, then in step 2084, this serial number be stored in an interim memory location.In step 2086, read the serial number of surgical instruments 11.In step 2088, judge whether this DLU serial number can be read.If determine that in step 2082 this DLU serial number can not be read, then control sequence enters step 2082, in this step, calls in the IDLE program.If determine that in step 2088 this DLU serial number can be read, then in step 2090,, carry out a comparison step at this DLU serial number and the serial number that is stored in interim memory location.If in step 2090, determine, DLU serial number and be stored in more unsuccessful between the serial number of interim memory location, then control sequence enters step 2082, calls in the IDLE program in this step.If determine in step 2090, DLU serial number and to be stored between the serial number of interim memory location relatively be successful then in step 2092, reads the serial number of this surgical instruments 11.In step 2094, judge whether the serial number of DLU can be read.Can not be read if determine the serial number of this DLU in step 2094, then control sequence enters step 2082, calls in the IDLE program in this step.Can be read if in step 2094, determine the serial number of this DLU, then in step 2096,, carry out a comparison step at this DLU serial number and the serial number that is stored in interim memory location.If in step 2096, determine, DLU serial number and be stored in more unsuccessful between the serial number of interim memory location, then control sequence enters step 2082, calls in the IDLE program in this step.If determine in step 2096, between DLU serial number and the serial number that is stored in interim memory location relatively is successful, then in step 2098, controls and returns kernel program.
Figure 21 A shows the jaws close program that is used for closed clamp when surgical instruments 11 is connected on the electromechanical actuators parts 610 to 21C.According to one embodiment of present invention, although as mentioned above, can carry out this closed routine by controller 1122, the controller, electric device etc. that are appreciated that other also can be used to execution graph 21A to some steps shown in the 21C or institute in steps.
Shown in Figure 21 A, in step 2101, this jaws close program of initialization.In step 2104, whether judge this surgical instruments 11 by automatic zero set, for example, whether carried out the automatic zero set operation or carried out the automatic zero set operation thereon.Not by automatic zero set, then in step 2106, carry out the operation of automatic zero set if in step 2104, determine this surgical instruments 11.Figure 22 A shows an embodiment of automatic zero set to the flow chart of 22C.Then, in step 2108, wait for remote-control device, as all buttons releases of wireless RCU 1148 or wired RCU 1150.In step 2110, control turns back to the main function of Figure 20 A to 20C.If determine that in step 2104 this surgical instruments 11 is by automatic zero set, then control sequence enters step 2112, judges in this step whether this flexible axle 620 is detected.If it is detected to determine that in step 2112 this flexible axle 620 does not have, then in step 2114, carry out the repacking measuring program.Figure 25 A shows an embodiment of repacking measuring program to 25B.If judge that in step 2116 the repacking survey of carrying out is unsuccessful in step 2114, then control sequence enters step 2108.As mentioned above, in step 2108, wait for the release of all buttons of remote-control device, and in step 2110, main function is returned in control.
If it is detected to determine that in step 2112 this flexible axle 620 does not have, if determine in step 2116 that perhaps the repacking survey of this flexible axle is unsuccessful, then control sequence enters step 2118, and in this step, this surgical instruments 11 is marked as: no longer be new.For example, in step 2118, writing data in memory module 501 no longer is new to indicate this surgical instruments 11.Whether judge mark step 2118 is successful in step 2120.If determine that in step 2120 this markers step 2118 is unsuccessful, then control sequence enters step 2122, in this step, shows the information such as " changing DLU " in display device 616.In step 2124, send the audio sound signal.In step 2126, wait for the release of all buttons of remote-control device 1148 or 1150.In step 2128, control is returned Figure 20 A to the main function shown in the 20C then.
If determine that in step 2120 the labelling program of carrying out in step 2118 is successful, then control sequence enters step 2130.In step 2130, obtain a corresponding value of the current location with this anvil block 505, whether the corresponding value of current location of judgement and anvil block 505 is greater than the value that is called " anvil gap green fields " in step 2132.Should " anvil gap green fields " can store in the memory location as memory element 1130.If determine that in step 2132 the corresponding value of current location with this anvil block 505 is greater than " anvil gap green fields " reference value, then in step 2134, show on as display device 616 as the information of " anvil block closure ", and information (msg) Q-character is set at " 0 " value.If in step 2132, determine, be not more than this " anvil gap green fields " reference value with the corresponding value of the current location of this anvil block 505, then judge that in step 2136 whether the corresponding value of current location with this anvil block 505 is greater than " anvil gap blue spectrum " value that is called reference.If determine that in step 2136 the corresponding value of current location with this anvil block 505 is greater than this " anvil gap blue spectrum " reference value, then in step 2140, show on as display device 616 as the information of " green OK ", and the information characteristics position is set at " 1 " value.Be not more than this " anvil gap blue spectrum " reference value if in step 2136, determine with the corresponding value of current location of this anvil block 505, then in step 2138, show on as display device 616 as the information of " blue OK ", and this information characteristics position is set at " 2 " value.Like this, the information that shows in the display device 616 can be the user provides indication, gap between this first clamp 80 and second clamp 50 is in the scope (tissue part is in the first preset thickness scope) as " green ", still is in the scope (tissue part is in the second preset thickness scope) of " blueness ".According to one embodiment of present invention, to the scope between the 2.0mm, and tissue part's thickness of " blueness " scope correspondence is in the scope less than about 1.5mm at about 1.5mm for tissue part's thickness that should " green " scope correspondence.After step 2138 or 2140 was finished, control sequence entered step 2142, in this step, for example upgrades inter-pattern space and show in display device 616.After step 2134 or 2142 was finished, control sequence entered in the step 2144 shown in Figure 21 B.
Flow chart referring to Figure 21 B, in step 2144, whether judge gap between this first clamp 80 and this second clamp 50 greater than a predetermined value that is called as " minimum anvil gap ", should " minimum anvil gap " predetermined value can be stored in as in the memory location in the memory element 1130.Be not more than this " minimum anvil gap " predetermined value if determine the gap between this first clamp 80 and this second clamp 50 in step 2144, then control sequence enters in the step 2186 in the flow chart of block diagram 21C.If the gap in step 2144 between definite this first clamp 80 and this second clamp 50 is greater than this " minimum anvil gap " predetermined value, then control sequence enters in the step 2146.In step 2146, the value that the value that will be used for speed is set to the value of a certain being called " closure speed ", will be used for moment of torsion be set to a certain being called " closed moment of torsion " value, and the value that will be used for the position be set to the value of a certain being called " make position ", above-mentioned each value can store in the memory location as memory element 1130.In step 2148, begin the moving of clamp of this surgical instruments 11, and replacement stall timer (stall timer).In step 2150, judge whether " closure " key discharges.If determine in step 2150 and should discharge by " closure " key, then control sequence enters the step 2186 shown in the flow chart of Figure 21.If determine that in step 2150 this closure key does not discharge, then control sequence enters step 2152, in this step, whether the value of judging the stall timer should " closed stall " predetermined value can be stored in memory location as memory element 1130 greater than the predetermined value that is called " closed stall ".If the value of determining this stall timer in step 2152 is greater than predetermined " closed stall " value, then in step 2154, judge whether first clamp 80 and the corresponding value in gap between second clamp 50 with this surgical instruments 11 are called " maximum anvil gap " value, this " maximum anvil gap " reference value can store in the memory location as memory element 1130.If determine in step 2154 and first clamp 80 of this surgical instruments 11 and the corresponding value in gap between second clamp 50 are less than or equal to the value that this is called " maximum anvil gap ", then control sequence enters in the step 2186 shown in the flow chart of Figure 21 C.If first clamp 80 and the corresponding value in gap between second clamp 50 definite and this surgical instruments 11 are not to be less than or equal to the value that this is called " maximum anvil gap " in step 2154, then in step 2156, show on as display device 616 as the information of " closed failure ".In step 2158, send the audio sound signal, and control sequence enters in the step 2186 shown in Figure 21 C.
Return step 2152, if the value of this stall timer is not more than predetermined " closed stall " reference value in step 2152, then control sequence enters in the step 2160, obtains a current anvil block position in this step.In step 2162, judge whether the position of anvil block 505 changes.If in step 2162, determined the position change of this anvil block 505, then in step 2164, upgrade position and this stall timer of resetting known to this anvil block 505 last.Do not change if determine the position of this anvil block 505 in step 2162, then control sequence enters in the step 2166.In step 2166, whether the current location of judging this anvil block 505 is less than or equal to one is called the value of " anvil gap green fields ", and this value is stored in the memory location as memory element 1130.If determine that in step 2166 current location of this anvil block 505 is to be less than or equal to this to be called " anvil gap green fields " value, then control sequence enters in the step 2168, in this step, whether the current location of judging this anvil block 505 is less than or equal to one is called the value of " minimum anvil gap ", and this value can be stored in the memory location as memory element 1130.Be less than or equal to the value of predetermined being called " minimum anvil gap " if determine the current location of this anvil block 505 in step 2168, then control sequence enters in the step 2186 shown in the flow chart of Figure 21 C.If determine that in step 2168 current location of this anvil block 505 is not the value that is less than or equal to predetermined being called " minimum anvil gap ", then in step 2170, judge whether the clamp of this surgical instruments 11 is finished mobile.If determining in step 2170 that first clamp 80 of this surgical instruments 11 and second clamp 50 have been finished moves, then control sequence enters in the step 2186 shown in the flow chart of Figure 21 C.Do not finish mobilely if determine first clamp 80 of this surgical instruments 11 and second clamp 50 in step 2170, then control sequence returns in the step 2150.
Return referring to step 2166, if the current location of determining this anvil block 505 is greater than a value that is called " anvil gap green fields ", then control sequence enters step 2172, whether the current location of judging this anvil block 505 in this step greater than a value that is called " anvil gap blue spectrum ", and this value can be stored in the memory location as memory element 1130.If the current location of determining this anvil block 505 in step 2172 is greater than the value that is called " anvil gap blue spectrum ", then control sequence enters step 2174, judges in this step whether the value of information characteristics position is " 1 ".If determine that in step 2174 value of this information characteristics position is not " 1 ", so in step 2176, controller 1122 is set at " 1 " with the value of information characteristics position, and show as the information of " green OK " that the indication user can use specific thicknesses corresponding " green " the storehouse box with the tissue that will sew up on as display device 616.After step 2176 was finished, if determine in step 2174 that perhaps the value of this information characteristics position is " 1 ", then control sequence entered step 2178.
Be not more than one and be called the value of " anvil gap blue spectrum " if in step 2172, determine the current location of this anvil block 505, this value can be stored in the memory location as memory element 1130, then in step 2180, judge whether the value of information characteristics position is " 2 ".If determine that in step 2180 value of this information characteristics position is not " 2 ", then in step 2182, the value of this information characteristics position is set at " 2 ", and show as the information of " blue OK " that the indication user can use specific thicknesses corresponding " blueness " the storehouse box with the tissue that will sew up on as display device 616.Be finished in step 2182, the value of perhaps in step 2180, determining this information characteristics position be " 2 " afterwards, then control sequence enters step 2178.In step 2178, for example upgrading, the image gap in display device 616 shows.In step 2184, open " in scope " display, " DLU startup " Q-character among the RAM 1134 of for example light emitting diode, and setting memory element 1130.Afterwards, control sequence enters in the step 2168.
In step 2158,2168 or after step 2170 was finished, control sequence entered step 2186, in this step, closes the motor that drives anvil block 505, for example motor 680.In step 2188, judge the value that whether is less than or equal to predetermined being called " maximum anvil gap " with the corresponding value of current gap state, this value can be stored in the memory location as memory element 1130, be less than or equal to the predetermined value that is called " maximum anvil gap " that this stores the memory location into if in step 2188, determine with the corresponding value in this gap, then control sequence enters step 2192, in this step, the inter-pattern space on the update displayed device 616 shows.If in step 2188, determine to be not less than with the corresponding value in this gap or to equal this predetermined value that is called " maximum anvil gap ", then in step 2190, wait for the release of all buttons of this remote-control device, and control is returned Figure 20 A in the main function shown in the 20C in step 2194.
Figure 22 A shows when surgical instruments 11 is connected on the electromechanical actuators parts 610 to 22C, is used to carry out the embodiment of automatic zero set program of the automatic zero set function of this surgical instruments.Although according to one embodiment of present invention, should the zeroing program can carry out as mentioned above by controller 1122, controller, electronic installation that is appreciated that other etc. also can dispose and be used for execution graph 22A to the some or all of steps shown in the 22C.With reference to Figure 22 A, in step 2202, initialization automatic zero set program.In step 2204, wait for the release of all buttons of remote-control device.In step 2206, show on as display device 616 as the information of " calibration " printed words.In step 2208, " preparing to start " Q-character and " automatic zero set OK " Q-character of resetting.In step 2210, the current location of this anvil block 505 is set to the value of some being called " automatic zero set position ", this value can be stored in the memory location as memory element 1130.In step 2212, " value of " automatic zero set moment of torsion ", this value can store in the memory location as memory element 1130 to some being called with torque setting.In step 2214, " value of " automatic zero set speed ", this value can store in the memory location as memory element 1130 to some being called with speed setting.In step 2216, destination locations is set at " 0 " value.In step 2218, send signal beginning to move this anvil block 505 to the motor corresponding such as motor 680 with anvil block 505, thereby the clamp of closed this surgical instruments 11.In step 2220, replacement stall timer and rearmost position.Step shown in the flow chart of control sequence execution graph 22B then.
In step 2222, whether the value of judging the stall timer greater than a value that is called " automatic zero set stall ", and this value can store in the memory location as memory element 1130.If the value of determining this stall timer in step 2222 is greater than this predetermined value that is called " automatic zero set stall ", then control sequence enters step 2242, closes and anvil block 505 corresponding motor in this step, as motor 680.Be not more than the predetermined value that this is called " automatic zero set stall " if determine the value of this stall timer in step 2222, then control sequence enters step 2224, judges in this step whether the current location of this anvil block 505 equals this rearmost position.Be not equal to this rearmost position if in step 2224, determine the current location of this anvil block 505, then in step 2226, replacement stall timer and rearmost position.Whether equal this rearmost position if determine the current location of this anvil block 505 in step 2224, then control sequence enters step 2228, judges remote-control device in this step, be pressed as arbitrary button of wireless RCU1148 or wired RCU 1150.Be pressed if in step 2228, determine arbitrary button of this remote-control device, then in step 2230, reset this stall timer and rearmost position.In step 2232, this anvil block 505 opened one be called the preset distance of " anvil block backup (backup) ", its value can store in the memory location as memory element 1130, perhaps the value up to the stall timer surpasses the value that is called " automatic zero set stall ", perhaps its multiple, for example multiple of " automatic zero set stall " value.In step 2232, close and anvil block 505 corresponding motor, as motor 680.In step 2234, send the audio sound signal and show on as display device 616 as the information of " press close key " with recalibration.In step 2236, wait for the release of all buttons of remote-control device, and control turns back to main function in step 2238, as Figure 20 A to the main function shown in the 20C.
If in step 2228, determine not have the button of remote-control device to be depressed, then control sequence enters step 2240, judges in this step whether moving of clamp finishes.Do not finish if determine moving of this clamp in step 2240, then step 2222 is returned in control.Finish if determine the mobile of this clamp in step 2240, then control sequence enters step 2242, in this step, closes the motor that drives anvil block 505, as motor 680.In step 2244, remote location value and proximal location value all are set at 1.5mm.
Control sequence enters the step shown in Figure 22 C then.In step 2246, storing wherein reset stall timer and rearmost position.In step 2248, speed setting to is called the predetermined value of " opening speed ", this value can store in the memory location as memory element 1130.In step 2250, destination locations is set to a predetermined value that is called " opening destination locations ", this value can store in the memory location as memory element 1130, and makes the clamp of this surgical instruments 11 begin to move.In step 2252, whether the value of judging this stall timer is greater than a predetermined value that is called " automatic zero set stall ", or its multiple, as the multiple of " automatic zero set stall " value.Be not more than the predetermined value that this is called " automatic zero set stall " if in step 2252, determine the value of this stall timer, judge in step 2254 then whether the current location of this anvil block 505 equals its rearmost position.Be not equal to its rearmost position if in step 2254, determine the current location of this anvil block 505, then in step 2256, reset this stall timer and rearmost position.Whether equal the rearmost position if determine the current location of this anvil block 505 in step 2254, then control sequence enters in the step 2258, judges remote-control device in this step, be pressed as arbitrary button of wireless RCU 1148 or wired RCU1150.Be pressed if judge the button of this remote-control device, then in step 2268, close the motor that drives anvil block 505, as motor 680.In step 2270, send buzzer or other audio signal to the user, and show on as display device 616 as the information of " pressing closed " to recalibrate.In step 2272, wait for the release of all buttons of remote-control device, and in step 2274, control is returned as Figure 20 A to the main function shown in the 20C.
If in step 2258, determine the button of this remote-control device, be not pressed as arbitrary button of wireless RCU 1148 or wired RCU 1150, judge in step 2260 then whether the mobile of clamp of this surgical instruments 11 finishes.Do not finish if determine moving of this clamp in step 2260, then step 2252 is returned in control.If the clamp of definite this surgical instruments 11 has been finished and has been moved in step 2260, then in step 2262, close the anvil block motor, as motor 680, and send audio signal, or in display device 616, show information as " ready " printed words.In step 2264, set " automatic zero set OK " Q-character, and wait for the release of all buttons of this remote-control device.In step 2266, control is returned as Figure 20 A to the main function shown in the 20C.
Figure 23 shows when surgical instruments 11 is connected on the electric mechanical drive unit 610, is used to open the embodiment that opens the clamp program of this surgical instruments.Although as mentioned above according to one embodiment of present invention, carry out aforesaid operations by controller 1122, controller, electronic installation that is appreciated that other etc. can be used for carrying out the some or all of steps that this opens the clamp program.With reference to shown in Figure 23, in step 2300, this opens the clamp program initialization.In step 2302, close " in the scope " display, as light emitting diode, and " DLU the is ready " Q-character in the removing memorizer.In step 2304, judge and in memorizer, whether set " automatic zero set " Q-character.If in step 2304, determine, in memorizer, do not set " automatic zero set " Q-character, then in step 2306, in display device 616, show information as " pressing close key " printed words to recalibrate.In step 2308, send audio signal (audible signal) or sound (chime) to the user.In step 2310, wait for the release of all buttons of this remote-control device.Afterwards, in step 2312, control turns back to as Figure 20 A to the main function shown in the 20C.
If determine to have set this " automatic zero set " Q-character in step 2304, then in step 2314, to some being called " open torque ", this " open torque " can store in the memory location as memory element 1130 with the anvil block torque setting.In step 2316, speed setting to is called the predetermined value of " opening speed ", should " opening speed " can be stored in the memory location as memory element 1130.In step 2318, the purpose of clamp is set at is totally released the position.In step 2320, show the information of " anvil block is opened " printed words on as display device 616.In step 2324, remove the information characteristics position in the memorizer.In step 2326, judge whether " opening " key of remote-control device discharges.If determine in step 2326 and should discharge by " opening " key that then control sequence enters step 2328, closes the anvil block motor in this step, as motor 680, and the release of waiting for all buttons of remote-control device.In step 2330, control sequence turns back to as Figure 20 A to the main function shown in the 20C.
If in step 2326, determine and not discharge by " opening " key, then in step 2332, obtain an anvil gap value, as first clamp 80 of this surgical instruments 11 and the gap width between second clamp 50.In step 2334, whether judge this gap greater than a value that is called as " the complete opening clearance of anvil block ", this value can be stored in the memory location as memory element 1130.If determine that in step 2334 this gap greater than this value that is called " the complete opening clearance of anvil block ", then judges whether to have set this information characteristics position in step 2336.If determine that in step 2336 this information characteristics position is not set, then in step 2338, set this information characteristics position, and show information on as display device 616 as " anvil block is opened fully " printed words.Control sequence enters step 2340 then.Similarly, if determine that in step 2334 this gap is not more than the value that this is called " the complete opening clearance of anvil block ", if determine that perhaps this information characteristics position is not set in step 2336, then control sequence enters step 2340.In step 2340, judge whether the moving of clamp of this surgical instruments 11 finishes.Do not finish if determine moving of this clamp in step 2340, then step 2326 is returned in control.Finish if determine the mobile of clamp of this surgical instruments 11 in step 2340, then control sequence enters step 2328.As mentioned above, in step 2328, close anvil block motor 505, as motor 680, and the release of all buttons of wait remote-control device.In step 2330, control and return as Figure 20 A to the main function shown in the 20C.
Figure 24 A shows when surgical instruments 11 is connected on the electric mechanical drive unit 610, is used to cut and suture clip is held in the stitching start-up routine of the tissue part between the upper and lower tongs of this surgical instruments.Although as mentioned above, according to one embodiment of present invention, carry out aforesaid operations by controller 1122, controller, electronic installation that is appreciated that other etc. also can dispose the some or all of steps that are used for carrying out this stitching start-up routine.With reference to Figure 24 A, in step 2400, initialization should be sewed up start-up routine.In step 2402, judge whether to have set this " automatic zero set OK " Q-character, be somebody's turn to do " automatic zero set OK " Q-character if in step 2402, determine not set, so, in step 2404, in display device 616, show error message as " pressing close key " printed words to recalibrate.If determine to have set this " automatic zero set OK " Q-character, then control sequence enters step 2406.In step 2406, judge whether to have set this " DLU is ready " Q-character.If determining in step 2406 not set should " DLU is ready " Q-character,, show error message on as display device 616 as " not in scope " printed words then in step 2408.If determine to have set this " DLU is ready " Q-character in step 2406, then control sequence enters step 2410.In step 2410, judge whether to have set " DLU startup " Q-character.If in step 2410, determine to have set this " DLU startup " Q-character, then determine to have taken place error situation, and in display device 616, show error message as " not having stitch " printed words in step 2412.Be somebody's turn to do " DLU startup " Q-character if determine not set in step 2410, then control sequence enters step 2422.Behind completing steps 2404,2408 or 2412, control sequence enters step 2414, replacement start button counting in this step.In step 2416, send audio sound.In step 2418, wait for the release of all buttons.In step 2420, control is returned as Figure 20 A to the main function shown in the 20C.
As mentioned above, be somebody's turn to do " DLU startup " Q-character if determine not set in step 2410, then control sequence enters step 2422.In step 2422, increase the start button counting.In step 2424, judge whether this start button is pressed for the first time.If determining this start button in step 2424 is to be pressed for the first time, then in step 2426, show on as display device 616 as the information of " the startup button is ready " printed words.In step 2428, this start button timer of resetting.After step 2428 was finished, as mentioned above, step 2418 was returned in control.If determining this start button in step 2424 is not to be pressed for the first time, then in step 2430, show information on as display device 616 as " startup " printed words.In step 2432, reducing usage count and set should " DLU startup " Q-character.According to one embodiment of present invention, be controlled at predetermined time interval, in 100ms, the retry pre-determined number is as three times, to reduce usage count.
Control sequence enters in the step 2434 shown in Figure 24 B then.In step 2434, set actuating motor speed, start the motor of stitch for instance, as the speed of motor 676.In addition, in step 2434, set torque limited.In step 2436, actuating motor set positions to is called as " enable position " preset value, this value can be stored in the memory location as memory element 1130, and makes the clamp of this surgical instruments 11 begin to move.In step 2438, Last Known Location is set at " 0 " value.In addition, in step 2438, resetting starts and the stall timer, and removes the Q-character of makeing mistakes.In step 2440, judge whether this startup or stall timer expire.If in step 2440, determine this startup or the expiration of stall timer, then in step 2452, make first motor, stop as motor 676.In step 2454, show on as display device 616 as the error message of " initiating sequence deficiency " printed words.In step 2456, sound or other audio signals, and set this and go out the mistake Q-character.Afterwards, control sequence enters step 2458.
If determine the not expiration of this startup or stall timer in step 2440, then control sequence enters step 2442.In step 2442, judge whether actuating motor such as motor 676 finish its motion.Finished its motion if determine this actuating motor such as motor 676 in step 2442, then control sequence enters step 2452, as mentioned above.Do not finish its motion if determine this actuating motor such as motor 676 in step 2442, then control sequence enters step 2444.In step 2444, judge whether the current location of anvil block 505 is consistent in the rearmost position of this anvil block 505.If determine that in step 2444 rearmost position of the current location of this anvil block 505 and this anvil block 505 is inconsistent, then in step 2446, the rearmost position of this anvil block 505 is set at consistent with the current location of this anvil block 505, and replacement stall timer.After step 2446 is finished, perhaps in current location that step 2444 is determined anvil block 505 with after the rearmost position of anvil block 505 is consistent, control sequence enters step 2448.In step 2448, judge cutter, for example whether cutter 519 has reached its destination locations, as a position of extending fully.If determine that in step 2448 this cutter does not arrive its destination, then step 2440 is returned in control.If in step 2448, determine that this cutter has arrived its destination, then in step 2450, controller 1122 stops actuating motor, as motor 676.
After step 2450 or 2456 was finished, control sequence entered step 2458.In step 2458, close described " in the scope " display, as light emitting diode, and remove " DLU is ready " Q-character.In step 2460, the current restriction of motor (current limit) is set at comprehensive restriction.In step 2462, make anvil block 505 begin to move backward to its original position.In step 2464, Last Known Location is set at " 0 ", and reset circulation and stall timer.In step 2466, shown in Figure 24 C, whether judge chronocyclograph greater than the predetermined value that is called as " timing startup ", this value can be stored in the memory location as memory element 1130.If determine that in step 2466 this chronocyclograph greater than a predetermined value that is called as " timer initiation ", then in step 2468, judges whether to have set the Q-character of makeing mistakes.If in step 2468, determine not set the Q-character of makeing mistakes, then in step 2470, show error message on as display device 616 as " initiating sequence deficiency " printed words.After step 2472 was finished, if perhaps determine not set the Q-character of makeing mistakes in step 2468, then control sequence entered step 2482.
If determine that in step 2466 this chronocyclograph is not more than the predetermined value that is called as " timer initiation ", then in step 2474, judge that whether this stall timer is greater than a predetermined value that is called as " timing stall ", this value can be stored in the memory location as memory element 1130, perhaps can store its multiple, as the multiple of " timing stall " value.If determine that in step 2474 this stall timer is called as " timing stall " predetermined value greater than this, then control enters in the step 2468, as mentioned above.If determine that in step 2474 this stall timer is not more than the predetermined value that this is called as " timing stall ", then control enters step 2476.In step 2476, judge whether the current location of anvil block 505 is identical with the rearmost position of this anvil block 505.If determine that in step 2476 current location of this anvil block 505 is identical with the rearmost position of this anvil block 505, then in step 2478, the rearmost position of this anvil block 505 is set at identical with the current location of this anvil block 505, and replacement stall timer.After step 2478 is finished, or after determining that in step 2476 current location of anvil block 505 is identical with the rearmost position of anvil block 505, control sequence enters step 2480.In step 2480, judge cutter, for example whether cutter 519 withdraws fully.If determine the not withdrawal fully of this cutter in step 2480, then step 2466 is returned in control.If in step 2480, determine the withdrawal fully of this cutter, perhaps as mentioned above after the execution of step 2468 or 2472, then in step 2482, stop motor, as motor 676.In step 2484, judge whether in memorizer, to have set the Q-character of makeing mistakes.If determine to have set the Q-character of makeing mistakes in step 2484 in memorizer, then control sequence enters step 2488, and returns main function.If in step 2484, determine not set the Q-character of makeing mistakes, then show information on as display device 616 as " startup is finished " printed words.Afterwards, in step 2488, main function is returned in control.
Figure 25 A show be used for electromechanical actuators parts 610, with repacking survey corresponding repacking measuring program.Although as mentioned above, according to one embodiment of present invention, carry out this repacking measuring program by controller 1122, controller, electronic installation that is appreciated that other etc. also can dispose the some or all of steps that are used for carrying out this repacking measuring program.With reference to Figure 25 A, in step 2500, this repacking measuring program of initialization.In step 2502, set the cutter motor, as moment of torsion, speed and the position of motor 676, so that corresponding rotatable drive shaft, as rotatable drive shaft 632 fine motions.In step 2504, wait for one and be called as " the start detection time exceeds " predetermined amount of time that this value can be stored in the memory location as memory element 1130, waits for that perhaps cutter 519 finishes mobile.In step 2506, judge whether be called as the time period of " the start detection time exceeds " expires.Expire if in step 2506, determine this predetermined time period that is called as " the start detection time exceeds ", then in step 2508, show information on as display device 616 as " mistake 006-sees operator's manual " printed words.In step 2510, periodically, the signal of for example once sounding each second is up to the power supply that cuts off these electromechanical actuators parts 610.
If in step 2506, determine this predetermined time period that is called as " the start detection time exceeds " also less than, then in step 2512, wait for the time period of predetermined being called as " startup dwell time ", it can be stored in the memory location as memory element 1130, thereby guarantees that this cutter 519 finishes mobile.In step 2514, whether judge remote location less than a precalculated position that is called as " start detection position ", its value can be stored in the memory location as memory element 1130.If determine that in step 2514 this remote location is not less than the precalculated position that this is called as " start detection position ", then in step 2516, determine to have taken place an error situation, and show on as display device 616 as the error message of " replacing flexible axle " printed words.In step 2518, send audio sound and set the Q-character of makeing mistakes.After step 2518 is finished, perhaps in step 2514, determine this remote location less than " start detection position ", then control sequence enters step 2520.In step 2520, remote location is set to an initial position, or is called original position.In step 2522, wait for a predetermined amount of time that is called as " the start detection time exceeds ", it is stored in the memory location as memory element 1130, waits for that perhaps cutter finishes mobile.In step 2524, whether judgement is called as the predetermined amount of time of " the start detection time exceeds " full.If determine that in step 2524 this predetermined amount of time that is called as " the start detection time exceeds " is full, then in step 2526, as in display device 616, showing information as " mistake 006-sees operator's manual " printed words.In step 2528, send an acoustical signal, up to the power supply that cuts off these electromechanical actuators parts 610.If in step 2524, determine this time also less than, then shown in the flow chart of Figure 25 B, in step 2530, judge whether to set this Q-character of makeing mistakes.If in step 2530, set the Q-character of makeing mistakes, then in step 2536, wait for the release of all buttons of remote-control device.Afterwards, in step 2538, control turns back to the main function in the step 2538.If determine not set this Q-character of makeing mistakes in step 2530, then in step 2532, setting shaft test feature position is " 1 ".In step 2534, control is returned as Figure 20 A to the main function shown in the 20C afterwards.
A problem of conventional surgical apparatus is its angle of approach that may limit this apparatus when using.As mentioned above, traditional surgical instruments use usually one with the perpendicular apparatus axis of tissue part that will cut and sew up.When traditional apparatus on body, when using in the patient body, this apparatus will be confined to a single angle of approach, with the section of cutting and suture tissue.
By comparison, the surgical instruments 11 of the present invention angle of approach used of restraint device not.As previously mentioned, comprise driving shaft 630 and 632 according to this surgical instrumenties 11 of various embodiments of the present invention, this driving shaft is with an angle, and for example, the perpendicular angle in the plane of moving with respect to second clamp 50 with first clamp 80 is connected on this first clamp 80.Therefore, when this surgical instruments 11 is used for body, as in the patient body time, this surgical instruments 11 can not be confined to single angle of approach.On the contrary, can adopt a plurality of angle of approach, this makes the operator can use this surgical instruments more effectively in various tissue parts.
Another problem of conventional surgical apparatus is that this apparatus is difficult to operate in the patient body.For example, when using traditional surgical instruments to clamp or sew up not allow easy-operating tissue part, just need this surgical instruments can flexible operating.For example, under a part of gastrointestinal tissue was positioned at situation with anus stump adjacent position, this tissue part can not carry out moving in the process in advance or in operation.Interfere because angle of approach that the operator is required and patient's basin bone produce, therefore can not use traditional surgical instruments in this position.
Difficulty when operating in the patient body according to the surgical instruments 11 of various embodiments of the present invention by comparison, is just much little.For example, under above-mentioned a part of gastrointestinal tissue was positioned at situation with anus stump adjacent position, this surgical instruments 11 can be positioned at the end with this immediate gastrointestinal tissue of anus.Like this, driving shaft 630 with 632 with respect to the plane of movement of first clamp, 80 relative second clamps 50 according to an angle, for example vertically be configured, can improve this surgical instruments 11 in the intravital operating flexibility of patient.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (52)
1. surgical instruments comprises:
First clamp;
Second clamp is relative with described first clamp;
First driver can make described first clamp and the relative motion in a plane of second clamp, and described first driver engages with a driving shaft, and described driving shaft can be around the rotation axis rotation of the non-parallel setting in described relatively plane.
2. apparatus according to claim 1 further comprises:
The operation parts are arranged in described first clamp; And
Second driver makes described operation parts edge and described parallel plane direction relative motion, and described second driver engages with a driving shaft, and described driving shaft can be around the rotation axis rotation of the non-parallel setting in described relatively plane.
3. apparatus according to claim 2, wherein said operation parts comprise cutting element.
4. apparatus according to claim 2, wherein said operation parts comprise the stitching element.
5. apparatus according to claim 2, wherein said operation parts comprise a push pedal, cutting element is installed in the described push pedal and sews up element.
6. apparatus according to claim 1 also comprises an electromechanical actuators, to rotate described first rotating driveshaft.
7. apparatus according to claim 1, the rotation axis of wherein said first rotating driveshaft is perpendicular to the plane of described first and second clamps.
8. apparatus according to claim 1, wherein said first rotating driveshaft rotates along first direction, and described clamp is stretched out, and the second direction rotation along opposite with described first direction makes described jaws close.
9. apparatus according to claim 1, wherein said first driver comprises at least two spur gears, the worm and worm wheel that have rotation and meshing relation each other, an and end that is fixedly attached to described worm gear, and the external threaded that engages with the internal thread hole of described second clamp, the rotation of described gear can make the described first and second clamp relative motioies.
10. apparatus according to claim 2 also comprises an electromechanical actuators, to rotate described second rotating driveshaft.
11. apparatus according to claim 2, the rotation axis of wherein said second rotating driveshaft is perpendicular to the plane of described first and second clamps.
12. apparatus according to claim 11, wherein said second rotating driveshaft rotates along first direction, and described operation parts are stretched out, and along the second direction rotation opposite with described first direction, makes described operation parts withdrawal.
13. apparatus according to claim 2, wherein said second driver comprises two spur gears and worm screw that has rotation and meshing relation each other, and a pair of other worm gear, in the described a pair of other worm gear each all has the internal thread hole that the center is provided with, with be fixedly attached to described operation parts on a pair of external threaded in one engage, the rotation of described gear can make described operation parts relative motion.
14. apparatus according to claim 2 also comprises electromechanical actuators, described electromechanical actuators comprises first rotating driveshaft that is used to drive described first driver, and second rotating driveshaft that is used to drive described second driver.
15. apparatus according to claim 14, wherein said electromechanical actuators comprise that also at least one is used for driving each electronic device of described first and second rotating driveshafts.
16. apparatus according to claim 15, wherein said electromechanical actuators comprise first electronic device that is used to drive described first rotating driveshaft, and second electronic device that is used to drive described second rotating driveshaft.
17. a surgical instruments comprises:
First driving shaft can rotate around rotation axis;
First clamp;
Second clamp is relative with described first clamp; And
First driver makes described first and second clamps on a plane, and according to the rotation of described first rotating driveshaft and relative motion, described plane and the non-parallel setting of described rotation axis.
18. apparatus according to claim 17 also comprises:
The operation parts are arranged in described first clamp, and
Second driver makes described operation parts along being parallel to described planar direction relative motion, and described second driver engages with a driving shaft, and described driving shaft is around the rotation axis rotation of the non-parallel setting in described relatively plane.
19. apparatus according to claim 18, wherein said operation parts comprise cutting element.
20. apparatus according to claim 18, wherein said operation parts comprise the stitching element.
21. apparatus according to claim 18, wherein said operation parts comprise a push pedal, and described cutting element and stitching element promptly are installed in the described push pedal.
22. apparatus according to claim 17 also comprises an electromechanical actuators, to rotate described first rotating driveshaft.
23. apparatus according to claim 17, the rotation axis of wherein said first rotating driveshaft is perpendicular to the plane of described first and second clamps.
24. apparatus according to claim 23, wherein said first rotating driveshaft rotates along first direction, and described clamp is stretched out, and the second direction rotation along opposite with described first direction makes described jaws close.
25. apparatus according to claim 17, wherein said first driver comprises at least two spur gears, the worm and worm wheel that have rotation and meshing relation each other, an and end that is fixedly attached to described worm gear, and the external threaded that engages with the internal thread hole of described second clamp, the rotation of described gear can make the described first and second clamp relative motioies.
26. apparatus according to claim 18 also comprises an electromechanical actuators, to rotate described second rotating driveshaft.
27. apparatus according to claim 26, the rotation axis of wherein said second rotating driveshaft is perpendicular to the plane of described first and second clamps.
28. apparatus according to claim 27, wherein said second rotating driveshaft rotates along first direction, and described operation parts are stretched out, and along the second direction rotation opposite with described first direction, makes described operation parts withdrawal.
29. apparatus according to claim 18, wherein said second driver comprises at least two spur gears and worm screw that has rotation and meshing relation each other, and a pair of other worm gear, in the described a pair of other worm gear each all has the internal thread hole that the center is provided with, with be fixedly attached to described operation parts on a pair of external threaded in one engage, the rotation of described gear can make described operation parts relative motion.
30. apparatus according to claim 18 also comprises electromechanical actuators, described electromechanical actuators comprises first rotating driveshaft that is used to drive described first driver, and second rotating driveshaft that is used to drive described second driver.
31. apparatus according to claim 30, wherein said electromechanical actuators comprise that also at least one is used for driving each electronic device of described first and second rotating driveshafts.
32. apparatus according to claim 31, wherein said electromechanical actuators comprise first electronic device that is used to drive described first rotating driveshaft, and second electronic device that is used to drive described second rotating driveshaft.
33. apparatus according to claim 31 wherein also comprises a control system, is used to control described electric motor system.
34. apparatus according to claim 33, wherein said control system is arranged in the housing.
35. apparatus according to claim 34 also comprises a remote control unit, is communicated with described control system, to control described electric motor system by described control system.
36. apparatus according to claim 35, wherein said remote control unit comprise at least one wired remote control unit and wireless remote control unit.
37. apparatus according to claim 33 also comprises and the corresponding pick off of described first rotating driveshaft, described pick off response and according to the rotation of described first rotating driveshaft and output signal.
38. according to the described apparatus of claim 37, wherein said control system is determined the position of rotation of described first rotating driveshaft and at least one in the direction of rotation based on described signal of sensor.
39. apparatus according to claim 33, wherein said control system comprises first memory element.
40. according to the described apparatus of claim 39, wherein said first memory element is used to store a plurality of operation sequences, at least one described operation sequence is corresponding with the cutting and the stitching element of the end that is connected to described slender axles.
41. according to the described apparatus of claim 40, wherein said control system is used to discern the operation device that is connected to described elongated the tip of the axis as cutting and suture instruments, wherein said cutting and to sew up element be a kind of in the polytype operation device that is connected on the described elongation the tip of the axis, described control system can according to described cutting and sew up element from described first memory element by a kind of operation in reading at least and choosing, obtain described operation sequence.
42. according to the described apparatus of claim 41, wherein said control system is according to the data that read second memory element in being arranged on described cutting and suture instruments, discern described cutting and suture instruments, and as the type that is connected to the surgical device on the described slender axles.
43. according to the described apparatus of claim 42, also comprise the data cable that is arranged in the described slender axles, described data cable logic connects and is electrically connected to described control system, and logic connects and is electrically connected to described second memory element.
44. a surgical instruments comprises:
Motor;
First driving shaft rotates around rotation axis under described motor effect;
First clamp;
Second clamp is relative with described first clamp; And
First driver makes described first and second clamps on a plane and according to the rotation of described first rotating driveshaft and relative motion, described plane and the non-parallel setting of described rotation axis.
45. the method for an operate surgical instruments may further comprise the steps:
Rotate first driving shaft around rotation axis; And
According to the rotation of described first rotating driveshaft, first clamp and second clamp are moved relative to each other, the non-parallel setting of the described relatively rotation axis in described plane in a plane.
46., also comprise the steps: according to the described method of claim 45
Rotate second driving shaft around rotation axis; And
According to the rotation of described second rotating driveshaft, make the operation parts that are arranged in described first clamp along moving with described parallel plane direction.
47., also comprise the steps: according to the described method of claim 45
Rotate second driving shaft around rotation axis; And
According to the rotation of described second rotating driveshaft, make the operation parts along moving with described parallel plane direction, described operation parts are arranged in described first clamp, and above cutting element is installed.
48., also comprise the steps: according to the described method of claim 45
Rotate second driving shaft around rotation axis; And
According to the rotation of described second rotating driveshaft, make operation parts edge with described
Parallel plane direction moves, and described operation parts are arranged in described first clamp,
And the stitching element is installed above.
49. according to the described method of claim 45, wherein said first clamp and second clamp move relative to each other in a plane, described plane is perpendicular to described rotation axis.
50. according to the described method of claim 46, wherein said operation parts move along being parallel to described planar direction, described plane is perpendicular to described rotation axis setting.
51. according to the described method of claim 45, wherein said first rotating driveshaft rotates under the effect of electromechanical actuators.
52. according to the described method of claim 46, wherein said second rotating driveshaft rotates under the effect of electromechanical actuators.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US34665602P | 2002-01-08 | 2002-01-08 | |
| US60/346,656 | 2002-01-08 | ||
| US10/094,051 | 2002-03-08 |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB038034832A Division CN1310621C (en) | 2002-01-08 | 2003-01-02 | Surgical device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1830398A true CN1830398A (en) | 2006-09-13 |
| CN100444806C CN100444806C (en) | 2008-12-24 |
Family
ID=36993002
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100730387A Expired - Fee Related CN100444806C (en) | 2002-01-08 | 2003-01-02 | A surgical device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN100444806C (en) |
| ES (1) | ES2368730T3 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110439A (en) * | 2013-01-29 | 2013-05-22 | 北京中法派尔特医疗设备有限公司 | Control method and control device of power-driven binding instrument used in surgery |
| CN103110440A (en) * | 2013-01-29 | 2013-05-22 | 北京中法派尔特医疗设备有限公司 | Power-driven binding instrument used in surgery |
| CN103126733A (en) * | 2013-01-29 | 2013-06-05 | 北京中法派尔特医疗设备有限公司 | Straight line stitching instrument end effector |
| CN103405254A (en) * | 2013-04-23 | 2013-11-27 | 北京中法派尔特医疗设备有限公司 | Control method and control device for electric surgery suture nail installing instrument |
| CN103405255A (en) * | 2013-04-23 | 2013-11-27 | 北京中法派尔特医疗设备有限公司 | Control method and control device for electric surgery suture nail installing instrument |
| CN103405257A (en) * | 2013-04-23 | 2013-11-27 | 北京中法派尔特医疗设备有限公司 | Control method and control device for electric surgery suture nail installing instrument |
| CN104224259A (en) * | 2014-09-15 | 2014-12-24 | 江苏钱璟医疗器械有限公司 | Disposable internal opening cutting and enclosing anastomat |
| CN109068969A (en) * | 2016-03-10 | 2018-12-21 | 比奥普-医疗有限公司 | Diagnose the device of tissue |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6270508B1 (en) * | 1998-10-26 | 2001-08-07 | Charles H. Klieman | End effector and instrument for endoscopic and general surgery needle control |
| US6443973B1 (en) * | 1999-06-02 | 2002-09-03 | Power Medical Interventions, Inc. | Electromechanical driver device for use with anastomosing, stapling, and resecting instruments |
| US6981941B2 (en) * | 1999-06-02 | 2006-01-03 | Power Medical Interventions | Electro-mechanical surgical device |
| US6264087B1 (en) * | 1999-07-12 | 2001-07-24 | Powermed, Inc. | Expanding parallel jaw device for use with an electromechanical driver device |
-
2003
- 2003-01-02 ES ES03700672T patent/ES2368730T3/en not_active Expired - Lifetime
- 2003-01-02 CN CNB2006100730387A patent/CN100444806C/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110439A (en) * | 2013-01-29 | 2013-05-22 | 北京中法派尔特医疗设备有限公司 | Control method and control device of power-driven binding instrument used in surgery |
| CN103110440A (en) * | 2013-01-29 | 2013-05-22 | 北京中法派尔特医疗设备有限公司 | Power-driven binding instrument used in surgery |
| CN103126733A (en) * | 2013-01-29 | 2013-06-05 | 北京中法派尔特医疗设备有限公司 | Straight line stitching instrument end effector |
| CN103110439B (en) * | 2013-01-29 | 2016-06-01 | 北京派尔特医疗科技股份有限公司 | The control method of electric surgery binding instrument and control device |
| CN103405254A (en) * | 2013-04-23 | 2013-11-27 | 北京中法派尔特医疗设备有限公司 | Control method and control device for electric surgery suture nail installing instrument |
| CN103405255A (en) * | 2013-04-23 | 2013-11-27 | 北京中法派尔特医疗设备有限公司 | Control method and control device for electric surgery suture nail installing instrument |
| CN103405257A (en) * | 2013-04-23 | 2013-11-27 | 北京中法派尔特医疗设备有限公司 | Control method and control device for electric surgery suture nail installing instrument |
| CN103405255B (en) * | 2013-04-23 | 2016-06-15 | 北京中法派尔特医疗设备有限公司 | The control method of electric surgery binding instrument and control device |
| CN103405257B (en) * | 2013-04-23 | 2016-06-22 | 北京中法派尔特医疗设备有限公司 | The control method of electric surgery binding instrument and control device |
| CN103405254B (en) * | 2013-04-23 | 2016-06-29 | 北京中法派尔特医疗设备有限公司 | The control method of electric surgery binding instrument and control device |
| CN104224259A (en) * | 2014-09-15 | 2014-12-24 | 江苏钱璟医疗器械有限公司 | Disposable internal opening cutting and enclosing anastomat |
| CN109068969A (en) * | 2016-03-10 | 2018-12-21 | 比奥普-医疗有限公司 | Diagnose the device of tissue |
Also Published As
| Publication number | Publication date |
|---|---|
| ES2368730T3 (en) | 2011-11-21 |
| CN100444806C (en) | 2008-12-24 |
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