WO2021078196A1 - Surgical device and detection method therefor - Google Patents

Surgical device and detection method therefor Download PDF

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Publication number
WO2021078196A1
WO2021078196A1 PCT/CN2020/122877 CN2020122877W WO2021078196A1 WO 2021078196 A1 WO2021078196 A1 WO 2021078196A1 CN 2020122877 W CN2020122877 W CN 2020122877W WO 2021078196 A1 WO2021078196 A1 WO 2021078196A1
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WO
WIPO (PCT)
Prior art keywords
component
detected
voltage threshold
surgical device
assembly
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PCT/CN2020/122877
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French (fr)
Chinese (zh)
Inventor
张翚
杨斌
Original Assignee
苏州英途康医疗科技有限公司
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Publication of WO2021078196A1 publication Critical patent/WO2021078196A1/en

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A61B17/128Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips
    • A61B17/1285Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/11Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
    • A61B17/115Staplers for performing anastomosis in a single operation
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A61B17/122Clamps or clips, e.g. for the umbilical cord
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A61B17/122Clamps or clips, e.g. for the umbilical cord
    • A61B17/1222Packages or dispensers therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A61B17/128Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017Electrical control of surgical instruments
    • A61B2017/00115Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A61B2017/12004Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for haemostasis, for prevention of bleeding
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02Operational features
    • A61B2560/0266Operational features for monitoring or limiting apparatus function
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02Operational features
    • A61B2560/0266Operational features for monitoring or limiting apparatus function
    • A61B2560/0276Determining malfunction

Definitions

  • the embodiment of the present disclosure relates to a surgical device and a detection method thereof.
  • Hemostasis technology has become one of the core surgical techniques. Surgical operations on any part of the human body almost without exception involve bleeding and hemostasis. Generally, a clip applicator ligation clip is used to close the hemostasis.
  • the embodiment of the present disclosure relates to a surgical device and a detection method thereof.
  • a surgical device including: an adapter; a shaft assembly connected to the adapter, the shaft assembly including: a clamp assembly and a clamp, the clamp assembly including A ligation clip, the clamping bin assembly is configured to deliver the ligation clip to the clamp; the surgical operation device further includes: an element to be detected, a detection circuit electrically connected to the element to be detected, and a detection circuit electrically connected to the detection circuit An electrically connected control component; the control component is configured to send a detection signal to the detection circuit; the detection circuit is configured to detect the component to be detected according to the detection signal, and send the detection result to the control Component; the control component is configured to determine the state of the component to be tested according to the detection result.
  • the surgical operation device further includes: a signal light configured to indicate the working state of the surgical operation device and/or the used number of the ligation clip is greater than or equal to a preset threshold, and the component to be detected includes the Semaphore.
  • the surgical operation device further includes: a position sensing component configured to sense the position of a pushing mechanism for pushing the ligation clip, the pushing mechanism includes the clamping bin assembly, and the component to be detected includes The position sensing component.
  • the position sensing component includes a Hall sensor, an anisotropic magnetic sensor, a grating sensor or an encoder.
  • the surgical device further includes a posture sensing component configured to sense the posture of the surgical device, and the element to be detected includes the posture sensing component.
  • the attitude sensing component includes an acceleration sensor.
  • the detection circuit includes: a switch component, one end of the switch component is electrically connected to the control component, and the other end is electrically connected to the input end of the component to be detected; the switch component receives the detection signal Turn on when the detection signal is not received; turn off when the detection signal is not received; and a protection component, one end of the protection component is grounded, and the other end is electrically connected to the output terminal of the component to be detected; the protection component is connected to the waiting
  • the output terminal of the detection circuit is led out between the detection elements, and the output terminal is electrically connected with the input terminal of the control component.
  • the protection component includes a resistance element configured to limit the current of the detection circuit.
  • the surgical device further includes: a warning component electrically connected to the control component; wherein the control component is further configured to send a warning signal to the warning component when it is determined that the component to be detected is abnormal, so as to trigger the The warning component outputs warning information.
  • a warning component electrically connected to the control component; wherein the control component is further configured to send a warning signal to the warning component when it is determined that the component to be detected is abnormal, so as to trigger the The warning component outputs warning information.
  • the warning information includes at least one of a group consisting of a sound signal, an optical signal, and an electrical signal, and different warning information corresponding to different components to be detected are different.
  • the warning component includes a buzzer or a photodiode.
  • the detection result includes a voltage value
  • the control component is further configured to: when the voltage value is less than a first voltage threshold, determine that the element to be detected is open; when the voltage value is greater than or equal to a second voltage threshold When the voltage value is greater than or equal to the first voltage threshold and less than the third voltage threshold, it is determined that the component to be detected has an open circuit risk; when the voltage value is greater than or equal to When the third voltage threshold is less than the second voltage threshold, it is determined that the component to be detected has a short-circuit risk, and the third voltage threshold is greater than the first voltage threshold and less than the second voltage threshold.
  • the adapter includes: a hand-held part; a working part connected to the hand-held part, the working part including a housing and a transmission assembly located in the housing, the transmission assembly is connected to the drive assembly, and The shaft assembly is connected to the working part, the clamping bin assembly transmits the ligation clamp to the clamp under the control of the drive assembly and the transmission assembly, and the pushing mechanism includes the drive assembly , At least one of the group consisting of the transmission assembly and the clamping bin assembly.
  • a detection method for the above-mentioned surgical operation device including: sending a detection signal to the detection circuit, and the detection signal is used to trigger the detection circuit to detect the to-be-detected
  • the component detects and sends a detection result to the control component; receives the detection result sent by the detection circuit; and determines the state of the component to be tested according to the detection result.
  • the detection result includes a voltage value
  • the determining the state of the component to be detected according to the detection result includes: determining that the component to be detected is open when the voltage value is less than a first voltage threshold; When the voltage value is greater than or equal to the second voltage threshold, it is determined that the component to be detected is short-circuited; when the voltage value is greater than or equal to the first voltage threshold and less than the third voltage threshold, it is determined that the component to be detected has an open circuit Risk; when the voltage value is greater than or equal to the third voltage threshold and less than the second voltage threshold, it is determined that the component to be detected has a short circuit risk, and the third voltage threshold is greater than the first voltage threshold and less than the The second voltage threshold.
  • the method further includes: outputting warning information when it is determined that the component to be detected is abnormal.
  • the warning information includes at least one of a group consisting of a sound signal, an optical signal, and an electrical signal, and different warning information corresponding to different components to be detected are different.
  • Figure 1 is a schematic structural diagram of a surgical device provided by an embodiment of the present disclosure
  • Figure 2 is an exploded schematic diagram of a surgical device provided by an embodiment of the present disclosure
  • FIG. 3 is a cross-sectional view of the working part of the surgical device provided by the embodiment of the present disclosure.
  • FIG. 4 is a schematic structural diagram of a shaft assembly of a surgical device provided by an embodiment of the present disclosure
  • FIG. 5 is a schematic diagram of the structure of the clamping bin assembly of the surgical device provided by the embodiment of the present disclosure
  • Figure 6 is an exploded view of the working part of the surgical device provided by an embodiment of the present disclosure.
  • Fig. 7 is a block diagram of a detection circuit provided by an embodiment of the present disclosure.
  • FIG. 8 is a flowchart of a detection method for a surgical device provided by an embodiment of the present disclosure.
  • Fig. 9 is a structural principle diagram of an anisotropic magnetoresistive sensor according to an embodiment of the present disclosure.
  • Firmware it can also be the direct interconnection of two objects (for example, through screw threads, male and female cooperation). When two objects are connected, they can move at the same time or drive each other. For example, when a motor is connected to a transmission assembly, it can be understood that the motor drives the transmission assembly to move the transmission assembly. Therefore, two connected objects can also be separated from each other.
  • an indicator light is provided on the hand-held part, and the indicator light can be used to indicate the working state of the clip applier, for example, indicating that the clip applier is sending clips; or, indicating that the clip applier is firing.
  • the indicator light may be abnormal, which will cause the indicator light to fail to display normally even in the clamped state or the firing state of the surgical device, which may lead to the problem of misoperation by medical personnel.
  • the embodiments of the present disclosure relate to a surgical device and a detection method thereof, which can at least solve the problem that the state of certain elements in the surgical device cannot be detected, and further, can also solve the problem that certain elements in the surgical device cannot be detected. Unusual problem.
  • An embodiment of the present disclosure provides a surgical device, including: an adapter; a shaft assembly connected to the adapter, the shaft assembly including: a clamping chamber assembly and a clamp, the clamping chamber assembly including a ligation clip, the The clamping bin assembly is configured to deliver the ligation clip to the clamp; the surgical device further includes: a component to be detected, a detection circuit electrically connected to the component to be detected, and a control component electrically connected to the detection circuit The control component is configured to send a detection signal to the detection circuit; the detection circuit is configured to detect the component to be detected according to the detection signal, and send the detection result to the control component; the control The component is configured to determine the state of the component to be tested according to the test result.
  • the embodiment of the present disclosure also provides a detection method for the above-mentioned surgical device, including: sending a detection signal to the detection circuit, the detection signal is used to trigger the detection circuit to detect the component to be detected, And send the detection result to the control component; receive the detection result sent by the detection circuit; and determine the state of the component to be detected according to the detection result.
  • Hall sensor It is a kind of semiconductor magnetoelectric device based on Hall effect. Hall effect means that when a conductor (such as a metal conductor) or semiconductor is placed in a magnetic field, when a current perpendicular to the magnetic field passes through the conductor or semiconductor, the magnetic field acts on the carriers in the conductor or semiconductor to deflect the carriers , Generate an additional electric field perpendicular to the current and magnetic field, thereby generating a potential difference between the two ends of the conductor or semiconductor, and this potential difference also becomes the Hall voltage. Hall sensors can be divided into Hall switching devices and Hall linear devices.
  • Hall switch devices include: unipolar Hall switches, bipolar Hall switches and omnipolar Hall switches.
  • the induction method of the unipolar Hall switch is: when the magnetic pole of the magnetic field (such as N pole or S pole) is close to the Hall switch, it outputs a low potential voltage (low level) signal (for example, it can be set to "off” signal), and the magnetic field When the magnetic pole is far away from the Hall switch, a high potential voltage (high level) signal is output (for example, it can be set to an "on” signal).
  • the unipolar Hall switch will specify a certain magnetic pole for induction to be effective.
  • the front side induces the S pole of the magnetic field
  • the reverse side induces the N pole.
  • the magnetic member for providing a magnetic field includes a magnet.
  • the magnet includes a permanent magnet.
  • the induction method of the bipolar Hall switch is: the two magnetic poles N and S of the magnetic field respectively control the on and off (high and low level) of the bipolar Hall switch.
  • the bipolar Hall switch generally has a locking effect, that is, when the magnetic pole leaves, the Hall output signal does not change until another magnetic pole is induced.
  • the initial state of the bipolar Hall switch is random output, which may be high or low.
  • the induction method of the omnipolar Hall switch similar to the induction method of the unipolar hall switch, the difference is that the unipolar hall switch will specify the magnetic pole, and the omnipolar hall switch will not specify the magnetic pole, and any magnetic pole is close to Output low level signal, leave output high level signal.
  • the Hall linear device is a magnetic sensor with analog signal output, and the output voltage changes linearly with the input magnetic force density.
  • the voltage output of a linear Hall-effect sensor will accurately track changes in magnetic flux density.
  • Anisotropic Magnetoresistive Sensor It is based on the Anisotropic Magnetoresistive Sensor (AMR). When the external magnetic field and the built-in magnetic field of the magnet form a zero degree angle, the resistance will not change with the external magnetic field. However, when the external magnetic field and the built-in magnetic field of the magnet have a certain angle, the internal magnetization vector of the magnet will shift and the film resistance will decrease. This characteristic is called AMR.
  • the change of magnetoresistance is related to the angle between the magnetic field and the current.
  • the ferromagnetic metals include but are not limited to metals such as iron, cobalt, nickel and their alloys.
  • Fig. 9 is a structural principle diagram of an anisotropic magnetoresistive sensor according to an embodiment of the present disclosure.
  • the AMR magnetic sensor includes a Wheatstone bridge composed of four magnetoresistors (R).
  • the power supply is Vb, and the current flows through the resistor.
  • a bias magnetic field H1 is applied to the bridge, the magnetization direction of the two oppositely placed resistors will rotate toward the direction of the current, and the resistance value of these two resistors will increase; while the magnetization of the other two oppositely placed resistors The direction will rotate in the opposite direction to the current, and the resistance of the two resistors will decrease.
  • the external magnetic field (H2) can be obtained.
  • Grating sensor refers to a sensor that uses the principle of grating moire fringes to measure displacement.
  • the grating sensor includes a ruler grating, an indicating grating, an optical path system and a measuring system.
  • a light and dark moire fringe is formed approximately in a sinusoidal distribution. These fringes move at the relative speed of the grating and irradiate directly on the photoelectric element.
  • a series of electric pulses are obtained at their output terminals.
  • the digital signal output is generated through the amplification, shaping, direction identification and counting system to directly display the measured displacement. the amount.
  • the grating sensor can measure static and dynamic linear displacement and fillet displacement.
  • Encoder It is a device that compiles and converts signals (such as bit stream) or data into signal forms that can be used for communication, transmission and storage.
  • the encoder converts angular displacement or linear displacement into electrical signals.
  • the former is called a code wheel and the latter is called a code ruler.
  • the rotary encoder is a device used to measure the speed.
  • the photoelectric rotary encoder can convert the angular displacement and angular velocity of the drive shaft into corresponding electrical pulses for digital output through photoelectric conversion.
  • Single output means that the output of the rotary encoder is a set of pulses, while the dual output rotary encoder outputs two sets of A/B phase difference pulses of 90 degrees. These two sets of pulses can not only measure the speed, but also determine the rotation. Direction.
  • Acceleration sensor (or gyroscope): It is a sensor that can measure acceleration. It is usually composed of masses, dampers, elastic components, sensitive components, and adaptive circuits. In the process of acceleration, the sensor obtains the acceleration value by using Newton's second law by measuring the inertial force on the mass block.
  • the voltage output by the acceleration sensor is proportional to the acceleration.
  • 2.5V corresponds to an acceleration of 0g
  • 2.6V corresponds to an acceleration of 0.5g (approximately equal to 1.9m/s 2 ).
  • the acceleration sensor may be a three-axis acceleration sensor, or a six-axis acceleration sensor, a nine-axis acceleration sensor, or the like.
  • Fig. 1 is a schematic structural diagram of a surgical device provided according to an embodiment of the present disclosure.
  • the surgical device 10 at least includes an adaptor and a shaft assembly 13 connected to the adaptor.
  • the adapter is a handheld device, which may be an integral structure or a split structure (that is, multiple detachable components). When the split structure is adopted, individual components can be replaced according to the application scenario, so it is preferred.
  • the embodiment of the present disclosure is described by taking the adapter as a split structure as an example.
  • the adapter includes a hand-held part 11 and a working part 12 connected to the hand-held part 11, and the working part 12 is connected to the shaft assembly 13.
  • the hand-held part 11 and the working part 12 are detachably connected; the working part 12 and the shaft assembly 13 are detachably connected.
  • the surgical device 10 may also be called a clip applier, etc.
  • the name of the surgical device 10 is not limited in this embodiment.
  • Fig. 2 is an exploded schematic diagram of a surgical device provided by an embodiment of the present disclosure.
  • the handle 11 includes a housing 110 and a driving assembly 111 provided in the housing 110.
  • the handle 11 is also provided with a firing switch 112 for controlling the driving component 111 and a motor circuit 113 (not shown) electrically connected to the firing switch 112, and the motor circuit 113 is also electrically connected to the driving component 111.
  • the motor circuit 113 is used to control the movement of the driving assembly 111.
  • the driving assembly 111 includes a driving motor.
  • the drive motor has an output shaft.
  • Fig. 3 is a cross-sectional view of a working part of a surgical device provided by an embodiment of the present disclosure.
  • the working part 12 includes a housing 121, a transmission assembly arranged in the housing 121 and connected with the driving assembly 111, and a push rod 122 connected with the transmission assembly.
  • the transmission assembly includes a drive shaft connected to the drive assembly 111 (for example, the output shaft of the drive motor), a bevel gear 124 connected to the drive shaft, a rack assembly 125 meshing with the bevel gear 124, and a small gear meshing with the rack assembly 125 Gear 126, a pushing assembly 127 connected with pinion 126.
  • a drive shaft connected to the drive assembly 111 (for example, the output shaft of the drive motor), a bevel gear 124 connected to the drive shaft, a rack assembly 125 meshing with the bevel gear 124, and a small gear meshing with the rack assembly 125 Gear 126, a pushing assembly 127 connected with pinion 126.
  • the rack assembly 125 includes a first rack 1251 connected with the bevel gear 124 and a second rack 1252 connected with the first rack 1251, and the second rack 1252 is connected with a firing force applying member 128.
  • the pushing component 127 is used to push the push rod 122 to move under the drive of the pinion 126.
  • the pushing component 127 includes a pushing block 1271 that is engaged with the pinion 126 and a pushing member 1272 connected to the pushing block 1271, and the pushing member 1272 drives the push rod 122 to move.
  • Fig. 4 is a schematic structural diagram of a shaft assembly of a surgical device provided by an embodiment of the present disclosure.
  • the shaft assembly 13 includes: a clamping bin assembly 131 and a clamp 132, and the clamping bin assembly 131 includes at least one ligature clamp.
  • the clamping bin assembly 131 transmits the ligation clamp (referred to as "clamping") to the clamp 132.
  • the working part 12 further includes a transmission assembly connected with the driving assembly 111, and the clamping bin assembly 131 is used to transmit the ligation clip to the clamp 132 under the control of the driving assembly 111 and the transmission assembly.
  • the clamping bin assembly 131 is connected with the push rod 122, and the reciprocating movement of the push rod 122 drives the clamping bin assembly 131 to send the clamp.
  • Fig. 5 is a schematic diagram of the structure of the clamping bin assembly of the surgical device provided by an embodiment of the present disclosure.
  • the clamping bin assembly 131 includes a clamping bin seat 1311, a ligation clip 1312 placed in the clamping bin seat 1311, and a push clip that is covered on the clamping bin seat 1311 and used to push the ligation clip 1312 to move. ⁇ 1313.
  • the push rod 122 drives the push clamp piece 1313 to push the ligation clamp 1312 to move in the direction of the clamp 132.
  • the push clip 1313 is provided with a plurality of ratchet teeth facing the clamp 132, and the ratchets abut the ligation clip 1312 to push the ligation clip 1312 to move toward the clamp 132 under the push of the push clip 1313.
  • the shaft assembly 13 further includes a firing member 133.
  • One end of the firing member 133 is connected to the firing force applying member 128, and the other end of the firing member 133 is connected to the clamp 132.
  • the movement of the firing force applying member 128 drives the firing member 133 to control the opening and closing of the clamp 132.
  • the firing member 133 is a firing sleeve of the package clamping bin assembly 131.
  • the firing member 133 may also be implemented as a pull rod connected to the clamp 132, and the other end of the pull rod is connected to the firing force applying member 128 through a connecting member.
  • the driving assembly 111 rotates in the first direction, and the bevel gear 124 is driven to rotate through the output shaft to drive the first rack 1251 to retreat and then drive the second rack 1252 to retreat.
  • the second rack 1252 retreats to mesh with the pinion 126.
  • the second rack 1252 drives the pinion 126 to rotate clockwise, and the pinion 126 rotates clockwise to push the push block 1271 to move forward, and the push block 1271 moves forward to move forward.
  • the pushing member 1272 is driven to push the push rod 122 to move, and the push rod 122 axially moves in the direction of the clamp 132 to drive the clamping bin assembly 131 to send the clamp.
  • the way the push rod 122 moves axially in the direction of the handle 11 is the same as that of the clamp 132.
  • the difference is that the driving assembly 111 rotates in the second direction at this time, so as to drive the other transmission components to move in the opposite direction to realize pushing.
  • the rod 122 axially moves in the direction of the handle 11 to drive the clamping bin assembly 131 to retract.
  • the driving assembly 111 rotates in the second direction, and the bevel gear 124 is driven to rotate through the output shaft to drive the first rack 1251 to move forward and then drive the second rack 1252 to move forward.
  • the forward movement of the second rack 1252 drives the firing force application member 128 to move forward, and the forward movement of the firing force application member 128 drives the firing member 133 to move forward compared to the clamping chamber assembly 131 so that the clamp 132 is closed to complete the ligation action.
  • the way the firing force applying member 128 moves in the direction of the handle 11 is the same as the way to find the movement towards the clamp 132, the difference is that the driving assembly 111 rotates in the first direction at this time, so as to drive the other transmission components to move in the opposite direction to realize the firing force.
  • the member 128 moves axially in the direction of the handle 11 to drive the firing member 133 to retreat, so that the clamp 132 is opened.
  • Fig. 6 is an exploded view of a working part of a surgical device provided by an embodiment of the present disclosure.
  • the surgical operation device further includes an element 30 to be detected, a detection circuit 50 electrically connected to the element 30 to be detected, and a control component 40 electrically connected to the detection circuit.
  • the control component 40 is used to send a detection signal to the detection circuit 50;
  • the detection circuit 50 is configured to detect the component 30 to be detected when receiving the detection signal, and send the detection result to the control component 40;
  • the control component 40 is used to determine the state of the component 30 to be detected according to the detection result, for example, to determine whether the component 30 to be detected is abnormal.
  • the component to be detected 30 includes but is not limited to: a signal light 31, a position sensing component 32, and/or a posture sensing component 33.
  • the surgical operation device further includes a signal light 31, which is used to indicate the working state of the surgical operation device and/or the used number of ligation clips is greater than or equal to a preset threshold.
  • the signal lamp 31 may also have other indication functions, and this embodiment does not limit the indication function of the signal lamp 31.
  • the signal light provides a visual signal, which can be an LED or the like; or, it can also be implemented through a display screen. The implementation of the signal light 31 is not limited in this embodiment.
  • the surgical operation device further includes a position sensing component 32 for sensing the position of the pushing mechanism that pushes the ligature clip.
  • the pushing mechanism refers to the components or parts used to directly or indirectly push the ligature clip in the surgical device.
  • the pushing mechanism includes, but is not limited to: a push rod 122, a driving assembly 111 (for example, an output shaft of the driving assembly 111), a transmission assembly and/or a clamping assembly 131.
  • the pushing mechanism includes at least one of the group consisting of the driving assembly 111, the transmission assembly, and the clamping bin assembly 131. Further, for example, the pushing mechanism includes at least one of the group consisting of the driving assembly 111, the transmission assembly, the clamping bin assembly 131, and the push rod 122.
  • the position sensing component 32 may be a Hall sensor or an AMR magnetic sensor.
  • the position sensing component 32 may be a grating sensor or an encoder.
  • the Hall sensor includes a magnetic element and a magnetic induction element, which can move relative to each other to generate position information.
  • the posture sensing component 33 is used to sense the posture of the surgical device 10.
  • the attitude sensing component 33 can be installed on the working part 12.
  • the attitude sensing component 33 may be an acceleration sensor.
  • the component to be tested 30 may also include other components. If the component is a component that outputs information to the control component 40, then the component can all be within the scope of the component to be tested 30 of the present disclosure.
  • the detection circuit 50 includes: a switch component 51 and a protection component 52.
  • One end of the switch assembly 51 is electrically connected to the control assembly 40, and the other end is electrically connected to the input end of the component 30 to be detected.
  • the switch assembly 51 is also electrically connected with a power source 53.
  • the switch component 51 is closed (ie, turned on) when the detection signal is received; it is opened (ie, turned off) when the detection signal is not received.
  • One end of the protection component 52 is grounded, and the other end is electrically connected to the output terminal of the component to be detected 30; the output terminal 54 of the detection circuit 50 is led out between the protection component 52 and the component to be detected 30, and the output terminal 54 is electrically connected to the input terminal of the control component 40. connection.
  • the protection component 52 is a resistive element, and the resistive element is used to limit the current of the detection circuit.
  • the detection result includes electrical signals. Further, for example, the detection result is the voltage value of the output terminal of the detection circuit.
  • the control component 40 determines the state of the component 30 to be tested according to the test result. For example, when the voltage value is less than the first voltage threshold, it is determined that the element to be detected is open. For example, when the voltage value is greater than or equal to the second voltage threshold, it is determined that the component to be detected is short-circuited.
  • the second voltage threshold is determined based on the supply voltage of the power supply. For example, when the voltage value is greater than or equal to the first voltage threshold value and less than the third voltage threshold value, it is determined that the component to be detected has an open circuit risk. For example, when the voltage value is greater than or equal to the third voltage threshold and less than the second voltage threshold, it is determined that the component to be detected has a short circuit risk.
  • the first voltage threshold is close to zero or equal to zero.
  • the second voltage threshold may be equal to the power supply voltage of the power supply; or, the second voltage threshold may be greater than the power supply voltage of the power supply.
  • the third voltage threshold is greater than the first voltage threshold and less than the second voltage threshold.
  • control component 40 determines the state of the component 30 to be detected according to the detection rule shown in Table 1, for example, it can determine whether there is an abnormality.
  • the condition of the component to be tested control signal Switch assembly Test results Not powered on low turn off Low, close to 0 open circuit high open Low, close to 0 Short circuit high open High, close to the power supply voltage
  • the protection circuit is abnormal high open Abnormal voltage value normal high open Normal default
  • the surgical operation device 10 further includes a warning component 60 electrically connected to the control component 40.
  • the control component 40 is also used for:
  • a warning signal is sent to the warning component 40 to trigger the warning component 40 to output warning information.
  • the warning information includes at least one of a group consisting of a sound signal, an optical signal, and an electrical signal.
  • the warning component 60 is a buzzer component or an LED lamp, and the warning method of the warning component 60 is not limited in this embodiment.
  • the warning information corresponding to different components 30 to be detected is different.
  • the warning information is the first type of buzzer; when the position sensing component 32 is abnormal, the warning information is the second type of buzzer. In this way, the user can quickly confirm which part or component has a problem through different warning messages.
  • different types of abnormalities of the component 30 to be detected correspond to different warning information.
  • the warning information is that the LED light is always on; when the signal light 31 is open, the warning information is that the LED light is flashing.
  • the surgical operation device provided by the above embodiment, by providing the components to be detected, the detection circuit, and the control component, the problem that the state of certain components in the surgical device cannot be detected can be solved. Further, the abnormality detection of each component can be performed through the detection circuit. , Such as: short circuit detection, open circuit detection, etc., to further improve the detection accuracy.
  • FIG. 8 is a flowchart of a detection method for a surgical device provided by an embodiment of the present disclosure, and the method is used in the above-mentioned surgical device.
  • the execution subject of the following steps may be the control component.
  • the method includes:
  • Step 801 Send a detection signal to the detection circuit 50, where the detection signal is used to trigger the detection circuit 50 to detect the component to be detected, and send the detection result to the control component 40.
  • control component 40 sends a detection signal to the detection circuit 50, and the detection signal is used to trigger the detection circuit 50 to detect the component to be detected 30 and send the detection result to the control component 40.
  • the component to be detected 30 includes but is not limited to: a signal light 31, a position sensing component 32, and/or a posture sensing component 33.
  • the detection circuit 50 includes: a switch component 51 and a protection component 52.
  • step 802 the detection result sent by the detection circuit 50 is received.
  • Step 803 Determine the state of the component 30 to be tested according to the test result 50, for example, whether there is abnormality.
  • determining the state of the component 30 to be tested according to the test result includes:
  • the second voltage threshold is determined based on the power supply voltage of the power supply
  • the third voltage threshold is greater than the first voltage threshold and less than the second voltage threshold.
  • the surgical operation device further includes: a warning component electrically connected to the control component; at this time, after this step, it further includes: when it is determined that the component to be detected is abnormal, sending a warning signal to the warning component to trigger the output of the warning component Warning information, different warning information corresponding to different components to be detected are different.
  • the detection signal is sent to the detection circuit, and the detection signal is used to trigger the detection circuit to detect the component to be detected and send the detection result to the control component; receive the detection result sent by the detection circuit; The result determines the status of the component to be tested; the problem of the inability to detect the status of some components in the surgical device can be solved.
  • the abnormality detection of each component can be performed through the detection circuit, such as: short circuit detection, open circuit detection, etc., to achieve Detection of component abnormalities.
  • the embodiments of the present disclosure may be provided as methods, devices (or systems), or computer program products. Therefore, the present disclosure may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

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Abstract

A surgical device (10) and a detection method therefor. The surgical device (10) comprises: an adapter; a rod assembly (13) connected to the adapter, the rod assembly (13) comprising: a clipping assembly (131) and a clamp (132), the clipping assembly (131) comprising a ligation clip (1312), the clipping assembly (131) being configured to transfer the ligation clip (1312) to the clamp (132); and the surgical device (10) further comprises: an element to be detected (30), a detection circuit (50) electrically connected to the element to be detected (30), and a control assembly (40) electrically connected to the detection circuit (50), the control assembly (40) being configured to send a detection signal to the detection circuit (50), the detection circuit (50) being configured to detect the element to be detected (30) according to the detection signal, and send the detection result to the control assembly (40), and the control assembly (40) being configured to determine the state of the element to be detected (30) according to the detection result. The surgical device (10) can solve the problem that some elements in the surgical device (10) cannot be detected when an abnormality occurs.

Description

外科手术装置及其检测方法Surgical operation device and its detection method
相关申请的交叉引用Cross-references to related applications
本申请基于并且要求于2019年10月23日递交、名称为“医疗器械及元件异常检测方法”的中国专利申请第201911012271.8号的优先权,在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。This application is based on and claims the priority of Chinese patent application No. 201911012271.8 entitled "Medical Device and Component Abnormality Detection Method", which was filed on October 23, 2019, and the contents disclosed in the above Chinese patent application are hereby quoted in full as this Part of the application.
技术领域Technical field
本公开实施例涉及一种外科手术装置及其检测方法。The embodiment of the present disclosure relates to a surgical device and a detection method thereof.
背景技术Background technique
外科手术过程中为充分暴露手术视野,需要对目标组织周围血管进行结扎,以阻止出血。止血技术已经成为了外科手术基本操作技术的核心之一,人体任何部位的外科操作几乎无一例外地涉及到出血与止血,一般使用施夹钳结扎夹闭合止血。In order to fully expose the surgical field of vision during the surgical operation, it is necessary to ligate the blood vessels around the target tissue to prevent bleeding. Hemostasis technology has become one of the core surgical techniques. Surgical operations on any part of the human body almost without exception involve bleeding and hemostasis. Generally, a clip applicator ligation clip is used to close the hemostasis.
发明内容Summary of the invention
本公开实施例涉及一种外科手术装置及其检测方法。The embodiment of the present disclosure relates to a surgical device and a detection method thereof.
根据本公开的第一方面,提供了一种外科手术装置,包括:适配器;与所述适配器相连的杆身组件,所述杆身组件包括:夹仓组件和夹钳,所述夹仓组件包括结扎夹,所述夹仓组件配置为向所述夹钳传送所述结扎夹;所述外科手术装置还包括:待检测元件、与所述待检测元件电连接的检测电路和与所述检测电路电连接的控制组件;所述控制组件配置为向所述检测电路发送检测信号;所述检测电路配置为根据所述检测信号对所述待检测元件进行检测,并将检测结果发送至所述控制组件;所述控制组件配置为根据所述检测结果确定所述待检测元件的状态。According to a first aspect of the present disclosure, there is provided a surgical device, including: an adapter; a shaft assembly connected to the adapter, the shaft assembly including: a clamp assembly and a clamp, the clamp assembly including A ligation clip, the clamping bin assembly is configured to deliver the ligation clip to the clamp; the surgical operation device further includes: an element to be detected, a detection circuit electrically connected to the element to be detected, and a detection circuit electrically connected to the detection circuit An electrically connected control component; the control component is configured to send a detection signal to the detection circuit; the detection circuit is configured to detect the component to be detected according to the detection signal, and send the detection result to the control Component; the control component is configured to determine the state of the component to be tested according to the detection result.
例如,外科手术装置还包括:信号灯,所述信号灯配置为指示所述外科手术装置的工作状态和/或所述结扎夹的已使用数量大于或等于预设阈值,所述待检测元件包括所述信号灯。For example, the surgical operation device further includes: a signal light configured to indicate the working state of the surgical operation device and/or the used number of the ligation clip is greater than or equal to a preset threshold, and the component to be detected includes the Semaphore.
例如,外科手术装置还包括:位置感应组件,所述位置感应组件配置为感应用于推送所述结扎夹的推送机构的位置,所述推送机构包括所述夹仓组件,所述待检测元件包括所述位置感应组件。For example, the surgical operation device further includes: a position sensing component configured to sense the position of a pushing mechanism for pushing the ligation clip, the pushing mechanism includes the clamping bin assembly, and the component to be detected includes The position sensing component.
例如,所述位置感应组件包括霍尔传感器、各向异性磁传感器、光栅式传感器或编码器。For example, the position sensing component includes a Hall sensor, an anisotropic magnetic sensor, a grating sensor or an encoder.
例如,外科手术装置还包括:姿态感应组件,所述姿态感应组件配置为感应所述外科手术装置的姿态,所述待检测元件包括所述姿态感应组件。For example, the surgical device further includes a posture sensing component configured to sense the posture of the surgical device, and the element to be detected includes the posture sensing component.
例如,所述姿态感应组件包括加速度传感器。For example, the attitude sensing component includes an acceleration sensor.
例如,所述检测电路包括:开关组件,所述开关组件的一端与所述控制组件电连接,另一端与所述待检测元件的输入端电连接;所述开关组件在接收到所述检测信号时导通;在未接收到所述检测信号时关断;和保护组件,所述保护组件的一端接地,另一端与所述待检测元件的输出端电连接;所述保护组件与所述待检测元件之间引出所述检测电路的输出端,所述输出端与所述控制组件的输入端电连接。For example, the detection circuit includes: a switch component, one end of the switch component is electrically connected to the control component, and the other end is electrically connected to the input end of the component to be detected; the switch component receives the detection signal Turn on when the detection signal is not received; turn off when the detection signal is not received; and a protection component, one end of the protection component is grounded, and the other end is electrically connected to the output terminal of the component to be detected; the protection component is connected to the waiting The output terminal of the detection circuit is led out between the detection elements, and the output terminal is electrically connected with the input terminal of the control component.
例如,所述保护组件包括电阻元件,所述电阻元件配置为对所述检测电路进行限流。For example, the protection component includes a resistance element configured to limit the current of the detection circuit.
例如,外科手术装置还包括:与所述控制组件电连接的警示组件;其中所述控制组件还配置为在确定所述待检测元件存在异常时,向所述警示组件发送警示信号,以触发所述警示组件输出警示信息。For example, the surgical device further includes: a warning component electrically connected to the control component; wherein the control component is further configured to send a warning signal to the warning component when it is determined that the component to be detected is abnormal, so as to trigger the The warning component outputs warning information.
例如,所述警示信息包括由声音信号、光信号和电信号构成的组中的至少一种,不同所述待检测元件对应的警示信息不同。For example, the warning information includes at least one of a group consisting of a sound signal, an optical signal, and an electrical signal, and different warning information corresponding to different components to be detected are different.
例如,所述警示组件包括蜂鸣器或者光电二极管。For example, the warning component includes a buzzer or a photodiode.
例如,所述检测结果包括电压值,所述控制组件还配置为:在所述电压值小于第一电压阈值时,确定所述待检测元件开路;在所述电压值大于或等于第二电压阈值时,确定所述待检测元件短路;在所述电压值大于或等于所述第一电压阈值且小于第三电压阈值时,确定所述待检测元件存在开路风险;在所述电压值大于或等于所述第三电压阈值且小于第二电压阈值时,确定所述待检测元件存在短路风险,所述第三电压阈值大于所述第一电压阈值且小于所述第二电压阈值。For example, the detection result includes a voltage value, and the control component is further configured to: when the voltage value is less than a first voltage threshold, determine that the element to be detected is open; when the voltage value is greater than or equal to a second voltage threshold When the voltage value is greater than or equal to the first voltage threshold and less than the third voltage threshold, it is determined that the component to be detected has an open circuit risk; when the voltage value is greater than or equal to When the third voltage threshold is less than the second voltage threshold, it is determined that the component to be detected has a short-circuit risk, and the third voltage threshold is greater than the first voltage threshold and less than the second voltage threshold.
例如,所述适配器包括:手持部;与所述手持部相连的工作部,所述工 作部包括壳体和位于所述壳体中的传动组件,所述传动组件与所述驱动组件相连,所述杆身组件与所述工作部相连,所述夹仓组件在所述驱动组件和所述传动组件的控制下向所述夹钳传送所述结扎夹,所述推送机构包括由所述驱动组件、所述传动组件和所述夹仓组件构成的组中的至少一个。For example, the adapter includes: a hand-held part; a working part connected to the hand-held part, the working part including a housing and a transmission assembly located in the housing, the transmission assembly is connected to the drive assembly, and The shaft assembly is connected to the working part, the clamping bin assembly transmits the ligation clamp to the clamp under the control of the drive assembly and the transmission assembly, and the pushing mechanism includes the drive assembly , At least one of the group consisting of the transmission assembly and the clamping bin assembly.
根据本公开的第二方面,提供了一种用于上述的外科手术装置的检测方法,包括:向所述检测电路发送检测信号,所述检测信号用于触发所述检测电路对所述待检测元件进行检测,并将检测结果发送至所述控制组件;接收所述检测电路发送的所述检测结果;以及根据所述检测结果确定所述待检测元件的状态。According to a second aspect of the present disclosure, there is provided a detection method for the above-mentioned surgical operation device, including: sending a detection signal to the detection circuit, and the detection signal is used to trigger the detection circuit to detect the to-be-detected The component detects and sends a detection result to the control component; receives the detection result sent by the detection circuit; and determines the state of the component to be tested according to the detection result.
例如,所述检测结果包括电压值,所述根据所述检测结果确定所述待检测元件的状态,包括:在所述电压值小于第一电压阈值时,确定所述待检测元件开路;在所述电压值大于或等于第二电压阈值时,确定所述待检测元件短路;在所述电压值大于或等于所述第一电压阈值且小于第三电压阈值时,确定所述待检测元件存在开路风险;在所述电压值大于或等于所述第三电压阈值且小于第二电压阈值时,确定所述待检测元件存在短路风险,所述第三电压阈值大于所述第一电压阈值且小于所述第二电压阈值。For example, the detection result includes a voltage value, and the determining the state of the component to be detected according to the detection result includes: determining that the component to be detected is open when the voltage value is less than a first voltage threshold; When the voltage value is greater than or equal to the second voltage threshold, it is determined that the component to be detected is short-circuited; when the voltage value is greater than or equal to the first voltage threshold and less than the third voltage threshold, it is determined that the component to be detected has an open circuit Risk; when the voltage value is greater than or equal to the third voltage threshold and less than the second voltage threshold, it is determined that the component to be detected has a short circuit risk, and the third voltage threshold is greater than the first voltage threshold and less than the The second voltage threshold.
例如,在所述根据所述检测结果确定所述待检测元件的状态之后,所述方法还包括:在确定所述待检测元件存在异常时,输出警示信息。For example, after the state of the component to be detected is determined according to the detection result, the method further includes: outputting warning information when it is determined that the component to be detected is abnormal.
例如,所述警示信息包括由声音信号、光信号和电信号构成的组中的至少一种,不同待检测元件对应的警示信息不同。For example, the warning information includes at least one of a group consisting of a sound signal, an optical signal, and an electrical signal, and different warning information corresponding to different components to be detected are different.
附图说明Description of the drawings
为了更清楚地说明本公开实施例的技术方案,下面将对实施例的附图作简单地介绍,显而易见地,下面描述中的附图仅仅涉及本公开的一些实施例,而非对本公开的限制。In order to explain the technical solutions of the embodiments of the present disclosure more clearly, the following will briefly introduce the drawings of the embodiments. Obviously, the drawings in the following description only refer to some embodiments of the present disclosure, rather than limiting the present disclosure. .
图1是本公开实施例提供的外科手术装置的结构示意图;Figure 1 is a schematic structural diagram of a surgical device provided by an embodiment of the present disclosure;
图2是本公开实施例提供的外科手术装置的爆炸示意图;Figure 2 is an exploded schematic diagram of a surgical device provided by an embodiment of the present disclosure;
图3是本公开实施例提供的外科手术装置的工作部的剖视图;3 is a cross-sectional view of the working part of the surgical device provided by the embodiment of the present disclosure;
图4是本公开实施例提供的外科手术装置的杆身组件的结构示意图;4 is a schematic structural diagram of a shaft assembly of a surgical device provided by an embodiment of the present disclosure;
图5是本公开实施例提供的外科手术装置的夹仓组件的结构示意图;FIG. 5 is a schematic diagram of the structure of the clamping bin assembly of the surgical device provided by the embodiment of the present disclosure;
图6是本公开实施例提供的外科手术装置的工作部的爆炸图;Figure 6 is an exploded view of the working part of the surgical device provided by an embodiment of the present disclosure;
图7是本公开实施例提供的检测电路的框图;Fig. 7 is a block diagram of a detection circuit provided by an embodiment of the present disclosure;
图8是本公开实施例提供的用于外科手术装置的检测方法的流程图;FIG. 8 is a flowchart of a detection method for a surgical device provided by an embodiment of the present disclosure;
图9是本公开实施例的各向异性磁阻传感器的结构原理图。Fig. 9 is a structural principle diagram of an anisotropic magnetoresistive sensor according to an embodiment of the present disclosure.
具体实施方式Detailed ways
为使本公开实施例的目的、技术方案和优点更加清楚,下面将结合本公开实施例的附图,对本公开实施例的技术方案进行清楚、完整地描述。显然,所描述的实施例是本公开的一部分实施例,而不是全部的实施例。基于所描述的本公开的实施例,本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例,都属于本公开保护的范围。In order to make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be described clearly and completely in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the protection scope of the present disclosure.
除非另作定义,此处使用的技术术语或者科学术语应当为本发明所属领域内具有一般技能的人士所理解的通常意义。本公开专利申请说明书以及权利要求书中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性,而只是用来区分不同的组成部分。“包括”或者“包含”等类似的词语意指出现在“包括”或者“包含”前面的元件或者物件涵盖出现在“包括”或者“包含”后面列举的元件或者物件及其等同,并不排除其他元件或者物件。除非另有说明,本文使用的“相连”或“连接”指的是两个物体之间可以通过机械配合方式相互关联在一起,这种机械配合可以是借助外力将二者连接(比如通过外部紧固件),也可以是两个物体直接互连(比如通过螺纹、公母配合)。当两个物体相连时可以同时移动或相互带动,例如马达与传动组件相连,可以理解为马达带动传动组件,使传动组件运动。因此,相连的两个物体也可以彼此分离。Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by those with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the specification and claims of the patent application of this disclosure do not denote any order, quantity or importance, but are only used to distinguish different components. "Including" or "including" and other similar words mean that the elements or items before "including" or "including" now cover the elements or items listed after "including" or "including" and their equivalents, and do not exclude other Components or objects. Unless otherwise specified, "connected" or "connected" as used herein means that two objects can be related to each other through a mechanical fit. This mechanical fit can be used to connect the two with the help of an external force (such as external tightening). Firmware), it can also be the direct interconnection of two objects (for example, through screw threads, male and female cooperation). When two objects are connected, they can move at the same time or drive each other. For example, when a motor is connected to a transmission assembly, it can be understood that the motor drives the transmission assembly to move the transmission assembly. Therefore, two connected objects can also be separated from each other.
在一种典型的施夹钳中,手持部上设置有指示灯,指示灯可以用来指施夹钳的工作状态,比如:指示施夹钳正在送夹;或者,指示施夹钳正在击发。In a typical clip applier, an indicator light is provided on the hand-held part, and the indicator light can be used to indicate the working state of the clip applier, for example, indicating that the clip applier is sending clips; or, indicating that the clip applier is firing.
然而,随着使用时间的延长,指示灯可能存在异常,这样会导致外科手术装置即使在送夹状态或者击发状态,指示灯也无法正常显示,从而导致医疗人员误操作的问题。However, with the prolonged use time, the indicator light may be abnormal, which will cause the indicator light to fail to display normally even in the clamped state or the firing state of the surgical device, which may lead to the problem of misoperation by medical personnel.
本公开实施例涉及一种外科手术装置及其检测方法,至少可以解决无法检测外科手术装置中的某些元件的状态的问题,进一步地,还可以解决无法 检测外科手术装置中的某些元件的异常的问题。The embodiments of the present disclosure relate to a surgical device and a detection method thereof, which can at least solve the problem that the state of certain elements in the surgical device cannot be detected, and further, can also solve the problem that certain elements in the surgical device cannot be detected. Unusual problem.
本公开实施例提供一种外科手术装置,包括:适配器;与所述适配器相连的杆身组件,所述杆身组件包括:夹仓组件和夹钳,所述夹仓组件包括结扎夹,所述夹仓组件配置为向所述夹钳传送所述结扎夹;所述外科手术装置还包括:待检测元件、与所述待检测元件电连接的检测电路和与所述检测电路电连接的控制组件;所述控制组件配置为向所述检测电路发送检测信号;所述检测电路配置为根据所述检测信号对所述待检测元件进行检测,并将检测结果发送至所述控制组件;所述控制组件配置为根据所述检测结果确定所述待检测元件的状态。An embodiment of the present disclosure provides a surgical device, including: an adapter; a shaft assembly connected to the adapter, the shaft assembly including: a clamping chamber assembly and a clamp, the clamping chamber assembly including a ligation clip, the The clamping bin assembly is configured to deliver the ligation clip to the clamp; the surgical device further includes: a component to be detected, a detection circuit electrically connected to the component to be detected, and a control component electrically connected to the detection circuit The control component is configured to send a detection signal to the detection circuit; the detection circuit is configured to detect the component to be detected according to the detection signal, and send the detection result to the control component; the control The component is configured to determine the state of the component to be tested according to the test result.
本公开实施例还提供一种用于上述的外科手术装置的检测方法,包括:向所述检测电路发送检测信号,所述检测信号用于触发所述检测电路对所述待检测元件进行检测,并将检测结果发送至所述控制组件;接收所述检测电路发送的所述检测结果;以及根据所述检测结果确定所述待检测元件的状态。The embodiment of the present disclosure also provides a detection method for the above-mentioned surgical device, including: sending a detection signal to the detection circuit, the detection signal is used to trigger the detection circuit to detect the component to be detected, And send the detection result to the control component; receive the detection result sent by the detection circuit; and determine the state of the component to be detected according to the detection result.
首先,对本公开实施例涉及的若干名词作介绍。First, some terms involved in the embodiments of the present disclosure are introduced.
1、霍尔传感器:是一种基于霍尔效应(Hall effect)工作的半导体磁电器件。霍尔效应是指当导体(例如金属导体)或半导体被放置在磁场内,当有垂直于磁场的电流通过导体或半导体时,磁场作用于导体或半导体中的载流子使载流子发生偏转,产生垂直于电流和磁场的附加电场,从而在导体或半导体的两端产生电位差,这个电位差也成为霍尔电压。霍尔传感器可以分成霍尔开关器件和霍尔线性器件。1. Hall sensor: It is a kind of semiconductor magnetoelectric device based on Hall effect. Hall effect means that when a conductor (such as a metal conductor) or semiconductor is placed in a magnetic field, when a current perpendicular to the magnetic field passes through the conductor or semiconductor, the magnetic field acts on the carriers in the conductor or semiconductor to deflect the carriers , Generate an additional electric field perpendicular to the current and magnetic field, thereby generating a potential difference between the two ends of the conductor or semiconductor, and this potential difference also becomes the Hall voltage. Hall sensors can be divided into Hall switching devices and Hall linear devices.
霍尔开关器件包括:单极性霍尔开关、双极性霍尔开关和全极性霍尔开关。Hall switch devices include: unipolar Hall switches, bipolar Hall switches and omnipolar Hall switches.
单极性霍尔开关的感应方式为:磁场的磁极(例如N极或S极)靠近霍尔开关时,输出低电位电压(低电平)信号(例如可设置为“关”信号),磁场磁极远离霍尔开关时,输出高电位电压(高电平)信号(例如可设置为“开”信号)。单极性霍尔开关会指定某磁极感应才有效,一般是正面感应磁场S极,反面感应N极。例如,本公开实施例中,用于提供磁场的磁性件包括磁体。例如该磁体包括永磁体。The induction method of the unipolar Hall switch is: when the magnetic pole of the magnetic field (such as N pole or S pole) is close to the Hall switch, it outputs a low potential voltage (low level) signal (for example, it can be set to "off" signal), and the magnetic field When the magnetic pole is far away from the Hall switch, a high potential voltage (high level) signal is output (for example, it can be set to an "on" signal). The unipolar Hall switch will specify a certain magnetic pole for induction to be effective. Generally, the front side induces the S pole of the magnetic field, and the reverse side induces the N pole. For example, in the embodiment of the present disclosure, the magnetic member for providing a magnetic field includes a magnet. For example, the magnet includes a permanent magnet.
双极性霍尔开关的感应方式为:磁场的两个磁极N、S分别控制双极性霍尔开关的开和关(高、低电平)。双极性霍尔开关一般具有锁定的作用, 也就是说,当磁极离开后,霍尔输出信号不发生改变,直到另一个磁极感应。另外,双极性霍尔开关的初始状态是随机输出,有可能是高电平,也有可能是低电平。The induction method of the bipolar Hall switch is: the two magnetic poles N and S of the magnetic field respectively control the on and off (high and low level) of the bipolar Hall switch. The bipolar Hall switch generally has a locking effect, that is, when the magnetic pole leaves, the Hall output signal does not change until another magnetic pole is induced. In addition, the initial state of the bipolar Hall switch is random output, which may be high or low.
全极性霍尔开关的感应方式:与单极性霍尔开关的感应方式相似,区别在于,单极性霍尔开关会指定磁极,而全极性霍尔开关不会指定磁极,任何磁极靠近输出低电平信号,离开输出高电平信号。The induction method of the omnipolar Hall switch: similar to the induction method of the unipolar hall switch, the difference is that the unipolar hall switch will specify the magnetic pole, and the omnipolar hall switch will not specify the magnetic pole, and any magnetic pole is close to Output low level signal, leave output high level signal.
霍尔线性器件是一种模拟信号输出的磁传感器,输出电压随输入的磁力密度线性变化。线性霍尔效应传感器的电压输出会精确跟踪磁通密度的变化。The Hall linear device is a magnetic sensor with analog signal output, and the output voltage changes linearly with the input magnetic force density. The voltage output of a linear Hall-effect sensor will accurately track changes in magnetic flux density.
2、各向异性磁阻传感器:是一种基于各向异性磁电阻效应(Anisotropic Magnetoresistive Sensor,简称AMR)当外部磁场与磁体内建磁场方向成零度角时,电阻不会随着外加磁场变化而发生改变的;但当外部磁场与磁体的内建磁场有一定角度时,磁体内部磁化矢量会偏移,薄膜电阻降低,这种特性称为AMR。2. Anisotropic Magnetoresistive Sensor: It is based on the Anisotropic Magnetoresistive Sensor (AMR). When the external magnetic field and the built-in magnetic field of the magnet form a zero degree angle, the resistance will not change with the external magnetic field. However, when the external magnetic field and the built-in magnetic field of the magnet have a certain angle, the internal magnetization vector of the magnet will shift and the film resistance will decrease. This characteristic is called AMR.
对于有各向异性特性的强磁性金属,磁阻的变化是与磁场和电流间夹角有关的,该强磁性金属包括但不限于:铁、钴、镍及其合金等金属。For ferromagnetic metals with anisotropic characteristics, the change of magnetoresistance is related to the angle between the magnetic field and the current. The ferromagnetic metals include but are not limited to metals such as iron, cobalt, nickel and their alloys.
图9是本公开实施例的各向异性磁阻传感器的结构原理图。如图9所示,AMR磁传感器包括由四个磁阻(R)组成了惠斯通电桥。其中供电电源为Vb,电流流经电阻。当施加一个偏置磁场H1在电桥上时,两个相对放置的电阻的磁化方向就会朝着电流方向转动,这两个电阻的阻值会增加;而另外两个相对放置的电阻的磁化方向会朝与电流相反的方向转动,该两个电阻的阻值则减少。通过测试电桥的两输出端输出差电压信号,可以得到外加磁场(H2)。Fig. 9 is a structural principle diagram of an anisotropic magnetoresistive sensor according to an embodiment of the present disclosure. As shown in Figure 9, the AMR magnetic sensor includes a Wheatstone bridge composed of four magnetoresistors (R). The power supply is Vb, and the current flows through the resistor. When a bias magnetic field H1 is applied to the bridge, the magnetization direction of the two oppositely placed resistors will rotate toward the direction of the current, and the resistance value of these two resistors will increase; while the magnetization of the other two oppositely placed resistors The direction will rotate in the opposite direction to the current, and the resistance of the two resistors will decrease. By testing the difference voltage signal at the two output terminals of the test bridge, the external magnetic field (H2) can be obtained.
3、光栅式传感器:是指采用光栅叠栅条纹原理测量位移的传感器。光栅式传感器包括标尺光栅、指示光栅、光路系统和测量系统。标尺光栅相对于指示光栅移动时,形成大致按正弦规律分布的明暗相间的叠栅条纹。这些条纹以光栅的相对运动速度移动,并直接照射到光电元件上,在它们的输出端得到一串电脉冲,通过放大、整形、辨向和计数系统产生数字信号输出,直接显示被测的位移量。光栅式传感器可测量静、动态的直线位移和整圆角位移。3. Grating sensor: refers to a sensor that uses the principle of grating moire fringes to measure displacement. The grating sensor includes a ruler grating, an indicating grating, an optical path system and a measuring system. When the ruler grating moves relative to the indicating grating, a light and dark moire fringe is formed approximately in a sinusoidal distribution. These fringes move at the relative speed of the grating and irradiate directly on the photoelectric element. A series of electric pulses are obtained at their output terminals. The digital signal output is generated through the amplification, shaping, direction identification and counting system to directly display the measured displacement. the amount. The grating sensor can measure static and dynamic linear displacement and fillet displacement.
4、编码器:是将信号(如比特流)或数据进行编制、转换为可用以通讯、 传输和存储的信号形式的设备。编码器把角位移或直线位移转换成电信号,前者称为码盘,后者称为码尺。旋转编码器是用来测量转速的装置,光电式旋转编码器通过光电转换,可将传动轴的角位移、角速度等机械量转换成相应的电脉冲以数字量输出。旋转编码器分为单路输出和双路输出两种。技术参数主要有每转脉冲数(几十个到几千个都有),和供电电压等。单路输出是指旋转编码器的输出是一组脉冲,而双路输出的旋转编码器输出两组A/B相位差90度的脉冲,通过这两组脉冲不仅可以测量转速,还可以判断旋转的方向。4. Encoder: It is a device that compiles and converts signals (such as bit stream) or data into signal forms that can be used for communication, transmission and storage. The encoder converts angular displacement or linear displacement into electrical signals. The former is called a code wheel and the latter is called a code ruler. The rotary encoder is a device used to measure the speed. The photoelectric rotary encoder can convert the angular displacement and angular velocity of the drive shaft into corresponding electrical pulses for digital output through photoelectric conversion. There are two types of rotary encoders: single output and dual output. Technical parameters mainly include the number of pulses per revolution (dozens to thousands of them), and power supply voltage. Single output means that the output of the rotary encoder is a set of pulses, while the dual output rotary encoder outputs two sets of A/B phase difference pulses of 90 degrees. These two sets of pulses can not only measure the speed, but also determine the rotation. Direction.
5、加速度传感器(或称陀螺仪):是一种能够测量加速度的传感器。通常由质量块、阻尼器、弹性元件、敏感元件和适调电路等部分组成。传感器在加速过程中,通过对质量块所受惯性力的测量,利用牛顿第二定律获得加速度值。5. Acceleration sensor (or gyroscope): It is a sensor that can measure acceleration. It is usually composed of masses, dampers, elastic components, sensitive components, and adaptive circuits. In the process of acceleration, the sensor obtains the acceleration value by using Newton's second law by measuring the inertial force on the mass block.
可选地,加速度传感器输出的电压与加速度成比例。比如:2.5V对应0g的加速度,2.6V对应于0.5g(约等于1.9m/s 2)的加速度。 Optionally, the voltage output by the acceleration sensor is proportional to the acceleration. For example: 2.5V corresponds to an acceleration of 0g, and 2.6V corresponds to an acceleration of 0.5g (approximately equal to 1.9m/s 2 ).
可选地,加速度传感器可以为三轴加速度传感器,也可以是六轴加速度传感器、九轴加速度传感器等。Optionally, the acceleration sensor may be a three-axis acceleration sensor, or a six-axis acceleration sensor, a nine-axis acceleration sensor, or the like.
下面结合附图,对本公开实施例的外科手术器械及其检测方法作进一步详细描述。In the following, in conjunction with the accompanying drawings, the surgical instruments and their detection methods of the embodiments of the present disclosure will be described in further detail.
图1为根据本公开实施例提供的外科手术装置的结构示意图。如图1所示,外科手术装置10至少包括适配器和与适配器相连的杆身组件13。本公开实施例中,适配器为一种手持式装置,其可以是一体结构或分体结构(即可拆卸的多个部件)。当采用分体结构时,可以根据应用场景更换个别部件,因此为优选。本公开实施例以适配器为分体结构为例进行说明。Fig. 1 is a schematic structural diagram of a surgical device provided according to an embodiment of the present disclosure. As shown in FIG. 1, the surgical device 10 at least includes an adaptor and a shaft assembly 13 connected to the adaptor. In the embodiments of the present disclosure, the adapter is a handheld device, which may be an integral structure or a split structure (that is, multiple detachable components). When the split structure is adopted, individual components can be replaced according to the application scenario, so it is preferred. The embodiment of the present disclosure is described by taking the adapter as a split structure as an example.
例如,适配器包括手持部11和与手持部11相连的工作部12,工作部12与杆身组件13相连。For example, the adapter includes a hand-held part 11 and a working part 12 connected to the hand-held part 11, and the working part 12 is connected to the shaft assembly 13.
可选地,手持部11与工作部12之间可拆卸连接;工作部12与杆身组件13之间可拆卸连接。Optionally, the hand-held part 11 and the working part 12 are detachably connected; the working part 12 and the shaft assembly 13 are detachably connected.
在其他实施例中,外科手术装置10也可以称为施夹钳等,本实施例不对外科手术装置10的名称作限定。In other embodiments, the surgical device 10 may also be called a clip applier, etc. The name of the surgical device 10 is not limited in this embodiment.
图2是本公开实施例提供的外科手术装置的爆炸示意图。如图2所示, 手持部11包括壳体110、设置于壳体110中的驱动组件111。手持部11上还设置有用于控制驱动组件111的击发开关112、以及与击发开关112电连接的电机电路113(未示出),电机电路113还与驱动组件111电连接。电机电路113用于控制驱动组件111运动。Fig. 2 is an exploded schematic diagram of a surgical device provided by an embodiment of the present disclosure. As shown in FIG. 2, the handle 11 includes a housing 110 and a driving assembly 111 provided in the housing 110. The handle 11 is also provided with a firing switch 112 for controlling the driving component 111 and a motor circuit 113 (not shown) electrically connected to the firing switch 112, and the motor circuit 113 is also electrically connected to the driving component 111. The motor circuit 113 is used to control the movement of the driving assembly 111.
例如,驱动组件111包括驱动马达。驱动马达上具有输出轴。For example, the driving assembly 111 includes a driving motor. The drive motor has an output shaft.
图3是本公开实施例提供的外科手术装置的工作部的剖视图。如图3所示,工作部12包括壳体121、设置在壳体121内且与驱动组件111相连的传动组件、以及与传动组件相连的推杆122。Fig. 3 is a cross-sectional view of a working part of a surgical device provided by an embodiment of the present disclosure. As shown in FIG. 3, the working part 12 includes a housing 121, a transmission assembly arranged in the housing 121 and connected with the driving assembly 111, and a push rod 122 connected with the transmission assembly.
传动组件包括与驱动组件111(比如:与驱动马达的输出轴)连接的传动轴、与传动轴相连的锥齿轮124、与锥齿轮124啮合的齿条组件125、与齿条组件125啮合的小齿轮126、与小齿轮126相连的推送组件127。The transmission assembly includes a drive shaft connected to the drive assembly 111 (for example, the output shaft of the drive motor), a bevel gear 124 connected to the drive shaft, a rack assembly 125 meshing with the bevel gear 124, and a small gear meshing with the rack assembly 125 Gear 126, a pushing assembly 127 connected with pinion 126.
齿条组件125包括与锥齿轮124连接的第一齿条1251及与第一齿条1251连接的第二齿条1252,第二齿条1252连接有击发施力件128。The rack assembly 125 includes a first rack 1251 connected with the bevel gear 124 and a second rack 1252 connected with the first rack 1251, and the second rack 1252 is connected with a firing force applying member 128.
推送组件127用于在小齿轮126的带动下推动推杆122运动。The pushing component 127 is used to push the push rod 122 to move under the drive of the pinion 126.
在一个示例中,推送组件127包括与小齿轮126相啮合的推块1271、以及与推块1271相连的推送件1272,推送件1272带动推杆122运动。In one example, the pushing component 127 includes a pushing block 1271 that is engaged with the pinion 126 and a pushing member 1272 connected to the pushing block 1271, and the pushing member 1272 drives the push rod 122 to move.
图4是本公开实施例提供的外科手术装置的杆身组件的结构示意图。如图4所示,杆身组件13包括:夹仓组件131和夹钳132,夹仓组件131包括至少一个结扎夹。夹仓组件131向夹钳132传送结扎夹(简称“送夹”)。例如,工作部12还包括与驱动组件111相连的传动组件,夹仓组件131用于在驱动组件111和传动组件的控制下向夹钳132传送结扎夹。例如,夹仓组件131与推杆122连接,推杆122的往复运动带动夹仓组件131送夹。Fig. 4 is a schematic structural diagram of a shaft assembly of a surgical device provided by an embodiment of the present disclosure. As shown in FIG. 4, the shaft assembly 13 includes: a clamping bin assembly 131 and a clamp 132, and the clamping bin assembly 131 includes at least one ligature clamp. The clamping bin assembly 131 transmits the ligation clamp (referred to as "clamping") to the clamp 132. For example, the working part 12 further includes a transmission assembly connected with the driving assembly 111, and the clamping bin assembly 131 is used to transmit the ligation clip to the clamp 132 under the control of the driving assembly 111 and the transmission assembly. For example, the clamping bin assembly 131 is connected with the push rod 122, and the reciprocating movement of the push rod 122 drives the clamping bin assembly 131 to send the clamp.
图5是本公开实施例提供的外科手术装置的夹仓组件的结构示意图。如图5所示,可选地,夹仓组件131包括夹仓座1311、放置在夹仓座1311内的结扎夹1312、盖设在夹仓座1311上并用以推动结扎夹1312运动的推夹片1313。当夹钳132闭合时,推杆122驱动推夹片1313推动结扎夹1312朝夹钳132的方向移动。例如,推夹片1313上设置有若干个朝向夹钳132的棘齿,棘齿抵持结扎夹1312以在推夹片1313的推动下推动结扎夹1312朝向夹钳132移动。Fig. 5 is a schematic diagram of the structure of the clamping bin assembly of the surgical device provided by an embodiment of the present disclosure. As shown in FIG. 5, optionally, the clamping bin assembly 131 includes a clamping bin seat 1311, a ligation clip 1312 placed in the clamping bin seat 1311, and a push clip that is covered on the clamping bin seat 1311 and used to push the ligation clip 1312 to move.片1313. When the clamp 132 is closed, the push rod 122 drives the push clamp piece 1313 to push the ligation clamp 1312 to move in the direction of the clamp 132. For example, the push clip 1313 is provided with a plurality of ratchet teeth facing the clamp 132, and the ratchets abut the ligation clip 1312 to push the ligation clip 1312 to move toward the clamp 132 under the push of the push clip 1313.
如图3所示,例如,杆身组件13还包括击发件133。击发件133的一端 与击发施力件128连接,击发件133的另一端与夹钳132相连。击发施力件128的运动带动击发件133控制夹钳132的张开和闭合。As shown in FIG. 3, for example, the shaft assembly 13 further includes a firing member 133. One end of the firing member 133 is connected to the firing force applying member 128, and the other end of the firing member 133 is connected to the clamp 132. The movement of the firing force applying member 128 drives the firing member 133 to control the opening and closing of the clamp 132.
可选地,击发件133为包裹夹仓组件131的击发套管。在其它实施例中,击发件133还可以实现为与夹钳132相连的拉杆、拉杆的另一端通过连接件与击发施力件128相连。Optionally, the firing member 133 is a firing sleeve of the package clamping bin assembly 131. In other embodiments, the firing member 133 may also be implemented as a pull rod connected to the clamp 132, and the other end of the pull rod is connected to the firing force applying member 128 through a connecting member.
在使用过程中,驱动组件111向第一方向转动,通过输出轴带动锥齿轮124转动以带动第一齿条1251后退进而带动第二齿条1252后退。第二齿条1252后退至与小齿轮126啮合,此时第二齿条1252带动小齿轮126顺时针旋转,小齿轮126顺时针旋转以推动推块1271向前移动,推块1271向前移动从而驱动推送件1272推动推杆122运动,推杆122向夹钳132方向轴向运动带动夹仓组件131送夹。推杆122向手持部11方向轴向运动的方式与向夹钳132方向轴向运动的方式相同,区别在于此时驱动组件111向第二方向转动,从而带动其它传动组件反向运动,实现推杆122向手持部11方向轴向运动,以带动夹仓组件131退回。During use, the driving assembly 111 rotates in the first direction, and the bevel gear 124 is driven to rotate through the output shaft to drive the first rack 1251 to retreat and then drive the second rack 1252 to retreat. The second rack 1252 retreats to mesh with the pinion 126. At this time, the second rack 1252 drives the pinion 126 to rotate clockwise, and the pinion 126 rotates clockwise to push the push block 1271 to move forward, and the push block 1271 moves forward to move forward. The pushing member 1272 is driven to push the push rod 122 to move, and the push rod 122 axially moves in the direction of the clamp 132 to drive the clamping bin assembly 131 to send the clamp. The way the push rod 122 moves axially in the direction of the handle 11 is the same as that of the clamp 132. The difference is that the driving assembly 111 rotates in the second direction at this time, so as to drive the other transmission components to move in the opposite direction to realize pushing. The rod 122 axially moves in the direction of the handle 11 to drive the clamping bin assembly 131 to retract.
之后,驱动组件111向第二方向转动,通过输出轴带动锥齿轮124转动以带动第一齿条1251前移进而带动第二齿条1252前移。第二齿条1252前移带动击发施力件128前移,击发施力件128前移带动击发件133相较于夹仓组件131前移以使得夹钳132闭合完成结扎动作。击发施力件128向手持部11方向运动的方式与向夹钳132发现运动的方式相同,区别在于此时驱动组件111向第一方向转动,从而带动其它传动组件反向运动,实现击发施力件128向手持部11方向轴向运动,以带动击发件133退回,以使夹钳132张开。After that, the driving assembly 111 rotates in the second direction, and the bevel gear 124 is driven to rotate through the output shaft to drive the first rack 1251 to move forward and then drive the second rack 1252 to move forward. The forward movement of the second rack 1252 drives the firing force application member 128 to move forward, and the forward movement of the firing force application member 128 drives the firing member 133 to move forward compared to the clamping chamber assembly 131 so that the clamp 132 is closed to complete the ligation action. The way the firing force applying member 128 moves in the direction of the handle 11 is the same as the way to find the movement towards the clamp 132, the difference is that the driving assembly 111 rotates in the first direction at this time, so as to drive the other transmission components to move in the opposite direction to realize the firing force. The member 128 moves axially in the direction of the handle 11 to drive the firing member 133 to retreat, so that the clamp 132 is opened.
图6是本公开实施例提供的外科手术装置的工作部的爆炸图。如图6所示,本公开实施例中,外科手术装置还包括待检测元件30、与待检测元件30电连接的检测电路50和与检测电路电连接的控制组件40。Fig. 6 is an exploded view of a working part of a surgical device provided by an embodiment of the present disclosure. As shown in FIG. 6, in the embodiment of the present disclosure, the surgical operation device further includes an element 30 to be detected, a detection circuit 50 electrically connected to the element 30 to be detected, and a control component 40 electrically connected to the detection circuit.
控制组件40用于向检测电路50发送检测信号;The control component 40 is used to send a detection signal to the detection circuit 50;
检测电路50用于在接收到检测信号时对待检测元件30进行检测,并将检测结果发送至控制组件40;The detection circuit 50 is configured to detect the component 30 to be detected when receiving the detection signal, and send the detection result to the control component 40;
控制组件40用于根据检测结果确定待检测元件30的状态,例如确定待检测元件30是否存在异常。The control component 40 is used to determine the state of the component 30 to be detected according to the detection result, for example, to determine whether the component 30 to be detected is abnormal.
可选地,如图3所示,待检测元件30包括但不限于:信号灯31、位置 感应组件32、和/或姿态感应组件33。Optionally, as shown in FIG. 3, the component to be detected 30 includes but is not limited to: a signal light 31, a position sensing component 32, and/or a posture sensing component 33.
例如,外科手术装置还包括信号灯31,信号灯31用于指示外科手术装置的工作状态和/或结扎夹的已使用数量大于或等于预设阈值。当然,信号灯31也可以具有其它指示功能,本实施例不对信号灯31的指示功能作限定。例如,信号灯提供视觉信号,可以为LED等;或者,也可以通过显示屏实现,本实施例不对信号灯31的实现方式作限定。For example, the surgical operation device further includes a signal light 31, which is used to indicate the working state of the surgical operation device and/or the used number of ligation clips is greater than or equal to a preset threshold. Of course, the signal lamp 31 may also have other indication functions, and this embodiment does not limit the indication function of the signal lamp 31. For example, the signal light provides a visual signal, which can be an LED or the like; or, it can also be implemented through a display screen. The implementation of the signal light 31 is not limited in this embodiment.
例如,外科手术装置还包括位置感应组件32,位置感应组件32用于感应推送结扎夹的推送机构的位置。推送机构是指外科手术装置中用于直接或间接推送结扎夹的组件或部件。推送机构包括但不限于:推杆122、驱动组件111(例如驱动组件111的输出轴)、传动组件和/或夹仓组件131。For example, the surgical operation device further includes a position sensing component 32 for sensing the position of the pushing mechanism that pushes the ligature clip. The pushing mechanism refers to the components or parts used to directly or indirectly push the ligature clip in the surgical device. The pushing mechanism includes, but is not limited to: a push rod 122, a driving assembly 111 (for example, an output shaft of the driving assembly 111), a transmission assembly and/or a clamping assembly 131.
例如,所述推送机构包括由所述驱动组件111、传动组件和所述夹仓组件131构成的组中的至少一个。进一步地,例如,所述推送机构包括由所述驱动组件111、所述传动组件、所述夹仓组件131、所述推杆122构成的组中的至少一个。For example, the pushing mechanism includes at least one of the group consisting of the driving assembly 111, the transmission assembly, and the clamping bin assembly 131. Further, for example, the pushing mechanism includes at least one of the group consisting of the driving assembly 111, the transmission assembly, the clamping bin assembly 131, and the push rod 122.
例如,对于安装在推杆122上的位置感应组件32,该位置感应组件32可以是霍尔传感器、AMR磁传感器。例如,对于安装在传动组件或者驱动组件111上的位置感应组件32,该位置感应组件32可以是光栅式传感器、编码器。进一步地,例如,霍尔传感器包括磁性件和磁感应件,二者之间可相对运动以产生位置信息。For example, for the position sensing component 32 installed on the push rod 122, the position sensing component 32 may be a Hall sensor or an AMR magnetic sensor. For example, for the position sensing component 32 installed on the transmission component or the driving component 111, the position sensing component 32 may be a grating sensor or an encoder. Further, for example, the Hall sensor includes a magnetic element and a magnetic induction element, which can move relative to each other to generate position information.
例如,姿态感应组件33用于感应外科手术装置10的姿态。姿态感应组件33可以安装于工作部12上。例如,姿态感应组件33可以为加速度传感器。For example, the posture sensing component 33 is used to sense the posture of the surgical device 10. The attitude sensing component 33 can be installed on the working part 12. For example, the attitude sensing component 33 may be an acceleration sensor.
当然,待检测元件30还可以包括其它组件,若该组件为向控制组件40输出信息的组件,则该组件皆可为本公开的待检测元件30的范围内。Of course, the component to be tested 30 may also include other components. If the component is a component that outputs information to the control component 40, then the component can all be within the scope of the component to be tested 30 of the present disclosure.
例如,如图7所示,检测电路50包括:开关组件51和保护组件52。For example, as shown in FIG. 7, the detection circuit 50 includes: a switch component 51 and a protection component 52.
开关组件51的一端与控制组件40电连接,另一端与待检测元件30的输入端电连接。例如,开关组件51还电连接有电源53。开关组件51在接收到检测信号时闭合(即导通);在未接收到检测信号时断开(即关断)。One end of the switch assembly 51 is electrically connected to the control assembly 40, and the other end is electrically connected to the input end of the component 30 to be detected. For example, the switch assembly 51 is also electrically connected with a power source 53. The switch component 51 is closed (ie, turned on) when the detection signal is received; it is opened (ie, turned off) when the detection signal is not received.
保护组件52的一端接地,另一端与待检测元件30的输出端电连接;保护组件52与待检测元件30之间引出检测电路50的输出端54,输出端54与控制组件40的输入端电连接。One end of the protection component 52 is grounded, and the other end is electrically connected to the output terminal of the component to be detected 30; the output terminal 54 of the detection circuit 50 is led out between the protection component 52 and the component to be detected 30, and the output terminal 54 is electrically connected to the input terminal of the control component 40. connection.
可选地,保护组件52为电阻元件,电阻元件用于对检测电路进行限流。Optionally, the protection component 52 is a resistive element, and the resistive element is used to limit the current of the detection circuit.
例如,检测结果包括电信号。进一步地,例如,检测结果为检测电路输出端的电压值。For example, the detection result includes electrical signals. Further, for example, the detection result is the voltage value of the output terminal of the detection circuit.
控制组件40根据检测结果确定待检测元件30的状态。例如,在电压值小于第一电压阈值时,确定待检测元件开路。例如,在电压值大于或等于第二电压阈值时,确定待检测元件短路。例如,第二电压阈值是基于电源的供电电压确定的。例如,在电压值大于或等于第一电压阈值且小于第三电压阈值时,确定待检测元件存在开路风险。例如,在电压值大于或等于第三电压阈值且小于第二电压阈值时,确定待检测元件存在短路风险。The control component 40 determines the state of the component 30 to be tested according to the test result. For example, when the voltage value is less than the first voltage threshold, it is determined that the element to be detected is open. For example, when the voltage value is greater than or equal to the second voltage threshold, it is determined that the component to be detected is short-circuited. For example, the second voltage threshold is determined based on the supply voltage of the power supply. For example, when the voltage value is greater than or equal to the first voltage threshold value and less than the third voltage threshold value, it is determined that the component to be detected has an open circuit risk. For example, when the voltage value is greater than or equal to the third voltage threshold and less than the second voltage threshold, it is determined that the component to be detected has a short circuit risk.
例如,第一电压阈值接近0或者等于0。第二电压阈值可以等于电源的供电电压;或者,第二电压阈值大于电源的供电电压。第三电压阈值大于第一电压阈值且小于第二电压阈值。For example, the first voltage threshold is close to zero or equal to zero. The second voltage threshold may be equal to the power supply voltage of the power supply; or, the second voltage threshold may be greater than the power supply voltage of the power supply. The third voltage threshold is greater than the first voltage threshold and less than the second voltage threshold.
在一个示例中,控制组件40根据表一所示的检测规则确定待检测元件30的状态,例如,可以确定是否存在异常。In an example, the control component 40 determines the state of the component 30 to be detected according to the detection rule shown in Table 1, for example, it can determine whether there is an abnormality.
表1Table 1
待检测元件的情况The condition of the component to be tested 控制信号control signal 开关组件Switch assembly 检测结果Test results
未上电Not powered on low turn off 低,接近0Low, close to 0
开路open circuit high open 低,接近0Low, close to 0
短路Short circuit high open 高,接近电源电压High, close to the power supply voltage
保护电路异常The protection circuit is abnormal high open 异常电压值Abnormal voltage value
正常normal high open 正常预设值Normal default
可选地,如图7所示,外科手术装置10还包括与控制组件40电连接的警示组件60。此时,控制组件40,还用于:Optionally, as shown in FIG. 7, the surgical operation device 10 further includes a warning component 60 electrically connected to the control component 40. At this time, the control component 40 is also used for:
在确定待检测元件30存在异常时,向警示组件40发送警示信号,以触发警示组件40输出警示信息。所述警示信息包括由声音信号、光信号和电信号构成的组中的至少一种。例如,警示组件60为蜂鸣组件或者LED灯,本实施例不对警示组件60的警示方式作限定。When it is determined that the component 30 to be detected is abnormal, a warning signal is sent to the warning component 40 to trigger the warning component 40 to output warning information. The warning information includes at least one of a group consisting of a sound signal, an optical signal, and an electrical signal. For example, the warning component 60 is a buzzer component or an LED lamp, and the warning method of the warning component 60 is not limited in this embodiment.
例如,不同待检测元件30对应的警示信息不同。比如:在信号灯31存在异常时,警示信息为第一种类型的蜂鸣声;在位置感应组件32存在异常时,警示信息为第二种类型的蜂鸣声。这样,使用者可以通过不同的警示信息,快速确认是哪个部件或元件出现了问题。For example, the warning information corresponding to different components 30 to be detected is different. For example, when the signal lamp 31 is abnormal, the warning information is the first type of buzzer; when the position sensing component 32 is abnormal, the warning information is the second type of buzzer. In this way, the user can quickly confirm which part or component has a problem through different warning messages.
可选地,待检测元件30的不同类型的异常对应的警示信息不同。比如: 在信号灯31短路时,警示信息为LED灯常亮;在信号灯31断路时,警示信息为LED灯闪烁。Optionally, different types of abnormalities of the component 30 to be detected correspond to different warning information. For example: when the signal light 31 is short-circuited, the warning information is that the LED light is always on; when the signal light 31 is open, the warning information is that the LED light is flashing.
上述实施例提供的外科手术装置中,通过设置待检测元件、检测电路和控制组件,可以解决无法检测外科手术装置中某些元件状态的问题,进一步地,可以通过检测电路对各个元件进行异常检测,比如:短路检测、开路检测等,进一步提高检测精度。In the surgical operation device provided by the above embodiment, by providing the components to be detected, the detection circuit, and the control component, the problem that the state of certain components in the surgical device cannot be detected can be solved. Further, the abnormality detection of each component can be performed through the detection circuit. , Such as: short circuit detection, open circuit detection, etc., to further improve the detection accuracy.
图8是本公开实施例提供的用于外科手术装置的检测方法的流程图,该方法用于上述外科手术装置中。例如,以下各个步骤的执行主体可以为控制组件。该方法包括:FIG. 8 is a flowchart of a detection method for a surgical device provided by an embodiment of the present disclosure, and the method is used in the above-mentioned surgical device. For example, the execution subject of the following steps may be the control component. The method includes:
步骤801,向检测电路50发送检测信号,检测信号用于触发检测电路50对待检测元件进行检测,并将检测结果发送至控制组件40。Step 801: Send a detection signal to the detection circuit 50, where the detection signal is used to trigger the detection circuit 50 to detect the component to be detected, and send the detection result to the control component 40.
例如,控制组件40向检测电路50发送检测信号,检测信号用于触发检测电路50对待检测元件30进行检测,并将检测结果发送至控制组件40。如前面实施例中所述,待检测元件30包括但不限于:信号灯31、位置感应组件32、和/或姿态感应组件33。For example, the control component 40 sends a detection signal to the detection circuit 50, and the detection signal is used to trigger the detection circuit 50 to detect the component to be detected 30 and send the detection result to the control component 40. As described in the previous embodiment, the component to be detected 30 includes but is not limited to: a signal light 31, a position sensing component 32, and/or a posture sensing component 33.
可选地,检测电路50包括:开关组件51和保护组件52。Optionally, the detection circuit 50 includes: a switch component 51 and a protection component 52.
步骤802,接收检测电路50发送的检测结果。In step 802, the detection result sent by the detection circuit 50 is received.
步骤803,根据检测结果50确定待检测元件30的状态,例如是否存在异常。Step 803: Determine the state of the component 30 to be tested according to the test result 50, for example, whether there is abnormality.
例如,根据检测结果确定待检测元件30的状态,包括:For example, determining the state of the component 30 to be tested according to the test result includes:
在电压值小于第一电压阈值时,确定待检测元件开路;When the voltage value is less than the first voltage threshold, it is determined that the component to be detected is open;
在电压值大于或等于第二电压阈值时,确定待检测元件短路;例如,第二电压阈值是基于电源的供电电压确定的;When the voltage value is greater than or equal to the second voltage threshold, it is determined that the component to be detected is short-circuited; for example, the second voltage threshold is determined based on the power supply voltage of the power supply;
在电压值大于或等于第一电压阈值且小于第三电压阈值时,确定待检测元件存在开路风险;When the voltage value is greater than or equal to the first voltage threshold and less than the third voltage threshold, it is determined that the component to be detected has an open circuit risk;
在电压值大于或等于第三电压阈值且小于第二电压阈值时,确定待检测元件存在短路风险,第三电压阈值大于第一电压阈值且小于第二电压阈值。When the voltage value is greater than or equal to the third voltage threshold and less than the second voltage threshold, it is determined that the component to be detected has a short-circuit risk, and the third voltage threshold is greater than the first voltage threshold and less than the second voltage threshold.
可选地,外科手术装置还包括:与控制组件电连接的警示组件;此时,本步骤之后,还包括:在确定待检测元件存在异常时,向警示组件发送警示信号,以触发警示组件输出警示信息,不同待检测元件对应的警示信息不同。Optionally, the surgical operation device further includes: a warning component electrically connected to the control component; at this time, after this step, it further includes: when it is determined that the component to be detected is abnormal, sending a warning signal to the warning component to trigger the output of the warning component Warning information, different warning information corresponding to different components to be detected are different.
本实施例中的各个部件及其相关细节可参考上述外科手术装置的实施例,此处不再赘述。For the various components and related details in this embodiment, reference may be made to the above-mentioned embodiment of the surgical device, which will not be repeated here.
以上实施例提供的检测方法中,通过向检测电路发送检测信号,该检测信号用于触发检测电路对待检测元件进行检测,并将检测结果发送至控制组件;接收检测电路发送的检测结果;根据检测结果确定待检测元件的状态;可以解决无法检测外科手术装置中的某些元件状态的问题,进一步地,可以通过检测电路对各个元件进行异常检测,比如:短路检测、开路检测等,可以实现对元件异常的检测。In the detection method provided by the above embodiments, the detection signal is sent to the detection circuit, and the detection signal is used to trigger the detection circuit to detect the component to be detected and send the detection result to the control component; receive the detection result sent by the detection circuit; The result determines the status of the component to be tested; the problem of the inability to detect the status of some components in the surgical device can be solved. Furthermore, the abnormality detection of each component can be performed through the detection circuit, such as: short circuit detection, open circuit detection, etc., to achieve Detection of component abnormalities.
本领域内的技术人员应明白,本公开的实施例可提供为方法、设备(或系统)、或计算机程序产品。因此,本公开可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且,本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the present disclosure may be provided as methods, devices (or systems), or computer program products. Therefore, the present disclosure may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
本公开是参照根据本公开实施例的方法、设备(或系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present disclosure is described with reference to flowcharts and/or block diagrams of methods, devices (or systems), and computer program products according to embodiments of the present disclosure. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are generated It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图的一个流程或多个流程和/或方框图的一个方框或多个方框中指定的功能。These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上,使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理,从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步 骤。These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
本文中,有以下几点需要说明:In this article, the following points need to be explained:
(1)本公开实施例附图只涉及到与本公开实施例涉及到的结构,其他结构可参考通常设计。(1) The drawings of the embodiments of the present disclosure only refer to the structures related to the embodiments of the present disclosure, and other structures can refer to the usual design.
(2)为了清晰起见,在用于描述本公开的实施例的附图中,层或区域的厚度被放大或缩小,即这些附图并非按照实际的比例绘制。(2) For the sake of clarity, in the drawings used to describe the embodiments of the present disclosure, the thickness of layers or regions are enlarged or reduced, that is, these drawings are not drawn according to actual scale.
(3)在不冲突的情况下,本公开的实施例及实施例中的特征可以相互组合以得到新的实施例。(3) In the case of no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.
以上所述仅是本公开的示范性实施方式,而非用于限制本公开的保护范围,本公开的保护范围由所附的权利要求确定。The above are only exemplary implementations of the present disclosure, and are not used to limit the protection scope of the present disclosure, which is determined by the appended claims.

Claims (17)

  1. 一种外科手术装置,包括:A surgical device including:
    适配器;adapter;
    与所述适配器相连的杆身组件,所述杆身组件包括:夹仓组件和夹钳,所述夹仓组件包括结扎夹,所述夹仓组件配置为向所述夹钳传送所述结扎夹;A shaft assembly connected to the adapter, the shaft assembly comprising: a clamp assembly and a clamp, the clamp assembly includes a ligation clip, the clamp assembly is configured to transfer the ligation clip to the clamp ;
    所述外科手术装置还包括:待检测元件、与所述待检测元件电连接的检测电路和与所述检测电路电连接的控制组件;所述控制组件配置为向所述检测电路发送检测信号;所述检测电路配置为根据所述检测信号对所述待检测元件进行检测,并将检测结果发送至所述控制组件;所述控制组件配置为根据所述检测结果确定所述待检测元件的状态。The surgical operation device further includes: an element to be detected, a detection circuit electrically connected to the element to be detected, and a control component electrically connected to the detection circuit; the control component is configured to send a detection signal to the detection circuit; The detection circuit is configured to detect the component to be detected according to the detection signal and send the detection result to the control component; the control component is configured to determine the state of the component to be detected according to the detection result .
  2. 根据权利要求1所述的外科手术装置,还包括:The surgical device according to claim 1, further comprising:
    信号灯,所述信号灯配置为指示所述外科手术装置的工作状态和/或所述结扎夹的已使用数量大于或等于预设阈值,所述待检测元件包括所述信号灯。A signal light, the signal light is configured to indicate the operating state of the surgical device and/or the used number of the ligation clips is greater than or equal to a preset threshold, and the component to be detected includes the signal light.
  3. 根据权利要求1或2所述的外科手术装置,还包括:The surgical device according to claim 1 or 2, further comprising:
    位置感应组件,所述位置感应组件配置为感应用于推送所述结扎夹的推送机构的位置,所述推送机构包括所述夹仓组件,所述待检测元件包括所述位置感应组件。A position sensing component, the position sensing component is configured to sense the position of a pushing mechanism for pushing the ligation clip, the pushing mechanism includes the clamping bin assembly, and the component to be detected includes the position sensing assembly.
  4. 根据权利要求3所述的外科手术装置,其中所述位置感应组件包括霍尔传感器、各向异性磁传感器、光栅式传感器或编码器。The surgical device according to claim 3, wherein the position sensing component includes a Hall sensor, an anisotropic magnetic sensor, a grating sensor or an encoder.
  5. 根据权利要求1至4任一所述的外科手术装置,还包括:The surgical device according to any one of claims 1 to 4, further comprising:
    姿态感应组件,所述姿态感应组件配置为感应所述外科手术装置的姿态,所述待检测元件包括所述姿态感应组件。A posture sensing component, the posture sensing component is configured to sense the posture of the surgical device, and the element to be detected includes the posture sensing component.
  6. 根据权利要求5所述的外科手术装置,其中所述姿态感应组件包括加速度传感器。The surgical device according to claim 5, wherein the posture sensing component includes an acceleration sensor.
  7. 根据权利要求1至6任一项所述的外科手术装置,其中所述检测电路包括:The surgical device according to any one of claims 1 to 6, wherein the detection circuit comprises:
    开关组件,所述开关组件的一端与所述控制组件电连接,另一端与所述待检测元件的输入端电连接;所述开关组件在接收到所述检测信号时导通;在未接收到所述检测信号时关断;和A switch component, one end of the switch component is electrically connected to the control component, and the other end is electrically connected to the input end of the component to be detected; the switch component is turned on when the detection signal is received; Turn off when the detection signal; and
    保护组件,所述保护组件的一端接地,另一端与所述待检测元件的输出端电连接;所述保护组件与所述待检测元件之间引出所述检测电路的输出端,所述输出端与所述控制组件的输入端电连接。A protection component, one end of the protection component is grounded, and the other end is electrically connected to the output terminal of the component to be detected; the output terminal of the detection circuit is led out between the protection component and the component to be detected, the output terminal It is electrically connected with the input end of the control component.
  8. 根据权利要求7所述的外科手术装置,其中,所述保护组件包括电阻元件,所述电阻元件配置为对所述检测电路进行限流。8. The surgical device according to claim 7, wherein the protection component includes a resistance element configured to limit the current of the detection circuit.
  9. 根据权利要求1至8任一所述的外科手术装置,还包括:The surgical device according to any one of claims 1 to 8, further comprising:
    与所述控制组件电连接的警示组件;A warning component electrically connected to the control component;
    其中所述控制组件还配置为在确定所述待检测元件存在异常时,向所述警示组件发送警示信号,以触发所述警示组件输出警示信息。The control component is further configured to send a warning signal to the warning component to trigger the warning component to output warning information when it is determined that the component to be detected is abnormal.
  10. 根据权利要求9所述的外科手术装置,其中所述警示信息包括由声音信号、光信号和电信号构成的组中的至少一种,不同所述待检测元件对应的警示信息不同。The surgical device according to claim 9, wherein the warning information includes at least one of a group consisting of a sound signal, an optical signal, and an electrical signal, and different warning information corresponding to different components to be detected are different.
  11. 根据权利要求10所述的外科手术装置,其中所述警示组件包括蜂鸣器或者光电二极管。The surgical device according to claim 10, wherein the warning component includes a buzzer or a photodiode.
  12. 根据权利要求1至11任一项所述的外科手术装置,其中所述检测结果包括电压值,所述控制组件还配置为:The surgical device according to any one of claims 1 to 11, wherein the detection result includes a voltage value, and the control component is further configured to:
    在所述电压值小于第一电压阈值时,确定所述待检测元件开路;When the voltage value is less than the first voltage threshold, determining that the component to be detected is open;
    在所述电压值大于或等于第二电压阈值时,确定所述待检测元件短路;When the voltage value is greater than or equal to the second voltage threshold, determining that the component to be detected is short-circuited;
    在所述电压值大于或等于所述第一电压阈值且小于第三电压阈值时,确定所述待检测元件存在开路风险;When the voltage value is greater than or equal to the first voltage threshold and less than the third voltage threshold, determining that the component to be detected has an open circuit risk;
    在所述电压值大于或等于所述第三电压阈值且小于第二电压阈值时,确定所述待检测元件存在短路风险,所述第三电压阈值大于所述第一电压阈值且小于所述第二电压阈值。When the voltage value is greater than or equal to the third voltage threshold value and less than the second voltage threshold value, it is determined that the component to be detected has a short-circuit risk, and the third voltage threshold value is greater than the first voltage threshold value and less than the first voltage threshold value. 2. Voltage threshold.
  13. 根据权利要求1至12任一项所述的外科手术装置,其中所述适配器包括:The surgical device according to any one of claims 1 to 12, wherein the adaptor comprises:
    手持部;Handheld
    与所述手持部相连的工作部,所述工作部包括壳体和位于所述壳体中的传动组件,所述传动组件与所述驱动组件相连,A working part connected to the hand-held part, the working part comprising a housing and a transmission assembly located in the housing, the transmission assembly is connected with the drive assembly,
    其中所述杆身组件与所述工作部相连,所述夹仓组件在所述驱动组件和所述传动组件的控制下向所述夹钳传送所述结扎夹,所述推送机构包括由所 述驱动组件、所述传动组件和所述夹仓组件构成的组中的至少一个。Wherein the shaft assembly is connected to the working part, the clamping bin assembly transmits the ligation clamp to the clamp under the control of the driving assembly and the transmission assembly, and the pushing mechanism includes At least one of the drive assembly, the transmission assembly and the clamping bin assembly.
  14. 一种用于权利要求1至13任一所述的外科手术装置的检测方法,包括:A detection method for the surgical device according to any one of claims 1 to 13, comprising:
    向所述检测电路发送检测信号,所述检测信号用于触发所述检测电路对所述待检测元件进行检测,并将检测结果发送至所述控制组件;Sending a detection signal to the detection circuit, where the detection signal is used to trigger the detection circuit to detect the component to be detected and send the detection result to the control component;
    接收所述检测电路发送的所述检测结果;以及Receiving the detection result sent by the detection circuit; and
    根据所述检测结果确定所述待检测元件的状态。The state of the component to be detected is determined according to the detection result.
  15. 根据权利要求14所述的方法,其中:The method of claim 14, wherein:
    所述检测结果包括电压值,The detection result includes a voltage value,
    所述根据所述检测结果确定所述待检测元件的状态,包括:The determining the state of the component to be detected according to the detection result includes:
    在所述电压值小于第一电压阈值时,确定所述待检测元件开路;When the voltage value is less than the first voltage threshold, determining that the component to be detected is open;
    在所述电压值大于或等于第二电压阈值时,确定所述待检测元件短路;When the voltage value is greater than or equal to the second voltage threshold, determining that the component to be detected is short-circuited;
    在所述电压值大于或等于所述第一电压阈值且小于第三电压阈值时,确定所述待检测元件存在开路风险;When the voltage value is greater than or equal to the first voltage threshold and less than the third voltage threshold, determining that the component to be detected has an open circuit risk;
    在所述电压值大于或等于所述第三电压阈值且小于第二电压阈值时,确定所述待检测元件存在短路风险,所述第三电压阈值大于所述第一电压阈值且小于所述第二电压阈值。When the voltage value is greater than or equal to the third voltage threshold value and less than the second voltage threshold value, it is determined that the component to be detected has a short-circuit risk, and the third voltage threshold value is greater than the first voltage threshold value and less than the first voltage threshold value. 2. Voltage threshold.
  16. 根据权利要求14或15所述的方法,其中在所述根据所述检测结果确定所述待检测元件的状态之后,所述方法还包括:The method according to claim 14 or 15, wherein after the determining the state of the component to be detected according to the detection result, the method further comprises:
    在确定所述待检测元件存在异常时,输出警示信息。When it is determined that the component to be detected is abnormal, a warning message is output.
  17. 根据权利要求16所述的方法,其中所述警示信息包括由声音信号、光信号和电信号构成的组中的至少一种,不同待检测元件对应的警示信息不同。The method according to claim 16, wherein the warning information includes at least one of a group consisting of a sound signal, an optical signal, and an electrical signal, and different warning information corresponding to different components to be detected are different.
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