WO2014117312A1

WO2014117312A1 - Control method and control device for electric surgical stapling instrument

Info

Publication number: WO2014117312A1
Application number: PCT/CN2013/000939
Authority: WO
Inventors: 王树新; 师云雷; 李学军; 刘青
Original assignee: 北京中法派尔特医疗设备有限公司
Priority date: 2013-01-29
Filing date: 2013-08-09
Publication date: 2014-08-07
Also published as: CN103110439A; CN103110439B

Abstract

A control method and a control device for an electric surgical stapling instrument. The electric surgical stapling instrument comprises a universal handle that can be used in conjunction with extremity actuators of different surgical stapling instruments and an extremity actuator. The method comprises: a self test step, in the self test step, a partial jaw closing operation and a staple firing operation run are performed and returned to an initial position; a closing step, in the closing step, a jaw is closed and a tissue is clamped between the jaw; a firing step, in the firing step, a staple is fired; a return step, in the return step, the electric surgical stapling instrument is returned to the initial position. Control method and the control device for the electric surgical stapling instrument perform a self test prior to closing and firing, allow for problems to be found prior to a surgery, prevent problems from occurring during the surgery, and increase the safety of the surgery.

Description

Description Control method and control device for electric surgical binding equipment

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the field of medical devices, and more particularly to a control method and control device for an electrosurgical stapler device. BACKGROUND OF THE INVENTION Stab-type surgical binding instruments have been widely used in surgery since their inventions because of their ease of use and good suturing effect. The stapler is the world's first stapler for gastrointestinal anastomosis for nearly a century, until the 1970s tube-type stapler was widely used in gastrointestinal surgery. It is an alternative to traditional hand-stitching equipment used in medicine. Due to the development of modern technology and the improvement of production technology, the stapler currently used in clinical practice is reliable in quality, convenient to use, tight and elastic, especially its suturing is quick and easy to operate. And there are few side effects and surgical complications, and sometimes the tumor surgery that can not be removed in the past can be resected. It is very popular and praised by clinical surgeons at home and abroad. It is a commonly used surgical instrument with a very large consumption. The traditional surgical binding equipment, which is manually used as the power source for the control device, has high requirements for the operation of the doctor. Different doctors may have different suturing effects, or the suture may be increased due to uneven force or insufficient strength of the user. Uncertainty of the procedure, which is unacceptable to the surgeon, and because the instrument cannot be adjusted depending on the type of surgery and the surgical site, resulting in poor compatibility of the device, it is necessary to have a variety of components in the clinic (eg nail 匣), resulting in a great waste of materials and manpower. Summary of the invention The present invention is directed to a method and a control apparatus for controlling an electrosurgical stapler of a replaceable end effector. In accordance with one aspect of the present invention, a method of controlling an electrosurgical stapler instrument includes a universal handle and an end effector that can be used with different surgical stapler end effectors, the method comprising: a self-test step, In the self-test step, performing a partial jaw closing operation and a staple firing operation and returning to the initial position; a closing step in which the jaws are closed and the tissue is sandwiched between the jaws; the firing step, In the firing step, the staple is fired; and the returning step, in which the electrosurgical stapling instrument returns to the initial position. Preferably, in the self-testing step, the type of end effector is also detected. Preferably, a semi-closing step is further included between the self-testing step and the closing step, in which the closing distance completes a majority of the set distance, and if the closed position is not suitable, the initial position is returned, if the closed position is suitable Then confirm the entry to the closing step. According to another aspect of the invention, a control device for an electrosurgical stapler instrument, the electrosurgical stapler device includes a universal handle and an end effector that can be used with different surgical stapler end effectors, the control device including a processor module The processor module includes: a self-test sub-module, in which the partial jaw closing operation and the staple firing operation are performed and returned to the initial position; the sub-module is closed, in the closed sub-module The jaws close and sandwich the tissue between the jaws; the firing sub-module, in which the staples are fired; the sub-module is returned, in which the electrosurgical stapling instrument returns to the initial position. Preferably, in the self-test sub-module, the type of the end effector is also detected. Preferably, a semi-closed sub-module is further included between the self-test sub-module and the closed sub-module, in which the closing distance completes a majority of the set distance, if closed If the position is not suitable, return to the initial position. If the closed position is appropriate, confirm entering the closed sub-module. Preferably, the control device further includes a motor driving module, and the motor driving module receives the driving signal given by the processor module, and amplifies the signal and sends the signal to the driving motor, so that the driving motor completes the speed according to the requirements of the processor module. With position control. Preferably, the control device further includes a flow display module, and the flow display module displays the current flow by means of a signal light display. Preferably, the control device further includes a voltage conversion module, the voltage conversion mode

Preferably, the control device further includes a program download interface, wherein the program download interface can read and write the processor module under the control of the computer software of the computer, and modify the program or data. The control method and the control device for the electrosurgical binding device of the present invention perform self-test before closing and firing, and can find problems before the operation, prevent problems in the operation, and improve the safety of the operation. DRAWINGS

The above is only an overview of the technical solutions of the present invention, and the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

Figure 1 is a schematic illustration of an electrosurgical stapler with an end effector at the end of a linear stapler.

Figure 2 is a diagram of the electrosurgical binding instrument with the end effector at the end of the circular stapler. Figure 3 is a schematic illustration of the electrosurgical stapler with the end effector being the end of the endoscopic stapler. Fig. 4 is a block diagram showing the construction of a control device for an electrosurgical stapler according to an embodiment of the present invention.

Fig. 5 is a schematic view of a water flow lamp of a control device for an electric surgical binding instrument according to an embodiment of the present invention.

Fig. 6 is a flow chart showing a method of controlling an electrosurgical stapler according to another embodiment of the present invention. detailed description

Figure 1 is a schematic illustration of an electrosurgical stapler with an end effector at the end of a linear stapler. Figure 2 is a schematic illustration of an electrosurgical stapler with an end effector at the end of a circular stapler. Figure 3 is a schematic illustration of the end effector of the electrosurgical stapler at the end of the endoscopic stapler.

As shown in Figures 1, 2, and 3, the universal handle of the electrosurgical stapler is universal, and can be connected to different end effector linear staplers, circular staplers, and endoscopic cutting staplers. In addition to the several end effectors shown in the figure, the universal handle can also be equipped with a knife-slit, other stapler.

4 is a block diagram showing the structure of a control device for an electrosurgical stapler according to an embodiment of the present invention. The control device is capable of transmitting a signal to the motor drive portion such that the driver drives the motor to move the magazine toward the anvil to a set closed gap and to cause the staple to reach a set forming height after actuation of the staple. The control device can be used for control and drive of the electric stapler as well as sensor signal acquisition and feedback. The sensor comprises a motor code wheel signal and a pressure sensor signal, respectively, completes the collection of the closing and firing distance, the collection of the tissue pressing force, and provides the processor with a guarantee. The processor can comprehensively determine the appropriate closing distance to ensure the topping effect and quality. As shown in FIG. 4, the control device is provided with a processor, and the processor can complete the code wheel signal and the tissue pressure signal collecting function, can accept the user control command and output the driving command to the motor driver to complete the electric surgery. Binding instruments for speed and position control. A motor drive module is integrated on the control device, and the motor drive module can receive the drive signal given by the processor, and the signal is amplified and sent to the drive motor, and the motor can complete the speed and position control according to the requirements of the processor. A flow display module is integrated on the control device, and the flow display module adopts a signal display mode, and the signal flow is divided into four steps: self-test, close, fire, and return. Therefore, there are 4 semaphores indicating the current state, the indicated current state is the blinking state, the completed steps are displayed as the always-on state, and the unfinished steps are indicated as the illuminating state. In addition to the precise and safe control of the transmission steps and operation actions, the control device can clearly display the operation flow and the current process, so that the doctor can understand the whole process of the operation and has a "one button" operation function, so that the doctor Under normal circumstances, it is only necessary to press the confirmation button according to the signal prompt to complete the operation. The control device is integrated with a voltage conversion module, which can be firstly converted from 12V AC to 12V, and 12V to 12V to the motor drive module; 12V is stepped down to 5V to supply the processor and other power interfaces. The control device is equipped with a mode detection module, which can automatically detect the different specifications of the stapler, the cutting stapler, the circular stapler, the lenticular cutting stapler and the like which are mounted on the handle. The operator, in order to select different execution procedures, ensures the comfort and simplicity of the doctor's operation. A program download interface is integrated on the control device, and the program download interface can read and write operations on the processor under the control of the computer software of the computer, and modify the program or data.

Fig. 5 is a schematic view of a water flow lamp of a control device for an electric surgical binding instrument according to an embodiment of the present invention. The water lamp shown in Figure 5 first flashes the self-test light at a certain frequency when the doctor installs the end effector, prompting the doctor to perform a self-test. At this time, the doctor presses the execution button, and the device performs mechanical and electrical self-test; After the completion, the self-test light is always on, the closing light starts to flash, prompting the doctor to complete the closing operation, and the doctor presses the execution button to close the start. During the closing process, the doctor can press the pause button to stop the closing operation at any time. Automatic recovery to the end of self-test; If the doctor does not perform other operations during the closing process, the program automatically determines the closing gap according to the set distance and the measured value of the pressure sensor to ensure the best closing effect; close the lamp and self-test after closing When the light is always on, the firing light starts to flash to prompt the doctor to perform the next firing operation. When the doctor presses the execution button, the tool automatically performs the firing operation. After the firing operation is completed, the delay is automatically returned to complete the entire firing process for several seconds. Figure 6 is a flow chart showing a method of controlling an electrosurgical stapler according to another embodiment of the present invention. As shown in Figure 6, the doctor first removes the stapler handle and the end effector, and checks the appearance of the end effector and the stapler handle after the appearance is not damaged. After the power is connected, the controller automatically detects the end effector type detection. And the controller chip performs self-powering Gas and mechanical testing, the detection means is in the form of closing operation and firing operation for a little operation and returning to the initial position. If the electrical or mechanical problem causes the self-test to fail, the program cannot continue, the doctor cannot proceed to the next step; After waiting for the doctor to confirm that the closing operation can be performed, the closing operation is performed. First, the semi-closing operation is performed, that is, the closing distance is completed by two-thirds of the set distance, and whether the closed position is suitable is observed. If not, the button can be returned to reposition and close. Position, if the closed position is appropriate, you can press the confirm button to perform the full closing operation; after the full closing operation, the doctor observes the closing effect, and judges that the firing operation can be performed. Press the confirmation button to close the operation. If the closing is not ideal or not suitable for firing The operation can be returned; after the firing confirmation, the device automatically performs the firing operation and the returning. After the firing is completed, the system automatically delays the operation for a period of time to ensure the surgical effect; after the firing is returned, the doctor presses the confirmation to close and return, and completes the surgical operation.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Those skilled in the art can make some simple modifications, equivalent changes or modifications using the technical contents disclosed above. Within the scope of protection of the invention.

Claims

claims

1. A control method for an electric surgical binding instrument. The electric surgical binding instrument includes a universal handle and an end effector that can be used with end effectors of different surgical binding instruments. The method includes: a self-test step, in the self-test step. , perform a partial jaw closing operation and staple firing operation and return to the initial position; a closing step, in the closing step, the jaws are closed and the tissue is clamped between the jaws; a firing step, in the firing step , firing the staples; a return step, in which the electric surgical stapling instrument returns to its initial position.

2. The control method of an electric surgical stapling instrument as claimed in claim 1, wherein in the self-checking step, the type of the end effector is also detected.

3. The control method of electric surgical binding instruments according to claim 1 or 2, characterized in that a semi-closing step is further included between the self-checking step and the closing step. In the semi-closing step, the closing distance is set to Most of the fixed distance, if the closing position is not appropriate, it will return to the initial position, if the closing position is appropriate, it will be confirmed to enter the closing step.

4. A control device for an electric surgical stapling instrument. The electric surgical stapling instrument includes a universal handle and an end effector that can be used with the end effectors of different surgical stapling instruments. The control device includes a processor module, and the processor module includes: Self-checking sub-module, in the self-checking sub-module, perform part of the jaw closing operation and staple firing operation and return to the initial position; Closing sub-module, in the closing sub-module, the jaws are closed and the tissue is clamped between the jaws; A firing sub-module, in which the staples are fired; and a return sub-module, in which the electric surgical stapling instrument returns to its initial position.

5. The control device for electric surgical stapling instruments according to claim 4, characterized in that, in the self-test sub-module, the type of the end effector is also detected.

6. The control device for electric surgical stapling instruments according to claim 4 or 5, characterized in that, a semi-closed sub-module is further included between the self-test sub-module and the closing sub-module, and in the semi-closed sub-module, The closing distance completes most of the set distance. If the closing position is not appropriate, it will return to the initial position. If the closing position is appropriate, it will be confirmed to enter the closing sub-module.

7. The control device for electric surgical stapling instruments according to claim 4 or 5, characterized in that the control device further includes a motor drive module, the motor drive module receives the drive signal given by the processor module, and The signal is amplified and sent to the drive motor, so that the drive motor can complete speed and position control according to the requirements of the processor module.

8. The control device for electric surgical binding instruments according to claim 4 or 5, characterized in that the control device further includes a process display module, and the process display module uses a signal light display to display the current process.

9. The control device of the electric surgical binding instrument according to claim 4 or 5, characterized in that the control device further includes a voltage conversion module, and the voltage conversion module converts the power supply voltage into various parts of the electric surgical binding instrument. operating voltage.

10. The control device for electric surgical stapling instruments according to claim 4 or 5, characterized in that the control device further includes a program download interface, and the program download interface can process the processing under the control of the computer host software. The processor module performs read and write operations and modifies the program. sequence or data.