WO2014117312A1 - Procédé de commande et dispositif de commande pour agrafeuse chirurgicale électrique - Google Patents

Procédé de commande et dispositif de commande pour agrafeuse chirurgicale électrique Download PDF

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Publication number
WO2014117312A1
WO2014117312A1 PCT/CN2013/000939 CN2013000939W WO2014117312A1 WO 2014117312 A1 WO2014117312 A1 WO 2014117312A1 CN 2013000939 W CN2013000939 W CN 2013000939W WO 2014117312 A1 WO2014117312 A1 WO 2014117312A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
closing
control device
electric surgical
surgical stapling
Prior art date
Application number
PCT/CN2013/000939
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京中法派尔特医疗设备有限公司 filed Critical 北京中法派尔特医疗设备有限公司
Publication of WO2014117312A1 publication Critical patent/WO2014117312A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
    • A61B17/115—Staplers for performing anastomosis in a single operation
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00725—Calibration or performance testing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • A61B2090/0811—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument

Definitions

  • 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.
  • 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.
  • the present invention is directed to a method and a control apparatus for controlling an electrosurgical stapler of a replaceable end effector.
  • 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.
  • the type of end effector is also detected.
  • 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.
  • a control device for an electrosurgical stapler instrument 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.
  • the type of the end effector is also detected in the self-test sub-module.
  • 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.
  • 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.
  • 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.
  • the control device further includes a voltage conversion module, the voltage conversion mode
  • 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.
  • Figure 1 is a schematic illustration of an electrosurgical stapler with an end effector at the end of a linear stapler.
  • FIG. 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.
  • 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.
  • the universal handle can also be equipped with a knife-slit, other stapler.
  • FIG. 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.
  • 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.
  • 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.
  • 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.
  • the doctor can press the pause button to stop the closing operation at any time.
  • FIG. 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.
  • the controller 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.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)

Abstract

La présente invention concerne un procédé de commande et un dispositif de commande pour une agrafeuse chirurgicale électrique. L'agrafeuse chirurgicale électrique peut comprendre une poignée universelle qui peut être utilisée conjointement à des actionneurs d'extrémité de différentes agrafeuses chirurgicales et un actionneur d'extrémité. Le procédé comprend : une étape d'auto-test, dans ladite étape d'auto-test, une opération de fermeture partielle des mâchoires et une opération d'éjection d'agrafe sont exécutées avant un retour à une position initiale ; une étape de fermeture, dans l'étape de fermeture, les mâchoires sont fermées et un tissu est saisi entre les mâchoires ; une étape d'éjection, dans l'étape d'éjection, une agrafe est éjectée ; une étape de retour, dans l'étape de retour, l'agrafeuse chirurgicale électrique retourne dans sa position initiale. Le procédé de commande et le dispositif de commande de l'agrafeuse chirurgicale électrique réalisent un auto-test avant la fermeture et l'éjection, permettent de déceler les problèmes avant une opération chirurgicale, empêchent la survenue de problèmes durant l'opération chirurgicale, et améliorent la sécurité de la chirurgie.
PCT/CN2013/000939 2013-01-29 2013-08-09 Procédé de commande et dispositif de commande pour agrafeuse chirurgicale électrique WO2014117312A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201310032654.8A CN103110439B (zh) 2013-01-29 2013-01-29 电动外科装订器械的控制方法与控制装置
CN201310032654.8 2013-01-29

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Publication Number Publication Date
WO2014117312A1 true WO2014117312A1 (fr) 2014-08-07

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Application Number Title Priority Date Filing Date
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CN (1) CN103110439B (fr)
WO (1) WO2014117312A1 (fr)

Families Citing this family (6)

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CN103110439B (zh) * 2013-01-29 2016-06-01 北京派尔特医疗科技股份有限公司 电动外科装订器械的控制方法与控制装置
US10542976B2 (en) * 2014-07-31 2020-01-28 Covidien Lp Powered surgical instrument with pressure sensitive motor speed control
CN105395232B (zh) 2015-12-22 2019-02-15 苏州英途康医疗科技有限公司 电动吻合器
CN105411642B (zh) * 2015-12-22 2018-09-11 苏州英途康医疗科技有限公司 电动吻合器及其闭合、击发控制方法
CN106333720B (zh) * 2016-10-14 2019-02-15 苏州英途康医疗科技有限公司 智能腔镜吻合器
CN108113725B (zh) * 2017-12-21 2020-07-28 苏州英途康医疗科技有限公司 吻合器控制方法及吻合器

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US20020038102A1 (en) * 2000-09-24 2002-03-28 Medtronic, Inc. Motor control system for a surgical handpiece
US20110278344A1 (en) * 2007-10-31 2011-11-17 Tyco Healthcare Group Lp Powered surgical instrument
CN102088914A (zh) * 2008-07-15 2011-06-08 英默森公司 带有信号反馈的模块化工具
CN101675893A (zh) * 2008-09-18 2010-03-24 伊西康内外科公司 具有用于测量动作之间经过的时间的装置的外科器械
CN103110439A (zh) * 2013-01-29 2013-05-22 北京中法派尔特医疗设备有限公司 电动外科装订器械的控制方法与控制装置

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CN103110439A (zh) 2013-05-22

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