WO2020221356A1 - 外科器械的控制装置、外科器械及其控制方法 - Google Patents

外科器械的控制装置、外科器械及其控制方法 Download PDF

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Publication number
WO2020221356A1
WO2020221356A1 PCT/CN2020/088445 CN2020088445W WO2020221356A1 WO 2020221356 A1 WO2020221356 A1 WO 2020221356A1 CN 2020088445 W CN2020088445 W CN 2020088445W WO 2020221356 A1 WO2020221356 A1 WO 2020221356A1
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WIPO (PCT)
Prior art keywords
signal
surgical instrument
control module
motor
control
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PCT/CN2020/088445
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English (en)
French (fr)
Inventor
孙宝峰
张志星
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江苏风和医疗器材股份有限公司
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Publication of WO2020221356A1 publication Critical patent/WO2020221356A1/zh

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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
    • A61B17/32—Surgical cutting instruments
    • A61B17/3209—Incision instruments
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07271—Stapler heads characterised by its cartridge
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07278—Stapler heads characterised by its sled or its staple holder
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07285—Stapler heads characterised by its cutter

Definitions

  • the invention relates to a control device of a surgical instrument, a surgical instrument and a control method thereof.
  • the intracavitary cutting stapler has been widely used in intracavitary surgery such as abdominal cavity.
  • the existing intracavity cutting stapler generally includes an operating component, a shaft component extending longitudinally from the operating component, and an end effector disposed at the distal end of the shaft component.
  • the end effector includes a staple cartridge seat and a staple holder pivotally connected to the staple cartridge seat.
  • the staple cartridge holder is used to operably support the staple cartridge located therein, and the staple holder can be between an open position and a closed position Exercise selectively.
  • the operating assembly includes a main body and a transmission mechanism installed on the main body.
  • the stapler also includes a motor and a trigger. The trigger can be manipulated to control the operation of the motor, the motor drives the transmission mechanism to work, and the transmission mechanism drives the end effector to open and close.
  • the end effector is used to clamp and compress (also known as squeezing) tissue.
  • tissue fluid in the tissue, which is difficult to compress, so that the target tissue containing a large amount of tissue fluid is also difficult to be compressed.
  • the target between the staple cartridge and the staple seat The thickness of the tissue does not reach the safe range of effective suture, resulting in insufficient tissue compression, inconsistent nail formation, secondary nail formation, etc., resulting in postoperative symptoms such as bleeding at the cut and suture. It is hoped that the tissue fluid can be fully discharged from the squeezed tissue by pressing, so as to facilitate the cutting and suture of the stapler.
  • the prior art end effector squeezing control device and control method cannot guarantee the squeezing time, resulting in poor squeezing effect and insufficient discharge of tissue fluid.
  • the purpose of the present invention is to provide a surgical instrument with better tissue squeezing effect.
  • a control device for a surgical instrument includes an end effector, a cutting knife assembly, a transmission mechanism, and a motor.
  • the control device includes a signal source module and a control module; the signal source module is electrically connected to the A control module, the control module is electrically connected to the motor; the motor drives the end effector and the cutting knife assembly through the transmission mechanism; the control module receives the end execution After the signal is closed in place, the signal source module sends a first signal. After the control module receives the first signal, the control module turns on the squeeze hold mode; in the squeeze hold mode, whether it receives Until the second signal sent by the signal source module, the control module does not send a third signal for instructing the motor to operate to drive the cutting knife assembly to move forward through the transmission mechanism.
  • the squeeze hold mode is completed; after the squeeze hold mode is completed, after receiving the second signal sent by the signal source module After the signal, the control module sends out the third signal.
  • the signal source module sends a fourth signal before the time that the squeeze hold mode is maintained reaches a predetermined length of time, and after the control module receives the fourth signal, the control module terminates the squeeze hold Mode; after the squeeze hold mode is terminated, after receiving the second signal sent by the signal source module, the control module sends the third signal.
  • the signal source module includes a button, and the first signal and the fourth signal are both emitted by the button being triggered; the buttons that are triggered are the same, or the buttons that are triggered are symmetrical One of two keys with the same setting and function.
  • the intention of the second signal is to instruct the motor to operate through the control module to drive the cutting knife assembly to move forward.
  • the signal source module includes a button, and the button is used to emit the second signal after being triggered.
  • control module includes a micro-control unit configured to analyze the second signal received by the control module after the operation of the squeeze holding mode is completed or the squeeze holding mode is terminated And send out low level signal after processing.
  • control module further includes a motor drive unit configured to convert the received low-level signal into a high-level signal and issue the high-level signal.
  • control module further includes a motor control unit configured to receive the high-level signal and identify the motor control signal in the high-level signal, the motor control unit according to the motor The control signal controls the running state of the motor.
  • control module further includes a detection unit configured to receive the signal sent by the signal source module and transmit the signal to the micro control unit.
  • control module includes a micro control unit, the micro control unit stores the predetermined length of time; the micro control unit starts timing after the control module receives the first signal, that is, the press The holding mode is turned on, the time length obtained by the timing is compared with the stored predetermined time length, and the micro control unit determines whether the time for maintaining the squeeze holding mode reaches the predetermined time length.
  • the predetermined time length is 10 seconds to 60 seconds.
  • the predetermined time length is 15 seconds.
  • the surgical instrument further includes an indicating mechanism for indicating the length of time obtained by the timing.
  • the surgical instrument further includes an indication mechanism for instructing the micro-control unit to perform the judgment result.
  • the signal source module includes a button, and the button is used to emit the first signal after being triggered.
  • the signal source module includes a travel switch, the transmission mechanism includes a cooperating portion, and the travel switch is triggered by the cooperating portion to send a signal to the control module that the end effector is closed in place; or,
  • the signal source module includes a Hall sensor, the transmission mechanism includes a magnet, and the Hall sensor senses that the magnetic field strength of the magnet reaches a predetermined value to send a signal to the control module that the end effector is closed in place .
  • a surgical instrument includes an end effector, a cutting knife assembly, a transmission mechanism, and a motor.
  • the motor drives the end effector and the cutting knife assembly through the transmission mechanism;
  • the instrument further includes a control device, which is the control device of any one of the above-mentioned surgical instruments.
  • the surgical instrument includes an end effector, a cutting knife assembly, a transmission mechanism, and a motor.
  • the motor drives the end effector through the transmission mechanism and drives the end effector through the transmission mechanism.
  • the cutting knife assembly; the surgical instrument further includes a control device, the control device includes a signal source module and a control module; the signal source module is electrically connected to the control module, the control module is electrically connected to the Motor; the signal source module includes a first button, a second button and a stroke signal element; the control method includes the following steps:
  • the stroke signal element sends a signal to the control module that the end effector is closed in place;
  • a first signal is sent out.
  • the control module After the control module receives the first signal, the control module turns on the squeeze holding mode; in the squeeze holding mode, whether it is received or not For the second signal issued after the second button is triggered, none of the control modules issue a third signal for instructing the motor to operate to drive the cutting knife assembly to move forward through the transmission mechanism;
  • the squeeze holding mode lasts for a predetermined length of time, and after the predetermined length of time is reached, the squeeze holding mode is completed;
  • the control module After the second button is triggered, the second signal is sent out, and after receiving the second signal, the control module sends out instructions for instructing the motor to operate to drive the cutting knife assembly through the transmission mechanism The third signal moving forward.
  • step (3) is replaced with: the squeeze holding mode lasts for a predetermined length of time, within the predetermined length of time, after the first button is triggered again, the first signal is issued, and the control module again After receiving the first signal, the control module terminates the press hold mode.
  • the signal source module further includes another button, which is symmetrically arranged with the first button and has the same function; the step (3) is replaced with: the squeeze hold mode lasts for a predetermined length of time , Within the predetermined length of time, after the other button is triggered, the first signal is sent out, and after the control module receives the first signal again, the control module terminates the squeeze holding mode.
  • the travel signal element includes a travel switch or a Hall sensor.
  • the predetermined time length is 10 seconds to 60 seconds.
  • the predetermined time length is 15 seconds.
  • control module includes a micro control unit, the micro control unit stores the predetermined length of time; the micro control unit starts timing after the control module receives the first signal, that is, the press The holding mode is turned on, the time length obtained by the timing is compared with the predetermined time length, and the micro control unit determines whether the duration of the squeeze holding mode reaches the predetermined time length.
  • the beneficial effect of the present invention is that the control device of the surgical instrument of the present invention is provided with a squeezing holding mode, which can ensure the squeezing time of the tissue so as to be fully squeezed, which is beneficial to improve the effect of cutting and stitching.
  • Figure 1 is a schematic diagram of the structure of the stapler of the present invention.
  • Figure 2 is an enlarged view of the circled part shown in Figure 1;
  • Fig. 3 is a partial structural diagram of the stapler shown in Fig. 1 from another perspective;
  • Figure 4 is an enlarged view of the circled part A shown in Figure 3;
  • Figure 5 is an enlarged view of the circled part B shown in Figure 3;
  • Figure 6 is a partial structural diagram of the stapler shown in Figure 3.
  • Fig. 7 is a schematic structural diagram of the first component shown in Fig. 6;
  • FIG. 8 is a schematic structural diagram of the third component shown in FIG. 6;
  • FIG. 9 is a schematic diagram of the circuit board assembly shown in FIG. 1;
  • Fig. 10 is a schematic diagram of the motor drive unit shown in Fig. 9;
  • Figure 11 is an assembly diagram of the end effector and sleeve shown in Figure 1;
  • Figure 12 is an enlarged view of the circled part shown in Figure 11;
  • the terms “near”, “rear”, “distal” and “front” as used herein are relative to the clinician who manipulates surgical instruments.
  • the terms “near” and “rear” refer to the part relatively close to the clinician, and the terms “far” and “front” refer to the part relatively far away from the clinician.
  • “Left” and “Right” refer to the position of the surgical instrument shown in Figure 1, for example, the end effector is on the “left” and the sleeve is on the “right”.
  • the terms “upper” and “lower” refer to the relative positions of the end effector's nail seat and the staple cartridge seat. Specifically, the nail seat is “up” and the nail cartridge seat is “down”.
  • FIG. 1 to 12 it is a surgical instrument according to the present invention, specifically an stapler 100, which includes an operating assembly 10, a shaft assembly 20 extending in the longitudinal direction from the operating assembly 10, and a rod
  • the end effector 30 at one end of the body assembly 20.
  • the end effector 30 includes a staple cartridge seat 31 and a staple seat 32 pivotally connected to the staple cartridge seat 31.
  • the staple cartridge seat 31 is used to operably support a staple cartridge (not shown) located therein,
  • the seat 32 is selectively movable between an open position and a closed position.
  • the shaft assembly 20 includes a core shaft 21 and a sleeve 22 sleeved on the core shaft 21.
  • the operating assembly 10 includes a main body (not shown) and a transmission mechanism 11 mounted on the main body.
  • the sleeve 22 includes a first end 23 connected to the transmission mechanism 11 and a second end 24 movably connected to the nail seat 32 of the end effector 30.
  • the rearward movement of the sleeve 22 makes the nail seat 32 Pivoting upward to open the end effector 30, and forward movement of the sleeve 22 causes the abutment seat 32 to pivot downward to close the end effector 30.
  • the nail abutment seat 32 is rotatably connected to the second end 24 of the sleeve 22, that is, the nail abutment seat 32 is connected to the second end 24 of the sleeve 22 and the nail abutment seat 32 is relatively sleeved
  • the second end 24 of the tube 22 is rotatable.
  • the anchor seat 32 is rotatably connected to the second end 24 of the sleeve 22 so that the back and forth movement of the sleeve 22 drives the anchor seat 32 to pivot as a prior art.
  • the stapler 100 further includes a cutting knife assembly 40.
  • the cutting knife assembly 40 includes a cutting knife 41 arranged in the staple cartridge 33 and a knife pushing member 42 detachably connected to the cutting knife 41. 4 and 5, the pushing member 42 is provided with a recess (not labeled), the cutting knife 41 is provided with a protruding portion (not labeled), the recess and the protruding portion cooperate with each other so that the pushing member 42 and the cutting knife 41 assembled together.
  • One end of the core shaft 21 is connected to the transmission mechanism 11, and the other end is located in the sleeve 22.
  • a part of the knife pushing member 42 extends into the end effector 30 and is detachably connected with the cutting knife 41, and another part of the knife pushing member 42 is located in the sleeve 22 and connected to the other end of the mandrel 21.
  • the forward movement of the mandrel 21 causes the cutting knife assembly 40 to move forward to cut tissue, and the backward movement of the mandrel 21 causes the cutting knife assembly 40 to move backward to return to the initial position.
  • the stapler 100 further includes a circuit board assembly 50, a trigger 60, and a motor 70.
  • the trigger 60 is electrically connected to the circuit board assembly 50
  • the motor 70 is electrically connected to the circuit board assembly 50
  • the motor 70 drives the transmission mechanism 11 to work
  • the motor 70 The number is one.
  • the circuit board assembly 50 includes a circuit board 51 and a control module 52 disposed on the circuit board 51, and the control module 52 is used to control the operating state of the motor 70.
  • the stapler 100 also includes a squeeze holding mechanism (not shown). The operator needs to operate the squeeze holding mechanism before driving the cutting knife assembly 40 to move forward.
  • the trigger 60, the control module 52, and the motor 70 can drive the cutting knife assembly 40 to move forward.
  • the squeezing holding mechanism can keep the end effector 30 in the closed state (that is, the squeezed state) for a certain period of time. By holding the squeezed tissue for a certain period of time, the tissue fluid in the squeezed target tissue is promoted to the surrounding tissues that are not squeezed. Fully discharged.
  • the trigger 60 includes a first button 61, a second button 62, a third button 63, a fourth button 64, a first travel switch 65, a second travel switch 66, a third travel switch 67, and a fourth travel switch 68.
  • the trigger 60 is also called a signal source module. Both the first button 61 and the second button 62 are electrically connected to the control module 52.
  • the first travel switch 65 and the second travel switch 66 are electrically connected to the control module 52.
  • the first travel switch 65 and the second travel switch 66 are used to detect the position of the cutting knife assembly 40 and enable the cutting knife through the control module 52
  • the assembly 40 stops moving.
  • the transmission mechanism 11 is provided with a matching portion, and the matching portion includes a third protrusion (not labeled) and a fourth protrusion (not labeled).
  • the transmission mechanism 11 drives the cutting knife assembly 40 to a certain position through the spindle 21
  • the third bump on the transmission mechanism 11 triggers the first travel switch 65
  • the control module 52 receives the signal sent by the first travel switch 65 and commands The motor 70 stops rotating; the position of the first travel switch 65 is the front dead point where the cutting knife assembly 40 moves forward, that is, the position where the cutting is completed.
  • the fourth bump on the transmission mechanism 11 triggers the second travel switch 66, and the control module 52 receives the signal sent by the second travel switch 66 and instructs it
  • the motor 70 stops rotating; the position where the second travel switch 66 is located is the rear dead point where the cutting knife assembly 40 moves backward, that is, the position where the knife is retracted.
  • the stapler 100 also includes an indicating mechanism (not shown), which is electrically connected to the control module 52, and the indicating mechanism includes five indicator lights, which are LED lights.
  • the third button 63 and the fourth button 64 are electrically connected to the control module 52.
  • the third button 63, the fourth button 64, the control module 52 and the indicating mechanism form a squeeze holding mechanism.
  • the squeeze holding mechanism can make the end effector 30 pair The squeezing of the target tissue lasts for a certain period of time, and the tissue fluid is discharged more fully. That is, the squeezing holding mechanism may not allow the cutting knife assembly 40 to move forward and keep the end effector 30 closed within a certain period of time, so as to improve the end effector 30 to the tissue.
  • the pressing effect is not allow the cutting knife assembly 40 to move forward and keep the end effector 30 closed within a certain period of time, so as to improve the end effector 30 to the tissue.
  • the third button 63 and the fourth button 64 are symmetrically arranged, and no matter which one of the third button 63 and the fourth button 64 is pressed by the operator, the same effect can be achieved.
  • the operation mode of the squeeze holding mechanism includes the first operation mode and the second operation mode.
  • the first operation mode the operator presses the third button 63 or the fourth button 64 and releases it immediately, that is, presses the third button 63 or the fourth button 64, and the control module 52 receives the third button 63 or the fourth button 64 Signal and instruct the indicating mechanism to start working, and one LED light will turn on every three seconds. When all the five LED lights are on after 15 seconds, the indicating mechanism is completed. At this time, the operator can operate the first button 61 to drive the cutting The knife assembly 40 moves forward.
  • the control module 52 will not instruct the motor 70 to rotate to drive the cutting knife assembly 40 to move forward. If the operator thinks that the tissue to be cut and sutured is suitable for direct cutting and suture, there is no need to apply a certain length of squeezing. In order to save time, if you want to drive the cutting knife assembly 40 forward before the indicating mechanism is completed, you can use the second One mode of operation: press the third button 63 or the fourth button 64 and release it immediately, and press the third button 63 or the fourth button 64 again within 15 seconds and release it immediately. At this time, the operator can operate the first button 61 to The cutter assembly 40 is driven to move forward.
  • the assembly 40 moves forward.
  • the completion of the operation of the squeeze holding mechanism includes: pressing the third button 63 or the fourth button 64 and releasing it immediately, indicating that the mechanism starts to work until the work is completed; the operation of the squeezing holding mechanism is terminated including: pressing the third button 63 or the fourth button 64 and releasing it immediately , Press the third button 63 or the fourth button 64 again within 15 seconds and release immediately.
  • the pressing hold time can also be set to 10 seconds, 20 seconds, 30 seconds, 40 seconds, 50 seconds and 60 seconds.
  • the pressing effect of 10 seconds is a little worse, but it is still acceptable. In the interval of 15 seconds to 60 seconds, the longer the time The better the squeezing effect is, but the squeezing effect does not increase linearly with time, but if more than 15 seconds, the operator will feel that the waiting time is too long, which affects the operator's experience. (Note: Do not delete the limitation of pressing time, because there is a numerical range in the claims.) Setting the pressing holding time to 15 seconds is a balance between waiting time and pressing effect.
  • the third travel switch 67 and the fourth travel switch 68 are electrically connected to the control module 52, and the third travel switch 67 and the fourth travel switch 68 are used to detect whether the end effector 30 is opened or closed.
  • the motor 70 drives the transmission mechanism 11 to work, and the transmission mechanism 11 drives the sleeve 22 to move forward or backward, so that the abutment seat 32 pivots downward or upward to close or open the end effector 30.
  • the transmission mechanism 11 includes a matching portion, and the matching portion includes a first protrusion 12 and a second protrusion 13.
  • the first bump 12 triggers the third travel switch 67, and the control module 52 receives the signal from the third travel switch 67 and instructs the motor 70 to stop rotating.
  • the end The actuator 30 has been closed in place; while the transmission mechanism 11 is driving the sleeve 22 to move backward, the second bump 13 triggers the fourth travel switch 68, and the control module 52 receives the signal from the fourth travel switch 68 and instructs the motor 70 stops rotating, at this time, the end effector 30 has been opened in place.
  • the first bump 12 and the second bump 13 can be replaced by one bump.
  • the third stroke switch 67 is triggered when the above-mentioned one bump moves forward, and the fourth stroke switch is triggered when moving backward. 68.
  • the fitting portion includes the above-mentioned one bump.
  • the control module 52 includes a detection unit 53, a micro control unit 54, a motor drive unit 55, and a motor control unit 56.
  • the micro control unit 54 is a single chip microcomputer.
  • the first button 61, the second button 62, the third button 63, the fourth button 64, the first travel switch 65, the second travel switch 66, the third travel switch 67, and the fourth travel switch 68 are all electrically connected to the detection unit 53.
  • the detection unit 53 is electrically connected to the micro control unit 54
  • the micro control unit 54 is electrically connected to the motor drive unit 55
  • the motor drive unit 55 is electrically connected to the motor control unit 56.
  • the detection unit 53 is used to detect the first button 61, the second button 62, the third button 63, the fourth button 64, the first travel switch 65, the second travel switch 66, the third travel switch 67, and the fourth travel switch 68. Trigger the state, receive the signal from the above-mentioned button and the travel switch, and transmit the signal to the micro control unit 54.
  • the micro control unit 54 receives the signal sent by the detection unit 53 and analyzes and processes the signal.
  • the micro control unit 54 transmits the analyzed signal to the motor drive unit 55.
  • the motor drive unit 55 receives the signal and analyzes and processes the signal.
  • the motor drives The unit 55 transmits the analyzed signal to the motor control unit 56, and the motor control unit 56 controls the operating state of the motor 70 according to the high-level PWM wave signal sent by the motor drive unit 55.
  • the motor drive unit 55 includes a first motor drive unit 57 and a second motor drive unit 58, and both the first motor drive unit 57 and the second motor drive unit 58 are integrated circuits.
  • the first motor drive unit 57 and the second motor drive unit 58 are both used to convert the low-level PWM wave signal sent by the micro-control unit 54 into a high-level PWM wave signal, which is used for Drive motor control unit 56.
  • the motor drive unit 55 completes the conversion of a low-level signal to a high-level signal, and enhances the driving capability of the micro-control unit 54.
  • the first motor drive unit 57 and the second motor drive unit 58 share the tasks of the motor drive unit 55 to avoid a single motor drive unit from being overloaded.
  • the motor control unit 56 controls the operation state of the motor 70 according to the high-level PWM wave signal sent by the motor drive unit 55, that is, the motor control unit 56 recognizes the motor operation information in the high-level PWM wave signal, and the motor operation information includes Motor rotation direction information and stop rotation information, while using a high level signal to drive the motor 70 to rotate in the recognized rotation direction, or instruct the motor 70 to stop rotation, the rotation direction includes the first direction and the second direction, the first direction and the second direction The direction is opposite.
  • the motor 70 rotates in the first direction to close the end effector 30, or drives the cutting knife assembly 40 to move forward; the motor 70 rotates in the second direction to drive the cutting knife assembly 40 to move backward, or drives the end effector 30 turn on.
  • the control module has a squeeze holding mode. When the squeeze holding mode is turned on, the squeeze holding mechanism operates. The time that the squeeze holding mode is maintained is the squeeze holding time. The value of the length of the squeeze holding time is stored in the micro-control unit 54. When the squeeze holding mechanism starts to operate, the micro-control unit 54 starts timing and sends a signal to the indicating mechanism to indicate the progress or status of the squeeze holding.
  • the detection unit 53 transmits the received signal to the micro-control unit 54, and the micro-control unit 54 does not analyze and process the signal transmitted by the detection unit 53 That is, the control module 52 does not instruct the motor 70 to operate to drive the cutting knife assembly 40.
  • the signal sent by the first button 61 is intended to make the control module 52 instruct the motor 70 to operate to drive the cutting knife assembly 40.
  • the micro-control unit 54 counts and reaches the predetermined length of time for the squeeze holding, the squeeze holding mechanism is completed, and the micro-control unit 54 sends a signal to the indicating mechanism to indicate the end of the squeeze holding.
  • the micro control unit 54 is restored to a state where it can analyze and process the signal sent by the first button 61.
  • the micro-control unit 54 ends timing and returns to a state where the signal sent by the first button 61 can be analyzed and processed. That is, the operation of the squeeze holding mechanism is terminated. After the operation of the pressing and holding mechanism is completed or the operation of the pressing and holding mechanism is terminated, the intention of the signal sent by the first button 61 is realized.
  • the working process of the stapler 100 is as follows: (1) The operator presses the first button 61 and keeps it pressed, the control module 52 receives the signal sent by the first button 61 and then instructs the motor 70 to work, and the motor 70 drives the transmission mechanism 11 to work. 11 Drive the nail seat 32 to pivot downward to close the end effector 30.
  • the transmission mechanism 11 triggers the third travel switch 67 during the working process
  • the control module 52 receives the signal from the third travel switch 67 and instructs the motor 70 Stop working. At this time, the end effector 30 is closed and the first button 61 is released; (2) The operator operates the squeeze holding mechanism; (3) When the squeeze holding mechanism is completed or the operation of the squeeze holding mechanism is terminated, operate The user presses the first button 61 and keeps it pressed.
  • the control module 52 receives the signal sent by the first button 61 and then instructs the motor 70 to work.
  • the motor 70 drives the transmission mechanism 11 to work, and the transmission mechanism 11 drives the cutting knife assembly 40 to move forward to cut tissue (I.e. feed), when the transmission mechanism 11 triggers the first travel switch 65 during the working process, the control module 52 receives the signal sent by the first travel switch 65 and instructs the motor 70 to stop working.
  • the cutting knife assembly 40 stops Move forward and finish cutting the tissue; (4) Release the first button 61, the control module 52 receives the signal from the first button 61 and instructs the motor 70 to continue to work, the motor 70 drives the transmission mechanism 11 to work, and the transmission mechanism 11 drives the cutting knife assembly 40 moves backward (that is, withdraws the knife); when the transmission mechanism 11 triggers the second travel switch 66 during operation, the control module 52 receives the signal from the second travel switch 66 and instructs the motor 70 to stop working.
  • the cutting knife The assembly 40 stops moving backward, and the cutting knife assembly 40 moves back into position; (5)
  • the transmission mechanism 11 is driven to work, and the transmission mechanism 11 drives the abutment base 30 to pivot upward to open the end effector 30.
  • the control module 52 receives the fourth travel switch 68 The signal sent out and instructs the motor 70 to stop working.
  • the end effector 30 is turned on.
  • the operation of the motor 70 means that the motor 70 is running, and the stopping of the motor 70 means that the motor 70 stops running.
  • both the first travel switch 65 and the second travel switch 66 can be replaced by Hall sensors.
  • the transmission mechanism 11 is provided with a magnet. When the transmission mechanism 11 drives the core shaft 21 to move forward or backward, the position of the magnet relative to the Hall sensor will change, and the magnetic field intensity sensed by the Hall sensor will also change.
  • the first predetermined value and the second predetermined value are preset and stored in the micro control unit 54 of the control module 52.
  • the Hall sensor When the transmission mechanism 11 drives the core shaft 21 to move forward, the Hall sensor always sends a signal indicating the strength of the magnetic field to the detection unit 53 of the control module 52, and the detection unit 53 transmits the signal to the micro control unit 54.
  • the micro-control unit 54 of the control module 52 makes a judgment and instructs the motor 70 to stop. At this time, the cutting knife assembly 40 stops moving forward, and the cutting of the tissue is completed;
  • the Hall sensor always sends a signal indicating the strength of the magnetic field to the detection unit 53 of the control module 52, and the detection unit 53 transmits the signal to the micro control unit 54.
  • the micro-control unit 54 of the control module 52 determines and instructs the motor 70 to stop running. At this time, the cutting knife assembly 40 stops moving backward.
  • the first predetermined value may be equal to the second predetermined value.
  • the third limit switch 67 and the fourth limit switch 68 can be replaced by Hall sensors.
  • the transmission mechanism 11 is provided with a magnet.
  • the third predetermined value and the fourth predetermined value are preset and stored in the micro control unit 54 of the control module 52.
  • the Hall sensor When the transmission mechanism 11 drives the sleeve 22 to move forward, the Hall sensor always sends a signal indicating the strength of the magnetic field to the detection unit 53 of the control module 52, and the detection unit 53 transmits the signal to the micro control unit 54.
  • the micro-control unit 54 of the control module 52 makes a judgment and instructs the motor 70 to stop running. At this time, the end effector 30 is closed; the transmission mechanism 11 drives the sleeve During the backward movement of the tube 22, the Hall sensor always sends a signal indicating the strength of the magnetic field to the detection unit 53 of the control module 52, and the detection unit 53 transmits the signal to the micro-control unit 54.
  • the micro-control unit 54 of the control module 52 determines and instructs the motor 70 to stop running. At this time, the end effector is turned on.
  • the third predetermined value may be equal to the fourth predetermined value.
  • the micro control unit ie Microcontroller Unit, MCU for short
  • MCU Microcontroller Unit
  • the micro control unit integrates an internal processor (CPU), a memory (RAM, ROM), a counter, and an I/O port.
  • CPU central processing unit
  • RAM random access memory
  • ROM read-only memory
  • I/O port an integrated chip.
  • the data to be processed, calculation methods, steps, and operation commands are compiled into programs and stored in the internal or external memory of the MCU.
  • the MCU can automatically and continuously fetch and execute from the memory during operation.
  • the operation and stop of the motor 70 are controlled by the micro-control unit.
  • the micro-control unit stores the action logic relationship between the end effector and the cutting knife assembly, analyzes and processes the signal from the button, the travel switch or the Hall sensor according to the above action logic relationship, and then sends out a signal for controlling the motor.
  • the simple and effective control of the end effector and the cutting knife assembly is realized, and the logical relationship between them is satisfied.
  • the stapler 100 of the present invention may be provided with a buzzer (not shown) or an indicator light (not shown) to facilitate the operator to determine whether the motor 70 is stopped.
  • the buzzer and indicator light are electrically connected to the control module 52.
  • the control module 52 instructs the motor 70 to stop running, the control module 52 also instructs the indicator light to light up or the buzzer to sound.
  • the operator can also determine whether the motor 70 has stopped operating based on whether the sound made by the motor 70 is heard during operation.
  • the transmission mechanism 11 includes a driving device.
  • the driving device includes a first driving device and a second driving device.
  • the first driving device is used to drive the end effector 30 to close and open.
  • the second driving device is used to drive the cutting knife assembly 40 to move forward and backward.
  • the number of the motor 70 is one.
  • the first driving device includes a first component 81 and a second component 82.
  • the first component 81 includes a first effective rotation structure and a first idle rotation structure.
  • the first effective rotation structure drives the second component 82 to move, and the second component 82
  • the end effector 30 is driven to close and open, and the first idling structure does not drive the second component 82.
  • the first component 81 is a gear, the first component 81 meshes with the gear 71 fixed on the output shaft of the motor 70, the first effective rotation structure is a linear groove 83, and the first idle rotation structure is an arc communicating with the linear groove 83
  • the groove 84 and the second component 82 are a pressing ring assembly including a protruding column 85 that can move in the linear groove 83 and the circular arc groove 84, and the pressing ring assembly 82 is connected with the sleeve 22.
  • the second driving device includes a third component 91 and a fourth component 92.
  • the third component 91 includes a second effective rotation structure and a second idle rotation structure.
  • the second effective rotation structure drives the fourth component 92 to move, and the fourth component 92
  • the cutting knife assembly 40 is driven to move forward and backward, and the second idling structure does not drive the fourth component 92.
  • the third component 91 is a gear including a full-tooth portion 93 and a missing tooth portion 94.
  • the missing-tooth portion 94 includes a toothed portion 95 and a toothless portion 96.
  • the full-tooth portion 93 is the second effective rotation structure
  • the toothless portion 96 is In the second idling structure, the part of the toothed portion 95 and the full-toothed portion 93 parallel to the toothed portion 95 meshes with the gear 71 fixed on the output shaft of the motor 70, and the fourth component 92 is a gear meshed with the rack 97 ,
  • the rack 97 is connected with the core shaft 21.
  • the first driving device and the second driving device are driven by a single motor 70.
  • the idling range means that when the driving device is driven with a motion input, the driving device has no motion output, that is, it does not drive the cutting knife or the end effector.
  • the idling range structure refers to the structure of the components of the drive device that can realize the idling range.
  • Effective rotation means that when the driving device has a motion input that is driven, the driving device has a motion output, that is, it drives a cutting knife or an end effector.
  • the effective travel structure refers to the structure of the components of the drive device that can achieve effective travel.
  • the stapler 100 of the present invention is provided with a squeeze holding mode and a squeeze holding mechanism.
  • the squeeze holding mode and the squeeze holding mechanism can ensure the squeezing time of the tissue to be fully squeezed, thereby helping to improve the effect of cutting and stitching .

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Abstract

本发明公开了一种外科器械的控制装置、外科器械及其控制方法，外科器械包括端部执行器、切割刀组件、传动机构和电机，控制装置包括信号源模块和控制模块；信号源模块电性连接于控制模块，控制模块电性连接于电机；电机通过传动机构驱动端部执行器和驱动切割刀组件；在控制模块接收到端部执行器闭合到位的信号后，信号源模块发出第一信号，控制模块接收到第一信号后，控制模块开启压榨保持模式；在压榨保持模式中，无论是否接收到信号源模块发送的第二信号，控制模块均不发出用于指令电机运转以通过传动机构驱动切割刀组件向前移动的第三信号。

Description

外科器械的控制装置、外科器械及其控制方法 技术领域
本发明涉及一种外科器械的控制装置、外科器械及其控制方法。
背景技术
众所周知，腔内切割吻合器已经普遍应用于腹腔等腔内手术中。
现有的腔内切割吻合器一般包括操作组件、从操作组件纵向延伸的杆身组件、设置于杆身组件远侧端的端部执行器。端部执行器包括钉仓座和可枢转地连接于钉仓座的抵钉座，钉仓座用于可操作地支撑位于其中的钉仓，抵钉座可在打开位置和闭合位置之间选择性地运动。操作组件包括本体及安装于本体的传动机构。吻合器还包括电机和触发器，触发器可被操纵以控制电机工作，电机驱动传动机构工作，传动机构驱动端部执行器开启和闭合。端部执行器用于夹持和压缩(也称为压榨)组织，组织中具有组织液，组织液难以被压缩从而使得含有较多量组织液的目标组织也难以被压缩，钉仓和抵钉座之间的目标组织厚度达不到有效缝合的安全范围，导致组织压榨不充分，会出现成钉不一致、二次成钉等现象，从而导致切割缝合处出血等术后症状。希望通过压榨将组织液从被压榨的组织中充分排出，以利于吻合器进行切割和缝合。现有技术的端部执行器压榨控制装置和控制方法不能保证压榨时间，导致压榨效果不好，组织液不能充分排出。
发明内容
本发明的目的在于提供一种对组织压榨效果较佳的外科器械。
为了达到上述目的，本发明通过以下技术方案实现：
一种外科器械的控制装置，所述外科器械包括端部执行器、切割刀组件、传动机构和电机，所述控制装置包括信号源模块和控制模块；所述信号源模块电性连接于所述控制模块，所述控制模块电性连接于所述电机；所述电机通过所述传动机构驱动所述端部执行器和驱动所述切割刀组件；在所述控制模块接收到所述端部执行器闭合到位的信号后，所述信号源模块发出第一信号，所述控制模块接收到所述第一信号后，所述控制模块开启压榨保持模式；在所述压榨保持模式中，无论是否接收到所述信号源模块发送的第二信号，所述控制模块均不发出用于指令所述电机运转以通过所述传动机构驱动所述切割刀组件向前移动的第三信号。
进一步的，在所述压榨保持模式维持的时间达到预定时间长度后，所述压榨保持模式 运行完毕；在所述压榨保持模式运行完毕后，在接收到所述信号源模块发出的所述第二信号后，所述控制模块发出所述第三信号。
进一步的，在所述压榨保持模式维持的时间达到预定时间长度之前，所述信号源模块发出第四信号，所述控制模块接收到所述第四信号后，所述控制模块终止所述压榨保持模式；在所述压榨保持模式终止后，在接收到所述信号源模块发出的所述第二信号后，所述控制模块发出所述第三信号。
进一步的，所述信号源模块包括按键，所述第一信号和所述第四信号均由所述按键被触发而发出；被触发的所述按键为同一个，或者，被触发的按键为对称设置、作用相同的两个按键中的一个。
进一步的，所述第二信号的意图为通过所述控制模块指令所述电机运转以驱动所述切割刀组件向前移动。
进一步的，所述信号源模块包括按键，所述按键用于在被触发后发出所述第二信号。
进一步的，所述控制模块包括微控制单元，所述微控制单元用于在所述压榨保持模式运行完毕或者在所述压榨保持模式终止后对所述控制模块接收的所述第二信号进行分析和处理后发出低电平信号。
进一步的，所述控制模块进一步包括电机驱动单元，所述电机驱动单元用于将接收的所述低电平信号转换成高电平信号并发出所述高电平信号。
进一步的，所述控制模块进一步包括电机控制单元，所述电机控制单元用于接收所述高电平信号并识别所述高电平信号中的电机控制信号，所述电机控制单元根据所述电机控制信号控制所述电机的运行状态。
进一步的，所述控制模块进一步包括检测单元，所述检测单元用于接收所述信号源模块发出的信号并将信号传送至所述微控制单元。
进一步的，所述控制模块包括微控制单元，所述微控制单元存储有所述预定时间长度；所述微控制单元在所述控制模块接收到所述第一信号后开始计时，即所述压榨保持模式开启，将所述计时得到的时间长度与被存储的所述预定时间长度相比较，所述微控制单元判断所述压榨保持模式维持的时间是否达到所述预定时间长度。
进一步的，所述预定时间长度为10秒至60秒。
进一步的，所述预定时间长度为15秒。
进一步的，所述外科器械进一步包括指示机构，所述指示机构用于指示所述计时得到的所述时间长度。
进一步的，所述外科器械进一步包括指示机构，所述指示机构用于指示所述微控制单元进行所述判断得到的结果。
进一步的，所述信号源模块包括按键，所述按键用于在被触发后发出所述第一信号。
进一步的，所述信号源模块包括行程开关，所述传动机构包括配合部，所述行程开关被所述配合部触发以向所述控制模块发出所述端部执行器闭合到位的信号；或者，所述信号源模块包括霍尔传感器，所述传动机构包括磁铁，所述霍尔传感器感知到所述磁铁的磁场强度达到预定值以向所述控制模块发出所述端部执行器闭合到位的信号。
一种外科器械，所述外科器械包括端部执行器、切割刀组件、传动机构和电机，所述电机通过所述传动机构驱动所述端部执行器和驱动所述切割刀组件；所述外科器械进一步包括控制装置，所述控制装置为上述任一项所述的外科器械的控制装置。
一种外科器械的控制方法，所述外科器械包括端部执行器、切割刀组件、传动机构和电机，所述电机通过所述传动机构驱动所述端部执行器并且通过所述传动机构驱动所述切割刀组件；所述外科器械进一步包括控制装置，所述控制装置包括信号源模块和控制模块；所述信号源模块电性连接于所述控制模块，所述控制模块电性连接于所述电机；所述信号源模块包括第一按键、第二按键和行程信号元件；所述控制方法包括如下步骤：
(1)所述端部执行器闭合到位后，所述行程信号元件向所述控制模块发出端部执行器闭合到位的信号；
(2)所述第一按键被触发后发出第一信号，所述控制模块接收到所述第一信号后，所述控制模块开启压榨保持模式；在所述压榨保持模式中，无论是否接收到所述第二按键被触发后发出的第二信号，所述控制模块均不发出用于指令所述电机运转以通过所述传动机构驱动所述切割刀组件向前移动的第三信号；
(3)所述压榨保持模式持续预定时间长度，达到所述预定时间长度后，所述压榨保持模式运行完毕；
(4)所述第二按键被触发后发出所述第二信号，所述控制模块接收到所述第二信号后发出用于指令所述电机运转以通过所述传动机构驱动所述切割刀组件向前移动的第三信号。
进一步的，所述步骤(3)被替换为：所述压榨保持模式持续预定时间长度，在所述预定时间长度内，所述第一按键再次被触发后发出第一信号，所述控制模块再次接收到所述第一信号后，所述控制模块终止所述压榨保持模式。
进一步的，所述信号源模块进一步包括另一按键，所述另一按键与所述第一按键对称设置、作用相同；所述步骤(3)被替换为：所述压榨保持模式持续预定时间长度，在所述预定时间长度内，所述另一按键被触发后发出第一信号，所述控制模块再次接收到所述第一信号后，所述控制模块终止所述压榨保持模式。
进一步的，所述行程信号元件包括行程开关或霍尔传感器。
进一步的，所述预定时间长度为10秒至60秒。
进一步的，所述预定时间长度为15秒。
进一步的，所述控制模块包括微控制单元，所述微控制单元存储有所述预定时间长度；所述微控制单元在所述控制模块接收到所述第一信号后开始计时，即所述压榨保持模式开启，将所述计时得到的时间长度与所述预定时间长度相比较，所述微控制单元判断所述压榨保持模式持续的时间是否达到所述预定时间长度。
本发明的有益效果是：本发明的外科器械的控制装置设置有压榨保持模式，压榨保持模式可以使得组织的压榨时间得到保证从而被充分压榨，有利于提升切割和缝合的效果。
附图说明
图1是本发明吻合器的结构示意图；
图2是图1所示画圈部分的放大图；
图3是图1所示吻合器的另一视角的局部结构示意图；
图4是图3所示画圈部分A的放大图；
图5是图3所示画圈部分B的放大图；
图6是图3所示吻合器的部分结构示意图；
图7是图6所示第一部件的结构示意图；
图8是图6所示第三部件的结构示意图；
图9是图1所示电路板组件的示意图；
图10是图9所示电机驱动单元的示意图；
图11是图1所示端部执行器与套管的组装图；
图12是图11所示画圈部分的放大图；
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本文所用术语“近”、“后”和“远”、“前”是相对于操纵外科器械的临床医生而言的。术语“近”、“后”是指相对靠近临床医生的部分，术语“远”、“前”则是指相对远离临床医生的部分。“左”“右”以图1所示的外科器械的位置为参考，例如，端部执行器在“左”，套管在“右”。术语“上”“下”以端部执行器的抵钉座和钉仓座的相对位置为参考，具体 的，抵钉座在“上”，钉仓座在“下”。需要理解的是，“近”“后”“远”“前”“左”“右”“上”“下”这些方位是为了方便描述而进行的定义，然而，外科器械可以在许多方向和位置使用，因此这些表达相对位置关系的术语并不是受限和绝对的。
如图1至图12所示，为本发明所述的一种外科器械，具体是吻合器100，其包括操作组件10、从操作组件10沿纵长方向延伸的杆身组件20及设置于杆身组件20一端的端部执行器30。端部执行器30包括钉仓座31和可枢转地连接于钉仓座31的抵钉座32，钉仓座31用于可操作地支撑位于其中的钉仓(未图示)，抵钉座32可在打开位置和闭合位置之间选择性地运动。杆身组件20包括芯轴21及套设于芯轴21的套管22。操作组件10包括本体(未图示)及安装于本体的传动机构11。套管22包括连接于传动机构11的第一端部23和可活动地连接于端部执行器30的抵钉座32的第二端部24，套管22的向后移动使得抵钉座32向上枢转以打开端部执行器30，套管22的向前移动使得抵钉座32向下枢转以闭合端部执行器30。参见图11及图12，抵钉座32可转动地连接于套管22的第二端部24，即，抵钉座32连接于套管22的第二端部24且抵钉座32相对套管22的第二端部24可转动。需要说明的是，抵钉座32可转动地连接于套管22的第二端部24以使得套管22的前后移动驱动抵钉座32枢转为现有技术。
吻合器100还包括切割刀组件40，切割刀组件40包括设置于钉仓33的切割刀41及可分离地连接于切割刀41的推刀件42。参见图4及图5，推刀件42设置有凹陷部(未标号)，切割刀41设置有凸出部(未标号)，凹陷部和凸出部相互配合从而使得推刀件42和切割刀41组装在一起。芯轴21的一端连接于传动机构11，另一端位于套管22内。推刀件42的一部分延伸进入端部执行器30且与切割刀41可分离地连接，推刀件42的另一部分位于套管22内且与芯轴21的另一端连接。芯轴21的向前移动使得切割刀组件40向前移动以切割组织，芯轴21的向后移动使得切割刀组件40向后移动以回复至初始位置。
吻合器100还包括电路板组件50、触发器60及电机70，触发器60电性连接于电路板组件50，电机70电性连接于电路板组件50，电机70驱动传动机构11工作，电机70的数量为一个。电路板组件50包括电路板51及设置于电路板51的控制模块52，控制模块52用于控制电机70的运转状态。吻合器100还包括压榨保持机构(未图示)，操作者在驱动切割刀组件40向前移动之前需先操作压榨保持机构，待压榨保持机构运行完毕或压榨保持机构运行被终止后，操作者才能通过触发器60、控制模块52、电机70驱动切割刀组件40向前移动。压榨保持机构可将端部执行器30保持在闭合状态(即压榨状态)一定时间，通过对被压榨组织保持上述一定时间的压榨，促使被压榨的目标组织内的组织液向未被压榨的周围组织充分排出。
触发器60包括第一按键61、第二按键62、第三按键63、第四按键64、第一行程开关 65、第二行程开关66、第三行程开关67及第四行程开关68。触发器60也称作信号源模块。第一按键61和第二按键62均电性连接于控制模块52。
第一行程开关65与第二行程开关66均电性连接于控制模块52，第一行程开关65与第二行程开关66用于检测切割刀组件40所处的位置并通过控制模块52使得切割刀组件40停止移动。传动机构11上设置有配合部，配合部包括第三凸块(未标号)和第四凸块(未标号)。当传动机构11通过芯轴21驱动切割刀组件40前进至一定位置时，传动机构11上的第三凸块触发第一行程开关65，控制模块52接收到第一行程开关65发出的信号并指令电机70停止转动；第一行程开关65所在的位置为切割刀组件40向前移动的前止点，即切割完毕的位置。当传动机构11通过芯轴21驱动切割刀组件40后退至一定位置时，传动机构11上的第四凸块触发第二行程开关66，控制模块52接收到第二行程开关66发出的信号并指令电机70停止转动；第二行程开关66所在的位置为切割刀组件40向后移动的后止点，即退刀完毕的位置。
吻合器100还包括指示机构(未图示)，指示机构与控制模块52电性连接，指示机构包括五个指示灯，指示灯为LED灯。第三按键63与第四按键64均电性连接于控制模块52，第三按键63、第四按键64、控制模块52及指示机构形成压榨保持机构，压榨保持机构可以使得端部执行器30对目标组织的压榨持续一定时长，组织液排出更充分，即，压榨保持机构可以在一定时长内不允许切割刀组件40向前移动并且保持端部执行器30闭合，以提升端部执行器30对于组织的压榨效果。第三按键63与第四按键64对称设置，操作者无论按压第三按键63和第四按键64中的哪一个，都能起到相同的作用。压榨保持机构的操作方式包括第一种操作方式和第二种操作方式。第一种操作方式：操作者按压第三按键63或第四按键64并即刻释放，即点按第三按键63或第四按键64，控制模块52接收第三按键63或第四按键64发出的信号并指令指示机构开始工作，每三秒亮一个LED灯，当15秒后五个LED灯全部处于点亮状态时，指示机构工作完毕，此时，操作者可以操作第一按键61以驱动切割刀组件40向前移动，在指示机构工作完毕之前，即使操作者操作第一按键61发出信号，控制模块52也不会指令电机70转动以驱动切割刀组件40向前移动。若操作者认为待切割和缝合的组织适合于直接切割和缝合，不必施以一定时长的压榨，为节约时间，想在指示机构工作完毕之前就驱动切割刀组件40向前移动，可以采用第二种操作方式：按压第三按键63或第四按键64并即刻释放，在15秒内再次按压第三按键63或第四按键64并即刻释放，此时，操作者就可以操作第一按键61以驱动切割刀组件40向前移动。总之，使用第一种操作方式来操作压榨保持机构，可以提升压榨效果，使用第二种操作方式来操作压榨保持机构使得操作者在不愿等待的情况下可以操作第一按键61以驱动切割刀组件40向前移动。压榨保持机构运行完毕包括：按压第三按键63或第四按键64并即刻释放， 指示机构开始工作直至工作完毕；压榨保持机构运行被终止包括：按压第三按键63或第四按键64并即刻释放，在15秒内再次按压第三按键63或第四按键64并即刻释放。压榨保持时间也可以设定为10秒、20秒、30秒、40秒、50秒和60秒，10秒的压榨效果差一些，但尚可接受，在15秒至60秒的区间，时间越久压榨效果越好但压榨效果不随着时间延长而线性提升，但超过15秒，操作者会感觉等待时间过久，影响操作者的使用体验。(注：压榨时间的限定不要删除，因为权利要求书中有数值范围)将压榨保持时间设定为15秒，是在等待时间和压榨效果之间取得的平衡点。
第三行程开关67和第四行程开关68均电性连接于控制模块52，第三行程开关67和第四行程开关68用于检测端部执行器30是否开启到位或闭合到位。电机70驱动传动机构11工作，传动机构11驱动套管22向前或向后移动，从而使得抵钉座32向下或向上枢转以闭合或打开端部执行器30。传动机构11包括配合部，配合部包括第一凸块12和第二凸块13。传动机构11在驱动套管22向前移动的过程中，第一凸块12触发第三行程开关67，控制模块52接收第三行程开关67发出的信号并指令电机70停止转动，此时，端部执行器30已闭合到位；传动机构11在驱动套管22向后移动的过程中，第二凸块13触发第四行程开关68，控制模块52接收第四行程开关68发出的信号并指令电机70停止转动，此时，端部执行器30已开启到位。需要说明的是，第一凸块12和第二凸块13可由一个凸块代替，上述一个凸块向前移动的过程中触发第三行程开关67，向后移动的过程中触发第四行程开关68。此时，配合部包括上述一个凸块。
控制模块52包括检测单元53、微控制单元54、电机驱动单元55及电机控制单元56。微控制单元54为单片机。第一按键61、第二按键62、第三按键63、第四按键64、第一行程开关65、第二行程开关66、第三行程开关67及第四行程开关68均电性连接于检测单元53，检测单元53电性连接于微控制单元54，微控制单元54电性连接于电机驱动单元55，电机驱动单元55电性连接于电机控制单元56。检测单元53用于检测第一按键61、第二按键62、第三按键63、第四按键64、第一行程开关65、第二行程开关66、第三行程开关67及第四行程开关68的触发状态、接收上述按键和行程开关发出的信号并将信号传送至微控制单元54。微控制单元54接收检测单元53发出的信号并对信号进行分析处理，微控制单元54将分析处理后的信号传送至电机驱动单元55，电机驱动单元55接收信号并对信号进行分析处理，电机驱动单元55将分析处理后的信号传送至电机控制单元56，电机控制单元56根据电机驱动单元55发出的高电平的PWM波信号来控制电机70的运转状态。电机驱动单元55包括第一电机驱动单元57和第二电机驱动单元58，第一电机驱动单元57和第二电机驱动单元58均为集成电路。第一电机驱动单元57和第二电机驱动单元58均用于将微控制单元54发出的低电平的PWM波信号转换成高电平的PWM波信号，该高电平的 PWM波信号用于驱动电机控制单元56。电机驱动单元55完成了低电平信号到高电平信号的转换，增强了微控制单元54的驱动能力。第一电机驱动单元57和第二电机驱动单元58分担电机驱动单元55的任务，避免单独一个电机驱动单元负荷过大。电机控制单元56根据电机驱动单元55发出的高电平的PWM波信号来控制电机70的运转状态，即，电机控制单元56识别高电平的PWM波信号中的电机运转信息，电机运转信息包括电机转动方向信息和停止转动信息，同时利用高电平信号驱动电机70沿识别出的转动方向转动，或者指令电机70停止转动，转动方向包括第一方向和第二方向，第一方向与第二方向相反。电机70沿第一方向转动，驱动端部执行器30闭合，或者驱动切割刀组件40向前移动；电机70沿第二方向转动，驱动切割刀组件40向后移动，或者驱动端部执行器30打开。控制模块具有压榨保持模式，压榨保持模式开启即压榨保持机构运行，压榨保持模式维持的时间即压榨保持的时间。压榨保持的时间长度值被存储于微控制单元54，自压榨保持机构开始运行时，微控制单元54开始计时，同时向指示机构发出信号以指示压榨保持的进度或状态。在压榨保持机构运行的过程中，如果操作者操作第一按键61发出信号，检测单元53将接收到的信号传送至微控制单元54，微控制单元54不对检测单元53传送的信号进行分析和处理，即控制模块52不会指令电机70运转以驱动切割刀组件40，也就是说，虽然第一按键61发出的信号的意图是使得控制模块52指令电机70运转以驱动切割刀组件40，但在压榨保持机构运行的过程中，上述意图不被实现；当微控制单元54计时达到压榨保持的预定时间长度值，压榨保持机构运行完毕，微控制单元54向指示机构发出信号以指示压榨保持结束，微控制单元54恢复至可以分析和处理第一按键61发出的信号的状态。在压榨保持机构运行的过程中，如果操作者再次按压第三按键63或第四按键64并即刻释放，微控制单元54结束计时并且恢复至可以分析和处理第一按键61发出的信号的状态，即压榨保持机构运行被终止。压榨保持机构运行完毕或者压榨保持机构运行被终止后，第一按键61发出的信号的意图被实现。
吻合器100的工作过程如下：(1)操作者按压第一按键61并保持按压状态，控制模块52接收第一按键61发出的信号后指令电机70工作，电机70驱动传动机构11工作，传动机构11驱动抵钉座32向下枢转进而闭合端部执行器30，当传动机构11在工作过程中触发第三行程开关67时，控制模块52接收第三行程开关67发出的信号并指令电机70停止工作，此时，端部执行器30闭合完毕，释放第一按键61；(2)操作者操作压榨保持机构；(3)当压榨保持机构运行完毕后或压榨保持机构运行被终止后，操作者按压第一按键61并保持按压状态，控制模块52接收第一按键61发出的信号后指令电机70工作，电机70驱动传动机构11工作，传动机构11驱动切割刀组件40向前移动以切割组织(即进刀)，当传动机构11在工作过程中触发第一行程开关65时，控制模块52接收第一行程开关65发出的 信号后指令电机70停止工作，此时，切割刀组件40停止向前移动，切割组织完毕；(4)释放第一按键61，控制模块52接收第一按键61发出的信号并指令电机70继续开始工作，电机70驱动传动机构11工作，传动机构11驱动切割刀组件40向后移动(即退刀)；当传动机构11在工作过程中触发第二行程开关66时，控制模块52接收第二行程开关66发出的信号后指令电机70停止工作，此时，切割刀组件40停止向后移动，切割刀组件40后移到位；(5)操作者按压第二按键62并保持按压状态，控制模块52接收第二按键62发出的信号后指令电机70开始工作，电机70驱动传动机构11工作，传动机构11驱动抵钉座30向上枢转进而打开端部执行器30，当传动机构11在工作过程中触发第四行程开关68时，控制模块52接收第四行程开关68发出的信号并指令电机70停止工作，此时，端部执行器30开启完毕。电机70工作是指电机70运转，电机70停止工作是指电机70停止运转。
在其它实施例中，第一行程开关65与第二行程开关66均可由霍尔传感器代替。传动机构11上设置磁铁，在传动机构11驱动芯轴21向前或向后移动的过程中，磁铁相对霍尔传感器的位置会发生变化，霍尔传感器所感应到的磁场强度也会发生变化。控制模块52的微控制单元54中预先设定、存储第一预定值和第二预定值。在传动机构11驱动芯轴21向前移动的过程中，霍尔传感器一直向控制模块52的检测单元53发出表示磁场强度的信号，检测单元53将信号传送至微控制单元54。当霍尔传感器感应到的磁场强度到达第一预定值时，控制模块52的微控制单元54进行判别并指令电机70停止运转，此时，切割刀组件40停止向前移动，切割组织完毕；在传动机构11驱动芯轴21向后移动的过程中，霍尔传感器一直向控制模块52的检测单元53发出表示磁场强度的信号，检测单元53将信号传送至微控制单元54。当霍尔传感器感应到的磁场强度到达第二预定值时，控制模块52的微控制单元54进行判别并指令电机70停止运转，此时，切割刀组件40停止向后移动。第一预定值可以等于第二预定值。
在其它实施例中，第三行程开关67与第四行程开关68均可由霍尔传感器代替。传动机构11上设置磁铁，在传动机构11驱动套管22向前或向后移动的过程中，磁铁相对霍尔传感器的位置会发生变化，霍尔传感器所感应到的磁场强度也会发生变化。控制模块52的微控制单元54中预先设定、存储第三预定值和第四预定值。在传动机构11驱动套管22向前移动的过程中，霍尔传感器一直向控制模块52的检测单元53发出表示磁场强度的信号，检测单元53将信号传送至微控制单元54。当霍尔传感器感应到的磁场强度到达第三预定值时，控制模块52的微控制单元54进行判别并指令电机70停止运转，此时，端部执行器30闭合完毕；在传动机构11驱动套管22向后移动的过程中，霍尔传感器一直向控制模块52的检测单元53发出表示磁场强度的信号，检测单元53将信号传送至微控制单元54。当霍尔传感器感应到的磁场强度到达第四预定值时，控制模块52的微控制单元54进行判别 并指令电机70停止运转，此时，端部执行器开启完毕。第三预定值可以等于第四预定值。
在本发明中，微控制单元(即Microcontroller Unit，简称MCU)即为单片机，微控制单元是集成了内处理器(CPU)、存储器(RAM、ROM)、计数器、以及I/O端口为一体的一块集成芯片。在此硬件电路基础上，将要处理的数据、计算方法、步骤、操作命令编制成程序，存放于MCU内部或外部存储器中，MCU在运行时能自动地、连续地从存储器中取出并执行。本发明中，电机70的运转和停止均受微控制单元控制。微控制单元中存储端部执行器和切割刀组件之间的动作逻辑关系，根据上述动作逻辑关系分析和处理按键、行程开关或者霍尔传感器发来的信号后，发出用于控制电机的信号。实现对于端部执行器和切割刀组件的简单、有效控制，满足了它们之间的动作逻辑关系。
本发明的吻合器100可以设置蜂鸣器(未图示)或指示灯(未图示)来便于操作者判别电机70是否停止运转。蜂鸣器和指示灯电性连接于控制模块52，当控制模块52指令电机70停止运转时，控制模块52同时也指令指示灯点亮或蜂鸣器鸣叫。另外，操作者也可以根据是否能听到电机70运转时发出的声音来判别电机70是否已经停止运转。
在本发明中，结合图6至图8所示，传动机构11包括驱动装置，驱动装置包括第一驱动装置和第二驱动装置，第一驱动装置用于驱动端部执行器30闭合和开启，第二驱动装置用于驱动切割刀组件40向前和向后移动。电机70的数量为一个。第一驱动装置包括第一部件81和第二部件82，第一部件81包括第一有效转程结构和第一空转程结构，第一有效转程结构驱动第二部件82运动，第二部件82驱动端部执行器30闭合和开启，第一空转程结构不驱动第二部件82。第一部件81为齿轮，第一部件81与电机70的输出轴上固定的齿轮71相啮合，第一有效转程结构为直线槽83，第一空转程结构为与直线槽83连通的圆弧槽84，第二部件82为包括凸柱85的压环组件，凸柱85可以在直线槽83和圆弧槽84中移动，压环组件82与套管22相连接。第二驱动装置包括第三部件91和第四部件92，第三部件91包括第二有效转程结构和第二空转程结构，第二有效转程结构驱动第四部件92运动，第四部件92驱动切割刀组件40向前和向后移动，第二空转程结构不驱动第四部件92。第三部件91为包括满齿部93和缺齿部94的齿轮，缺齿部94包括有齿部95和无齿部96，满齿部93为第二有效转程结构，无齿部96为第二空转程结构，有齿部95和与有齿部95平行的满齿部93的部分与电机70的输出轴上固定的齿轮71相啮合，第四部件92为与齿条97啮合的齿轮，齿条97与芯轴21相连接。第一驱动装置和第二驱动装置由单个电机70驱动。在本发明中，空转程是指驱动装置在具有运动输入即被驱动的情况下，驱动装置没有运动输出，即不驱动切割刀或端部执行器。空转程结构是指驱动装置的部件所具有的、可实现空转程的结构。有效转程是指驱动装置在具有运动输入即被驱动的情况下，驱动装置具有运动输出，即驱动切割刀或端部执行器。有效转程结构是指驱动装置的 部件所具有的、可实现有效转程的结构。
综上所述，本发明的吻合器100设置有压榨保持模式和压榨保持机构，压榨保持模式和压榨保持机构可以使得组织的压榨时间得到保证从而被充分压榨，从而有利于提升切割和缝合的效果。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型，上述变化、修改、替换和变型后的技术方案均在本发明的保护范围内。

Claims (25)

  1. 一种外科器械的控制装置，所述外科器械包括端部执行器、切割刀组件、传动机构和电机，其特征在于，所述控制装置包括信号源模块和控制模块；所述信号源模块电性连接于所述控制模块，所述控制模块电性连接于所述电机；所述电机通过所述传动机构驱动所述端部执行器和驱动所述切割刀组件；在所述控制模块接收到所述端部执行器闭合到位的信号后，所述信号源模块发出第一信号，所述控制模块接收到所述第一信号后，所述控制模块开启压榨保持模式；在所述压榨保持模式中，无论是否接收到所述信号源模块发送的第二信号，所述控制模块均不发出用于指令所述电机运转以通过所述传动机构驱动所述切割刀组件向前移动的第三信号。
  2. 根据权利要求1所述的外科器械的控制装置，其特征在于，在所述压榨保持模式维持的时间达到预定时间长度后，所述压榨保持模式运行完毕；在所述压榨保持模式运行完毕后，在接收到所述信号源模块发出的所述第二信号后，所述控制模块发出所述第三信号。
  3. 根据权利要求1所述的外科器械的控制装置，其特征在于，在所述压榨保持模式维持的时间达到预定时间长度之前，所述信号源模块发出第四信号，所述控制模块接收到所述第四信号后，所述控制模块终止所述压榨保持模式；在所述压榨保持模式终止后，在接收到所述信号源模块发出的所述第二信号后，所述控制模块发出所述第三信号。
  4. 根据权利要求3所述的外科器械的控制装置，其特征在于，所述信号源模块包括按键，所述第一信号和所述第四信号均由所述按键被触发而发出；被触发的所述按键为同一个，或者，被触发的按键为对称设置、作用相同的两个按键中的一个。
  5. 根据权利要求1至3任一项所述的外科器械的控制装置，其特征在于，所述第二信号的意图为通过所述控制模块指令所述电机运转以驱动所述切割刀组件向前移动。
  6. 根据权利要求1至3任一项所述的外科器械的控制装置，其特征在于，所述信号源模块包括按键，所述按键用于在被触发后发出所述第二信号。
  7. 根据权利要求1至3任一项所述的外科器械的控制装置，其特征在于，所述控制模块包括微控制单元，所述微控制单元用于在所述压榨保持模式运行完毕或者在所述压榨保持模式终止后对所述控制模块接收的所述第二信号进行分析和处理后发出低电平信号。
  8. 根据权利要求7所述的外科器械的控制装置，其特征在于，所述控制模块进一步包括电机驱动单元，所述电机驱动单元用于将接收的所述低电平信号转换成高电平信号并发出所述高电平信号。
  9. 根据权利要求8所述的外科器械的控制装置，其特征在于，所述控制模块进一步包括电机控制单元，所述电机控制单元用于接收所述高电平信号并识别所述高电平信号中的电机控制信号，所述电机控制单元根据所述电机控制信号控制所述电机的运行状态。
  10. 根据权利要求7所述的外科器械的控制装置，其特征在于，所述控制模块进一步包括检测单元，所述检测单元用于接收所述信号源模块发出的信号并将信号传送至所述微控制单元。
  11. 根据权利要求2、3任一项所述的外科器械的控制装置，其特征在于，所述控制模块包括微控制单元，所述微控制单元存储有所述预定时间长度；所述微控制单元在所述控制模块接收到所述第一信号后开始计时，即所述压榨保持模式开启，将所述计时得到的时间长度与被存储的所述预定时间长度相比较，所述微控制单元判断所述压榨保持模式维持的时间是否达到所述预定时间长度。
  12. 根据权利要求2、3、11任一项所述的外科器械的控制装置，其特征在于，所述预定时间长度为10秒至60秒。
  13. 根据权利要求12所述的外科器械的控制装置，其特征在于，所述预定时间长度为15秒。
  14. 根据权利要求11所述的外科器械的控制装置，其特征在于，所述外科器械进一步包括指示机构，所述指示机构用于指示所述计时得到的所述时间长度。
  15. 根据权利要求11所述的外科器械的控制装置，其特征在于，所述外科器械进一步包括指示机构，所述指示机构用于指示所述微控制单元进行所述判断得到的结果。
  16. 根据权利要求1所述的外科器械的控制装置，其特征在于，所述信号源模块包括按键，所述按键用于在被触发后发出所述第一信号。
  17. 根据权利要求1所述的外科器械的控制装置，其特征在于，所述信号源模块包括行程开关，所述传动机构包括配合部，所述行程开关被所述配合部触发以向所述控制模块发出所述端部执行器闭合到位的信号；或者，所述信号源模块包括霍尔传感器，所述传动机构包括磁铁，所述霍尔传感器感知到所述磁铁的磁场强度达到预定值以向所述控制模块发出所述端部执行器闭合到位的信号。
  18. 一种外科器械，所述外科器械包括端部执行器、切割刀组件、传动机构和电机，所述电机通过所述传动机构驱动所述端部执行器和驱动所述切割刀组件；其特征在于，所述外科器械进一步包括控制装置，所述控制装置为根据权利要求1至17任一项所述的外科器械的控制装置。
  19. 一种外科器械的控制方法，所述外科器械包括端部执行器、切割刀组件、传动机构和电机，所述电机通过所述传动机构驱动所述端部执行器并且通过所述传动机构驱动所述切割刀组件；其特征在于，所述外科器械进一步包括控制装置，所述控制装置包括信号源模块和控制模块；所述信号源模块电性连接于所述控制模块，所述控制模块电性连接于所述电机；所述信号源模块包括第一按键、第二按键和行程信号元件；所述控制方法包括 如下步骤：
    (1)所述端部执行器闭合到位后，所述行程信号元件向所述控制模块发出端部执行器闭合到位的信号；
    (2)所述第一按键被触发后发出第一信号，所述控制模块接收到所述第一信号后，所述控制模块开启压榨保持模式；在所述压榨保持模式中，无论是否接收到所述第二按键被触发后发出的第二信号，所述控制模块均不发出用于指令所述电机运转以通过所述传动机构驱动所述切割刀组件向前移动的第三信号；
    (3)所述压榨保持模式持续预定时间长度，达到所述预定时间长度后，所述压榨保持模式运行完毕；
    (4)所述第二按键被触发后发出所述第二信号，所述控制模块接收到所述第二信号后发出用于指令所述电机运转以通过所述传动机构驱动所述切割刀组件向前移动的第三信号。
  20. 根据权利要求19所述的外科器械的控制方法，其特征在于，所述步骤(3)被替换为：所述压榨保持模式持续预定时间长度，在所述预定时间长度内，所述第一按键再次被触发后发出第一信号，所述控制模块再次接收到所述第一信号后，所述控制模块终止所述压榨保持模式。
  21. 根据权利要求19所述的外科器械的控制方法，其特征在于，所述信号源模块进一步包括另一按键，所述另一按键与所述第一按键对称设置、作用相同；所述步骤(3)被替换为：所述压榨保持模式持续预定时间长度，在所述预定时间长度内，所述另一按键被触发后发出第一信号，所述控制模块再次接收到所述第一信号后，所述控制模块终止所述压榨保持模式。
  22. 根据权利要求19所述的外科器械的控制方法，其特征在于，所述行程信号元件包括行程开关或霍尔传感器。
  23. 根据权利要求19、20、21任一项所述的外科器械的控制方法，其特征在于，所述预定时间长度为10秒至60秒。
  24. 根据权利要求23所述的外科器械的控制方法，其特征在于，所述预定时间长度为15秒。
  25. 根据权利要求19所述的外科器械的控制方法，其特征在于，所述控制模块包括微控制单元，所述微控制单元存储有所述预定时间长度；所述微控制单元在所述控制模块接收到所述第一信号后开始计时，即所述压榨保持模式开启，将所述计时得到的时间长度与所述预定时间长度相比较，所述微控制单元判断所述压榨保持模式持续的时间是否达到所述预定时间长度。
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