WO2022121999A1 - 电动吻合器及其控制方法 - Google Patents

电动吻合器及其控制方法 Download PDF

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Publication number
WO2022121999A1
WO2022121999A1 PCT/CN2021/136915 CN2021136915W WO2022121999A1 WO 2022121999 A1 WO2022121999 A1 WO 2022121999A1 CN 2021136915 W CN2021136915 W CN 2021136915W WO 2022121999 A1 WO2022121999 A1 WO 2022121999A1
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WO
WIPO (PCT)
Prior art keywords
knife
pusher
firing
action
stop
Prior art date
Application number
PCT/CN2021/136915
Other languages
English (en)
French (fr)
Inventor
孙宝峰
孙海盟
Original Assignee
江苏风和医疗器材股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏风和医疗器材股份有限公司 filed Critical 江苏风和医疗器材股份有限公司
Priority to CA3204287A priority Critical patent/CA3204287A1/en
Priority to KR1020237022925A priority patent/KR20230117420A/ko
Priority to IL303234A priority patent/IL303234A/en
Priority to US18/039,323 priority patent/US20230414217A1/en
Priority to JP2023534686A priority patent/JP7490284B2/ja
Priority to EP21902704.2A priority patent/EP4238509A1/en
Priority to MX2023006877A priority patent/MX2023006877A/es
Publication of WO2022121999A1 publication Critical patent/WO2022121999A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07271—Stapler heads characterised by its cartridge
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07278—Stapler heads characterised by its sled or its staple holder
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07285—Stapler heads characterised by its cutter

Definitions

  • the invention relates to the technical field of medical devices, in particular to an electric stapler and a control method thereof.
  • the stapler includes a jaw assembly, a cutting knife assembly and a staple cartridge assembly.
  • the stapler is first operated to close the jaw assembly to Hold the target tissue, and then operate the stapler so that the cutting blade assembly is driven to move forward to push the staple cartridge assembly out of the staples to staple the target tissue, and the cutting blade assembly also cuts the target tissue.
  • the prior art provides the following electric stapler, which uses a battery and a motor to provide driving force to move the jaw assembly and the cutting knife assembly.
  • the body of the electric stapler is usually provided with a firing button and a forced return button for user operation.
  • the cutting knife has a corresponding travel stroke.
  • the firing button When the user operates the firing button for the first time, the cutting knife assembly makes a forward motion from the back to the front, and starts to anastomosing and cutting the tissue. If the firing button is stopped in the middle, the motor can be stopped, and the cutting knife assembly will stop at any middle point of the moving stroke. At this time, the next action can be to force the return button through the user operation, and the cutting knife assembly will start to move backward until the knife retracts.
  • the cutting blade assembly adopts the method of one-step retraction to the end.
  • the cutting knife assembly includes a long sheet-like pusher inside the casing and a cutting knife at the front end of the pusher.
  • the pusher of the cutting knife assembly During the feeding movement, it is easy to bend on the inner wall of the casing, and a large friction force is generated between the pusher and the inner wall of the casing.
  • Existing control methods for electric staplers cannot solve this problem.
  • the present application provides an electric stapler and a control method thereof, which can control the retraction action, prevent the knife pusher from retracting to the end in one step, improve fault tolerance and improve firing capability.
  • An electric stapler comprising:
  • a cutting knife assembly disposed at one end of the shaft assembly away from the operating handle, includes: a knife pushing member;
  • a motor which is arranged in the operating handle and is used to drive the blade pusher to move;
  • the trigger includes: a firing unit triggered by the user, used to send out a firing signal representing the feeding action and a stop firing signal representing the stop of the feeding action; a retracting unit triggered by the user, used for issuing a retraction representing the retracting action The tool signal and the stop retract signal representing the stop of the retract action;
  • a control module is electrically connected with the motor and the trigger, and when the control module detects the firing signal, the control module controls the motor to drive the knife pusher to perform a knife feeding action toward the bottom position of the firing, where When the control module detects the stop firing signal, the control module controls the knife pusher to stop the knife feeding action;
  • the knife pusher has a first state in which it stops between the initial position and the firing bottom position during the knife feeding action.
  • the control module controls the pusher when detecting the knife retraction signal.
  • the knife element performs a retraction action toward the initial position, and when the control module detects the stop retraction signal during the knife retraction motion, it controls the knife pusher to stop the knife retraction motion.
  • the knife pusher has a second state in which the knife ejection action is performed in the first state and stops between the initial position and the firing bottom position, and in the first state In the state and the second state, the firing unit is in an active state, so the control module controls the knife pusher to perform a knife feeding action based on the detected firing signal.
  • the cutting knife assembly further comprises: a cutting knife, which is located in front of the knife pushing member toward the firing bottom position, and when the knife pushing member is in the first state, the pushing member is in the first state.
  • the end of the knife piece close to the cutting knife has a first stop position; when the knife push piece is in the second state, the end of the knife push piece close to the cutting knife has a second stop position, and the second stop position Located behind the first stop position or the second stop position coincides with the first stop position.
  • the control module controls the knife pusher to perform a knife retraction action toward the initial position when detecting the knife retraction signal.
  • the control module controls the firing unit to change from an active state to an inactive state, so as to control the knife pusher to stop feeding.
  • the trigger includes: a first position detection unit, configured to detect whether the knife pusher is at the initial position and output a first position indicating that the knife pusher is at the initial position In-position signal, the control module controls the motor to stop based on the first in-position signal.
  • the control module controls the firing unit to change from an effective state to an ineffective state, so as to control the push knife Pieces are no longer fed.
  • the control module controls the knife pusher to leave the The firing bottom position performs a retraction action toward the initial position until reaching the initial position.
  • the control module controls the knife pusher to leave the The knife retracting action is performed toward the initial position after the firing to the bottom position.
  • the control module controls the knife pusher to stop the knife retracting action when the control module detects the stop retracting signal.
  • the knife pushing member has a third state in which the knife-retracting action is performed after reaching the firing bottom position and stops between the initial position and the firing bottom position, and in the third state In the state, the control module controls the firing unit to remain in a disabled state, so as to control the knife pusher to stop feeding.
  • the trigger includes: a second position detection unit, configured to detect whether the knife pusher is located at the firing bottom position and output a second position indicating that the knife pusher is at the firing bottom position In-position signal, the control module can control the motor to stop based on the second in-position signal, and control the firing unit to turn from an effective state to an ineffective state based on the second in-position signal, and control all the functions in the retracting action.
  • the firing unit remains disabled.
  • the electric stapler further includes a jaw assembly
  • the jaw assembly includes a staple cartridge seat and a staple anvil seat
  • the staple anvil seat can be opened and closed relative to the staple cartridge seat, so
  • the cutting knife in the knife pusher is accommodated in the space between the staple cartridge seat and the staple anvil seat
  • the trigger further includes: a jaw closing unit, which is used for a user to trigger an action representing the jaw closing action.
  • the jaw closing signal; the jaw opening unit is used for the user to trigger the jaw opening signal representing the jaw opening action; when the control module detects the jaw closing signal, it controls the jaw assembly to execute the jaw closing action, when the control module detects the jaw opening signal, it controls the jaw assembly to perform a jaw opening action.
  • the jaw closing unit and the firing unit are integrated into a first button, and the knife retracting unit and the jaw opening unit are integrated into a second button.
  • a control method of an electric stapler includes a cutting blade assembly and a motor, the cutting blade assembly includes a knife pusher, and the motor is used to drive the pusher to move; the control method includes:
  • the motor is controlled to rotate in a second direction, the second direction is opposite to the first direction, and the motor drives the knife pusher toward the initial position Execute the retraction action;
  • the motor is controlled to rotate in a first direction, and the motor drives the knife pusher to continue to perform a knife feeding action toward the firing bottom position.
  • the electric stapler and the control method of the present specification can trigger the retraction signal through the user's operation, so that the knife pusher performs the retraction action.
  • the retracting action can be controlled by the control module based on the retracting signal and the stop retracting signal sent by the retracting unit, so as to prevent the pusher from retracting to the end in one step in case of misoperation.
  • the pusher when encountering a large load, the pusher is easy to bend on the inner wall of the casing when feeding, and the pusher and the inner wall of the casing generate a large frictional force, so that the feeding action cannot be continued.
  • the pusher By triggering the ejection unit, the pusher can return to a straight state after retracting for a certain distance, so that there is no friction between the pusher and the inner wall of the casing. The knife moves, thereby improving the firing ability of the pusher.
  • FIG. 1 is a schematic diagram of the external structure of an electric stapler according to an embodiment of the present specification
  • FIG. 2 is a schematic diagram of the internal structure of an electric stapler according to an embodiment of the present specification from a first perspective;
  • FIG. 3 is a schematic diagram of the internal structure of the electric stapler according to an embodiment of the present specification from a second perspective;
  • FIG. 4 is a schematic diagram of a control circuit of an electric stapler according to an embodiment of the present specification
  • FIG. 5 is a schematic diagram of a control circuit of an electric stapler according to another embodiment of the present specification.
  • FIG. 6 is a schematic diagram of a control circuit of an electric stapler according to another embodiment of the present specification.
  • FIG. 7 is a schematic flowchart of a control method of an electric stapler according to an embodiment of the present specification.
  • FIG. 8 is a partial enlarged view of the electric stapler of FIG. 3 .
  • connection in the present invention includes electrical connection and mechanical connection.
  • the terms “front” and “rear” as used herein are relative to the user operating the electric stapler.
  • the term “rear” refers to the direction relatively close to the user, and the term “front” refers to the part relatively remote from the user.
  • the end effector is “left” and the sleeve is “right”.
  • the terms “upper” and “lower” refer to the relative positions of the anvil seat and the staple cartridge seat of the end effector. Specifically, the anvil seat is “upper” and the staple cartridge seat is “lower”.
  • the present embodiment provides an electric stapler 100 including an operating handle 10 , a shaft assembly 20 extending from the operating handle 10 , and an end effector 30 disposed at one end of the shaft assembly 20 .
  • the operation handle 10 includes a power module and a motor 80 inside.
  • the power module may be composed of a plurality of batteries connected in series to provide electrical energy for the operation of the motor 80 .
  • the shaft assembly 20 includes a mandrel 21 and a sleeve 22 sleeved on the mandrel 21 .
  • the electric stapler 100 further includes a transmission mechanism, and the transmission mechanism is connected with the motor 80.
  • the motor 80 obtains electric energy and works, the motor 80 outputs power to drive the transmission mechanism to move.
  • the mandrel 21 of the shaft assembly 20 has two ends, one end is connected to the transmission mechanism, and the other end is located in the sleeve 22 .
  • One end of the sleeve 22 is connected to the transmission mechanism, and the other end is connected to the end effector 30 .
  • the end effector 30 includes a jaw assembly and a cartridge assembly.
  • the jaw assembly includes a staple cartridge seat 31 and an anvil seat 32 pivotally connected to the staple cartridge seat 31, the staple cartridge assembly is accommodated in the staple cartridge seat 31, and the staple anvil seat 32 can be opened and closed relative to the staple cartridge seat 31 , so as to cooperate with the staple cartridge seat 31 and the staple cartridge assembly to clamp or loosen the tissue.
  • One end of the sleeve 22 of the shaft assembly 20 is connected to the anvil seat 32, and the other end is connected to the transmission mechanism.
  • the transmission mechanism can drive the sleeve 22 to move in the front-rear direction under the drive of the motor 80, for example, to drive the sleeve 22 to move backward. Movement causes the anvil 32 to pivot upward to open the jaw assembly, and forward movement of the drive sleeve 22 causes the anvil 32 to pivot downward to close the jaw assembly.
  • the electric stapler further includes a cutting blade assembly 40 disposed at one end of the shaft assembly 20 away from the operating handle 10 .
  • the knife pusher 42 has a long sheet-like structure, and a part is located in the sleeve 22 and connected to the mandrel 21.
  • the transmission mechanism can drive the knife pusher 42 to move forward and backward during the forward and backward movement of the drive mandrel 21. Forward and backward movement.
  • the other part of the pusher 42 is in contact with the cutter 41. During the forward movement of the pusher 42, it can drive the cutter 41 to move forward, cut the tissue and push the cartridge assembly. The staples come out to staple the tissue.
  • the pusher 42 is fixedly connected to the cutting knife 41.
  • the cutting knife 41 is located in the staple cartridge seat of the jaw assembly In the space formed between 31 and the anvil seat 32, due to the fixed connection with the knife pusher 42, it can be driven by the pusher 42 to move forward and backward;
  • the second way is that the pusher 42 and the cutting knife 41 can be Separately connected, in this way, the cutting blade 41 is installed in the staple cartridge assembly, and is located in the staple cartridge seat 31 with the installation of the staple cartridge assembly, in the process of cutting and anastomosis, the pusher 42 is driven by the mandrel 21 is driven to move forward until it is in contact with the cutting knife 41 , when the pushing element 42 is continuously driven to move forward by the mandrel 21 , it can drive the cutting knife 41 to move forward.
  • the pusher 42 is separated from the cutting blade 41, so that the cutting blade 41 stays in place
  • the cutting blade 41 In the first connection method between the pushing blade 42 and the cutting blade 41, the cutting blade 41 is fixedly connected with the pushing blade 42, and the cutting blade 41 can be used repeatedly, and does not need to be replaced every time the staple cartridge assembly is installed, and the user experience is better. convenient.
  • the second connection method of the pusher 42 and the cutting knife 41 when the pusher 42 is retracted, the cutting knife 41 is separated from the pusher 42, so that even if the pusher 42 fails to return to the initial position , it does not affect the replacement of the nail cartridge components, and has high safety.
  • the motor 80 first drives the jaw assembly to close the tissue through the transmission mechanism, and then the motor 80 drives the pusher 42 through the transmission mechanism and pushes the cutting blade 41 forward to cut and staple the tissue, and then the motor 80 drives the pusher through the transmission mechanism.
  • the knife 42 retreats, and finally the motor 80 drives the jaw assembly to open through the transmission mechanism to loosen the tissue, thereby realizing the overall function of the stapler for cutting and anastomosis.
  • the electric stapler 100 includes a trigger 60 and a control module 90, and is connected with a power module.
  • the control module 90 is accommodated in the operating handle 10, and is specifically a circuit board assembly 90'.
  • the control module 90 is electrically connected with the trigger 60 and the motor 80, and includes a detection unit, a control unit, a switch driving unit and a switch unit.
  • the detection unit detects the state of the trigger 60, and when triggered, transmits a corresponding signal to the control unit, and the control unit analyzes and processes the signal, and then controls the stapler.
  • control unit may take the form of, for example, a microprocessor or processor and a computer-readable medium, logic gates, switches, application-specific integrated circuits storing computer-readable program code (eg software or firmware) executable by the (micro)processor (Application Specific Integrated Circuit, ASIC), programmable logic controller and embedded microcontroller form, etc.
  • microprocessor Application Specific Integrated Circuit
  • ASIC Application Specific Integrated Circuit
  • Trigger 60 includes a motor control trigger for controlling the operating state of the motor.
  • the control unit receives a signal for controlling the motor 80 from this type of trigger, the control unit generates a corresponding low-voltage PWM signal to the switch drive unit, and the switch drive unit converts the low-voltage PWM signal input to the switch unit to be available to the switch unit
  • the high-voltage PWM signal is output to the switch unit to control the on-off of the switch unit.
  • the power module is connected to both ends of the motor 80 through the switch unit, and the frequency of the switch unit on and off determines the power module to supply or power off the motor 80, thereby determining the running state of the motor 80 - the speed and direction of the motor.
  • the switch unit includes four Mos switches forming the H-bridge.
  • the on-off of the Mos switches of the H-bridge determines whether the power supply module supplies or powers off the motor 80 , and the switch driving unit is a Mos driving chip.
  • the design of the H-bridge enables the control unit to control the H-bridge to realize the forward or reverse rotation of the motor. It should be noted that, the above-mentioned H-bridge control and forward and reverse rotation control of the motor are all in the prior art, and will not be described again.
  • the control unit is a microcontroller chip.
  • the motor control trigger includes: a firing unit 61 triggered by the user and a retracting unit 62 triggered by the user.
  • a stop firing signal indicating that the knife action is stopped
  • the knife retracting unit 62 is used to issue a knife retracting signal representing the knife retracting action and a stop and retracting signal indicating the stopping of the knife retracting action.
  • the user can control the start and stop of the motor 80 by touching or pressing or releasing the firing unit 61 and the retracting unit 62 to input signals.
  • the firing unit 61 and the ejecting unit 62 respectively have a button disposed on the operating handle 10 , which can be triggered when the user operates the handle 10 , corresponding to the firing unit 61 .
  • the key is the first key 71
  • the key corresponding to the retracting unit 62 is the second key 72.
  • the user can trigger the corresponding signal by pressing or releasing the key after pressing, and send the signal to the control module 90 through the detection unit of the control module 90.
  • the unit inputs an electrical signal.
  • the firing unit 61 and the retracting unit 62 can both be normally open switches, the firing unit 61 and the retracting unit 62 can output corresponding signals according to the triggering of the user, and the control module 90 receives the signals from the firing unit 61 and the retracting unit 62 respectively. Control the running state of the motor - start or stop, so as to execute the action of the corresponding stapler.
  • the control module 90 detects the firing signal to control the motor 80 to operate, and drives the knife pusher 42 to perform the knife feeding action toward the firing bottom position.
  • the control module 90 detects the stop firing signal and controls the motor 80 to stop.
  • the trigger state includes trigger and non-trigger.
  • a high-level signal is output, and when the user does not trigger the firing unit 61 , a low-level signal is output.
  • the firing signal is a sudden change from a low level to a high level
  • the firing stop signal is a sudden change from a high level to a low level, so that when the user continues to trigger the firing unit 61, the knife pusher 42 continues to The firing action is performed, and when the firing unit 61 is stopped to be triggered, the firing action is stopped immediately.
  • the firing signal is an odd-numbered sudden change from a low level to a high level
  • the firing stop signal is an even-numbered sudden change from a low level to a high level. Therefore, when the user operates the first button 71 for the first time, the firing unit 61 is triggered, and the control module 90 detects the firing signal to control the motor 80 to operate; when the first button 71 is operated again, the firing unit 61 is triggered again, and the control module 90 detects that the firing signal is stopped. Motor 80 stops.
  • the firing unit 61 further includes a first timing module, which is set with a preset time, for example, 0.5s.
  • the firing unit 61 When the firing unit 61 is triggered, the first timing module is turned on at the same time to start timing, and when the timing reaches the preset time of 0.5s, the first timing module is turned off and the timing is cleared.
  • the control module 90 determines that the firing signal is stopped when the timing is cleared, and controls the motor 80 to stop. Therefore, the control module 90 is configured to judge that the firing signal is stopped when the timing of the first timing module of the firing unit 61 is cleared to zero, control the motor 80 to stop, and the control module 90 judges to be the firing signal when it detects that the first timing module is turned on, The motor 80 is controlled to operate.
  • the control module 90 detects the stop firing signal
  • the motor 80 is controlled to stop, and the knife pusher 42 stops moving. If the knife pusher 42 stops at any intermediate point between the initial position and the firing bottom position during the knife feeding action, the user activates the knife retraction unit 62 by operating the second button 72 , and the control module 90 detects the knife retraction signal to control the When the motor 80 is running, it can drive the knife pusher 42 to perform the retraction action.
  • the control module 90 detects the stop retraction signal, it controls the motor 80 to stop, and the knife pusher 42 stops the knife retraction action.
  • the firing unit 61 can be used to achieve gradual firing, and when the knife feeding action stops, the knife retraction unit 62 can be used to achieve gradual retraction, which is different from the traditional electric stapler 100 when the knife pusher 42 is retracted.
  • the retraction unit 62 can perform a non-one-step retraction of the knife pusher 42, providing more observation and operation time, and the doctor can control it independently according to complex surgical conditions, and the operability is enhanced. , can better serve the surgical process, and the user experience is good.
  • the gradual retraction process provides more operation time, allowing the doctor to accurately load the cut tissue into a disposable medical retrieval bag to avoid contamination of healthy tissue, and finally take the retrieval bag.
  • the user When in use, the user can give the corresponding signal according to the trigger state of the retracting unit 62 by operating the second button 72.
  • the principle of outputting the retracting signal and stopping the retracting signal through the retracting unit 62 is the same as the above-mentioned firing unit 61. The manual will not repeat them here.
  • the pusher 42 is driven by the transmission mechanism to move.
  • the movement of the pusher 42 has a movement stroke of a fixed length, and is driven by the transmission mechanism to move forward or backward within the movement stroke.
  • the farthest end of the movement stroke is the front dead center of the forward movement, that is, the aforementioned bottom position of firing, and the most proximal end is the starting point of the forward movement and the rear dead center of the backward movement, that is, the aforementioned initial position.
  • the knife pusher 42 Before firing, the knife pusher 42 is at the initial position; for firing, the knife pusher 42 moves from the initial position to the firing bottom position, cuts the tissue, and stops at the middle point of the moving stroke, that is, between the initial position and the firing bottom position. position, or finally reach the bottom position of firing; to retract the knife, the pusher 42 moves backward from the middle point or the bottom position of firing.
  • the pusher 42 has a first stop between the initial position and the firing bottom position during the feed action. state, that is, the pusher 42 stops at the middle point of the moving stroke when feeding, and has a second state in which the retracting action is performed in the first state and stops between the initial position and the firing bottom position, that is, from the first state It stops at the middle point of the travel stroke when entering the tool retracting action.
  • the knife pusher 42 stops at the first middle point of the moving stroke, that is, it is not fired to the end, and is in the first state. After the tool is retracted, it stops at the second middle point of the moving stroke, that is, the tool is not retracted to the end, and it is in the second state.
  • the firing unit 61 In the first state and the second state, the firing unit 61 is in an active state, and the control module 90 controls the motor 80 to run when the firing signal is detected, and drives the knife pusher 42 to continue to perform the knife feeding action. Therefore, in the first state, in the state that the pusher 42 has been fired but has not been fired to the end and has stopped advancing, it can perform a non-step retraction to the end, and can perform a non-step retraction to the end after the non-step retraction action stops Entering the second state, the firing unit 61 is effective in the second state, and the knife pusher 42 can be controlled to continue to perform the knife feeding action, thereby realizing the "zipper" function.
  • the end of the knife pusher 42 close to the cutting knife 41 has a first stop position, that is, the aforementioned first intermediate point; when the knife pusher 42 is in the second state, the knife pusher 42 has a first stop position.
  • the end of the piece 42 close to the cutting knife 41 has a second stop position, ie the aforementioned second intermediate point, the second stop position is located behind the first stop position or coincides with the first stop position.
  • the cutting knife 41 at the front end is blocked and moves slowly or cannot move forward, and the pusher 42 due to its long sheet-like structure will continue to be subjected to backlash at this time.
  • the pushing force transmitted by the end transmission mechanism is easily bent on the inner wall of the sleeve 22, and a large friction force is generated between the inner wall of the sleeve 22 and the inner wall of the sleeve 22, thereby further preventing the feeding action.
  • the rear end of the pusher 42 that is far away from the cutting knife 41 and connected to the mandrel 21 is pulled back by the transmission mechanism, so as to restore the pusher 42 from the bent state to the straight.
  • the position of the pushing member 42 close to the front end of the cutting blade 41 may remain unchanged or retreat a certain distance.
  • the control module 90 controls the firing unit 61 to be in a disabled state, and the knife pusher 42 no longer performs the knife feeding action.
  • the control module 90 controls the knife pusher 42 to perform the knife retraction action toward the initial position when detecting the knife retraction signal, and controls the knife pusher 42 to perform the knife retraction action when the stop retraction signal is detected during the knife retraction action.
  • the knife 42 stops the retraction action, and when the knife pusher 42 stops the knife retraction, it does not reach the initial position, that is, the knife pusher 42 has not completed the retraction action, and the knife pusher 42 has not been fired to the end, and the firing unit 61 is in an active state. When the firing unit 61 is triggered, the knife pusher 42 can still continue to advance the knife.
  • the "zipper" function of the knife pusher 42 can improve the firing capability of the electric stapler 100.
  • the knife pusher 42 in the case of the above-mentioned large cutting load, the knife pusher 42 is easy to bend on the inner wall of the sleeve 22 during the knife feeding movement. A large frictional force is generated between the pusher 42 and the inner wall of the sleeve 22, and the feeding action cannot be continued. In the straight state, there is no friction between the knife pusher 42 and the inner wall of the sleeve 22. At this time, by triggering the firing unit 61, the knife can sprint through the large load area in one fell swoop to complete the knife feeding action.
  • the "zipper" function of the knife pusher 42 can improve the fault tolerance of the electric stapler 100.
  • the knife pusher 42 is fired gradually and stops at the middle point, if the user accidentally triggers the knife retracting unit 62, As a result, the knife pusher 42 is retracted and stopped. As long as the knife is not retracted to the end, the user can operate the firing unit 61 again to achieve firing again, so that the remaining staple cartridge can be used up continuously, so that the operation can achieve the desired effect.
  • the control module 90 controls the knife pusher 42 to perform the knife retraction action toward the initial position when detecting the knife retraction signal, and reaches the initial position when the knife pusher 42 stops the knife retraction motion, that is, the knife pusher 42 is completed.
  • the control module 90 controls the firing unit 61 to change from the active state to the inactive state, and the knife pusher 42 can no longer be fired, so as to prevent re-cutting the anastomotic site and cause patient damage.
  • the failure state of the above-mentioned firing unit 61 refers to triggering the unit, but the stapler does not perform actions
  • the valid state refers to triggering the unit, and the stapler performs corresponding actions.
  • the firing unit 61 is triggered in the failure state, and the firing unit 61 still sends a signal to the control module 90, but the control module 90 does not analyze and process the signal, nor instruct the motor 80 to act according to the signal.
  • the control module 90 will control the motor 80 to rotate forward according to the signal.
  • the motor control trigger further includes a first position detection unit 68 and a second position detection unit 67 to control the motor 80 to stop.
  • the first position detection unit 68 and the second position detection unit 67 are disposed in the operation handle 10 and are located at positions that the user cannot directly trigger by hand.
  • the first position detection unit 68 and the second position detection unit 67 are used to detect the position of the cutting knife assembly 40 to determine whether the pusher 42 is fired to the end or the knife is retracted to the end, and the control module 90 stops the motor 80 so as to make the pusher 80 stop.
  • the blade 42 stops moving.
  • the transmission mechanism includes a matching portion, and the matching portion includes a first protrusion and a second protrusion.
  • the first position detection unit 68 and the second position detection unit 67 can be switch mechanisms, and the transmission mechanism drives the pusher 42 and the cutting knife 41 to move forward through the mandrel 21, and reaches the front dead center, that is, the firing bottom position,
  • the first bump triggers the second position detection unit 67, and the control module 90 receives the second position signal sent by the second position detection unit 67 and instructs the motor 80 to stop rotating.
  • the cutting blade assembly 40 is fired to the end; the transmission mechanism passes through the core
  • the shaft 21 drives the pusher 42 to move backwards, it reaches the rear dead center, that is, the initial position
  • the second bump triggers the first position detection unit 68
  • the control module 90 receives the first position detection unit 68 .
  • the in-position signal is received and the motor 80 is instructed to stop rotating.
  • the knife pusher 42 has finished retracting the knife, that is, the knife has been retracted to the end.
  • the first bump and the second bump can be replaced by one bump, and the one bump above triggers the second position detection unit 67 during the forward movement, and triggers the first position detection during the backward movement unit 68.
  • the fitting portion includes the above-mentioned one bump.
  • the motor 80 drives the knife pusher 42 to perform the knife feeding action through the transmission mechanism until the cutting knife 41 at the front end of the knife pusher 42 triggers the second position detection unit 67, and the control module 90 receives After the second in-position signal is reached, the motor 80 is controlled to stop, and the firing unit 61 is controlled to be in a disabled state, thereby controlling the cutting knife assembly 40 to stop feeding.
  • the control module 90 can control the motor 80 to stop based on the second in-position signal, and when the stop firing signal is detected, the drive motor 80 controls the pusher 42 to perform a retraction action until the initial position.
  • the knife pushing member 42 can continue to perform the knife feeding action until the second position detection unit 67 is triggered, and the control unit controls the motor 80 to stop.
  • the control unit controls the motor 80 to drive the knife pusher 42 to perform the retraction action, and the knife pusher 42 moves backward until the first position detection unit 68 is triggered to stop. Therefore, when the knife pusher 42 is fired to the end, the knife is automatically retracted in one step by releasing the firing unit 61, which saves the user's operation time.
  • control module 90 can control the motor 80 to stop based on the second in-position signal, and control the knife pusher 42 to perform a knife retract action based on the detected retract signal.
  • the second position detection unit 67 is triggered through the matching part of the transmission mechanism, and the control module 90 receives the second in-position signal to control the motor 80 to stop.
  • the control module 90 controls the motor 80 to drive the tool pusher 42 to perform the tool retraction action after detecting the tool retraction signal.
  • the control module 90 detects the retraction signal, and controls the motor 80 to drive the knife pusher 42 to leave the bottom position of firing and move toward the initial position to perform retraction Move to the initial position.
  • the second position detection unit 67 is triggered through the matching part of the transmission mechanism, and the control module 90 receives the second position signal to control the motor 80 to stop.
  • the user triggers the tool retracting unit 62, and after the control module 90 detects the tool retracting signal, it controls the motor 80 to drive the tool pusher 42 to retract the tool until the first position detection unit 68 is triggered to stop, so as to realize the method of manually retracting the tool in one step to the end, regardless of whether Whether the stop and retract signal is received in the middle.
  • the retracting unit 62 provides a start signal for the retracting action of one-step retracting to the end. In the process of one-step retracting to the end, the user does not need to keep triggering the retracting unit 62 continuously, and the firing unit 61 always remains in a disabled state. .
  • the control module 90 detects the retraction signal
  • the control motor 80 drives the knife pusher 42 to perform the knife retraction action toward the initial position, and the control module 90 controls the knife during the retraction action.
  • the control module 90 controls the knife during the retraction action.
  • the knife pusher 42 has a third state in which the knife ejection action is performed after reaching the firing bottom position and stops between the initial position and the firing bottom position.
  • the control module 90 controls the firing unit 61 to remain in a disabled state, thereby controlling the pusher.
  • the blade 42 no longer advances.
  • the control module 90 detects the knife retract signal
  • the control motor 80 drives the knife pusher 42 to perform the knife retraction action toward the initial position.
  • the knife pusher 42 is controlled to stop the retracting action, that is, it is in the third state.
  • the firing unit 61 Different from the first state and the second state of the knife pusher 42 , when the knife pusher 42 is in the third state, the firing unit 61 remains in a disabled state, so that the knife pusher 42 can no longer perform the knife feeding action.
  • the control module 90 when the user triggers the retracting unit 62, the control module 90 detects the retracting signal and controls the motor 80 to operate, and drives the ejecting member 42 of the cutting blade assembly 40 to perform the retracting action toward the initial position; when the user does not trigger the retracting In the knife unit 62, the control module 90 controls the motor 80 to stop after detecting the stop and retract signal.
  • the knife pushing member 42 can be continuously retracted until the first position detecting unit 68 is triggered to automatically stop; or, the user triggers the knife retracting unit 62 At this time, the knife pusher 42 is retracted, and once the user does not trigger the knife retraction unit 62 during the retraction process, the motor 80 will stop immediately, and the knife pusher 42 will stop the knife retraction action, so as to realize the realization by triggering the knife retraction unit 62 multiple times.
  • the stepwise retraction (stepwise retraction) of the knife pusher 42 is performed until the first position detection unit 68 is triggered to automatically stop, so as to realize the manual stepwise retraction until the knife retracts to the end.
  • the advancing action and the retracting action of the knife pusher 42 can be realized by the forward and reverse rotation of the motor 80 . That is, the rotation direction of the output shaft of the motor 80 includes a first direction and a second direction, the first direction and the second direction are opposite, and the first direction is defined as a forward rotation direction, and the second direction is a reverse rotation direction.
  • the control unit drives the motor 80 to rotate forward
  • the motor 80 can drive the pusher 42 to perform the feeding action through the transmission mechanism
  • the control unit drives the motor 80 to rotate in the reverse direction
  • the motor 80 can drive the pusher 42 to execute the retraction through the transmission mechanism. action.
  • the same motor 80 is used to power the advancing and retracting actions of the knife pusher 42 and the jaw opening and jaw closing actions of the jaw assembly.
  • the electric stapler needs to complete the jaw closing action, firing action, retracting action and jaw opening action in sequence to complete the entire working process, and the above four actions corresponding to the entire working process can be controlled by the control module 90 .
  • Sequentially driving the motor 80 to rotate forward, forward, reverse, and reverse to drive the motor 80 in sequence finally realizes the sequential execution of the jaw closing action, the firing action, the retracting action, and the jaw opening action.
  • the motor control trigger further includes: a jaw closing unit 63 for a user to trigger a jaw closing signal representing the jaw closing action; a jaw opening unit 64 for a user to trigger a jaw opening representing the jaw opening Action jaw opening signal; when the control module 90 detects the jaw closing signal, it controls the jaw assembly to execute the jaw closing action, that is, the anvil 32 pivots downward to close the jaw assembly, and the control module 90 detects the jaw assembly
  • the jaw assembly is controlled to perform a jaw opening action, that is, the anvil 32 pivots upward to open the jaw assembly.
  • the user can control the start and stop of the motor 80 by touching or pressing the jaw closing unit 63 and the jaw opening unit 64 to input signals.
  • the jaw opening unit 64 and the jaw closing unit 63 respectively have a button provided on the operating handle 10 , and the button corresponding to the jaw closing unit 63 is the third button, corresponding to The button on the jaw opening unit 64 is the fourth button, the user can trigger a corresponding signal by pressing the button, and input an electrical signal to the control unit through the detection unit of the control module 90 .
  • the user activates the jaw closing unit 63 by operating the third button, the control module 90 controls the motor 80 to rotate forward, and drives the jaw assembly to perform the jaw closing action.
  • the jaw closing unit 63 When the third button is stopped, the jaw closing unit 63 is not triggered, and the control module 90 controls the motor 80 to stop; the user activates the jaw opening unit 64 by operating the fourth button, the control module 90 controls the motor 80 to reverse, and drives the jaw assembly to perform the jaw opening action.
  • the control module 90 controls the motor 80 to stop.
  • the jaw closing unit 63 and the firing unit 61 are integrated into a jaw closing/firing unit 61 ′, specifically the first button 71 , the retracting unit 62 and the jaw opening unit 64 It is integrated into a jaw opening/retracting unit 62', specifically the second button 72, so that the trigger switch for controlling the forward rotation of the motor 80 is the same switch unit.
  • the stapler completes the entire working process by sequentially performing the jaw closing action, firing action, retracting action and jaw opening action, and corresponding to the above-mentioned four actions that trigger the entire working process, by sequentially pressing the first button 71,
  • the first button 71 , the second button 72 , and the second button 72 are used to drive the motor 80 to rotate forward, forward, reverse, and reverse through the control module 90 , and finally complete all the above actions in sequence.
  • the motor control trigger further includes: a third position detection unit 65 and a fourth position detection unit 66 to control the motor 80 to stop.
  • the third position detection unit 65 is used to detect whether the jaw assembly is closed in place, and the motor 80 is stopped by the control module 90 to stop the anvil seat 32 from pivoting, and the fourth position detection unit 66 is used to detect whether the jaw assembly is opened in place and The motor 80 is stopped by the control module 90 to stop the anvil 32 from pivoting.
  • the matching portion of the transmission mechanism further includes a third protrusion and a fourth protrusion.
  • the third position detection unit 65 and the fourth position detection unit 66 may be switch mechanisms.
  • the third bump triggers the third position detection unit 65
  • the control module 90 receives the signal sent by the third position detection unit 65 and instructs the motor to stop forward rotation, at this time, the jaw assembly has been closed in place, and the jaws are in a closed state;
  • the fourth bump triggers the fourth position detection unit 66, and the control module 90 receives the fourth position detection unit 66.
  • the signal sent by the position detection unit 66 instructs the motor to stop rotating in the reverse direction. At this time, the jaw assembly has been opened in place, and the jaws are in the state of being fully opened. It should be noted that the third bump and the fourth bump may be replaced by one bump.
  • the transmission mechanism can drive the sleeve 22 to move through the first assembly to drive the jaw assembly to open and close, and the transmission mechanism drives the mandrel 21 to move through the second assembly to drive the pusher 42 to advance and retract.
  • the components do not act at the same time to satisfy the logical relationship between the jaw components and the pusher 42 .
  • the first assembly includes a first bump and a second bump, or the first assembly includes one bump in place of the first bump and the second bump.
  • the second assembly includes the third bump and the fourth bump, or the second assembly includes one bump in place of the third bump and the fourth bump.
  • the trigger 60 further includes a safety switch 69 that is manually triggered by a user operation, and is electrically connected to the control module 90 .
  • the safety switch 69 may have a button arranged on the operating handle 10, and the user operates the button to trigger a corresponding switch, and the switch inputs an electrical signal to the control unit through the detection unit.
  • the control module 90 also includes a timing unit, which is set with a preset time, for example, 15s. The timing unit starts and starts timing. When the timing reaches the preset time, the timing unit is turned off and the timing is cleared.
  • the timing unit can be a circuit module independent of the microcontroller, or it can be a timing unit that comes with the microcontroller.
  • the stapler also includes a timing display module 110, which is electrically connected to the control unit and has two functions: the first function: used to indicate that the timing unit has reached the preset time and inform the user of the status; the second function: used to indicate the timing unit
  • the real-time duration of the timing operation is provided to the user to know the elapsed duration.
  • the control module 90 simultaneously turns on the timing display module 110 .
  • the safety switch 69 can be effectively triggered only when the jaw assembly is turned from the open state to the closed state, and the timing unit and the timing display module 110 are turned on at the same time.
  • the user cannot operate the failed firing unit 61 to The firing action is performed.
  • the timing unit is turned off, the firing unit 61 becomes effective, so that subsequent firing actions can be performed.
  • the safety switch 69, the timing unit, and the timing display module 110 form a pressing holding mechanism that is convenient for the user to know that the tissue has been sufficiently pressed. That is, the pressing and holding mechanism may not allow the pusher 42 to move forward for a certain period of time and keep the jaw assembly closed to improve the pressing effect of the jaw assembly on the tissue.
  • dual motors are used to provide the driving force, one motor drives the knife pusher 42 to perform the firing action and the knife retracting action, and the other motor drives the jaw assembly to perform the jaw opening action and the jaw closing action.
  • the above-mentioned first to fourth position detection units can also be applied, the difference is that the motor controlled is different, and the control logic of the above-mentioned retracting unit and retracting unit can also be applied to realize the same "zipper" function and the above-mentioned step-by-step retracting function. etc., which are easily understood by those skilled in the art, and will not be repeated here.
  • the electric stapler 100 includes a cutting blade assembly 40 and a motor 80 , and the cutting blade assembly 40 includes a blade pushing member 42 .
  • the control method includes:
  • Step S10 the motor 80 is controlled to rotate in the first direction, and the motor 80 drives the knife pusher 42 to perform the knife feeding action toward the firing bottom position;
  • Step S20 when the knife pusher 42 does not reach the bottom position of firing, the motor 80 is controlled to rotate in the second direction, the second direction is opposite to the first direction, and the motor 80 drives the knife pusher 42 to perform the retraction action toward the initial position;
  • Step S30 when the knife pusher 42 is not retracted to the initial position, the motor 80 is controlled to rotate in the first direction, and the motor 80 drives the knife pusher 42 to continue to perform the knife feeding action toward the firing bottom position.
  • the first direction is a forward rotation direction
  • the second direction is a reverse rotation direction.
  • the control unit drives the motor 80 to rotate forward
  • the motor 80 can drive the pusher 42 to perform the feeding action
  • the control unit drives the motor 80 to rotate reversely the motor 80 can drive the pusher 42 to perform the retracting action.
  • the motor 80 can be controlled to stop, so that the retraction action stops.
  • the motor 80 is controlled to rotate forward to drive the pusher 42 to fire again, so that the remaining staple cartridges in the jaw assembly can continue to be used, so that the surgery can achieve the desired effect.
  • the motor 80 When encountering a large load and the firing cannot be performed, by controlling the motor 80 to reverse, the motor 80 can drive the pusher 42 to retract the knife for a certain distance and then return to the straight state. Then, the motor 80 is controlled to rotate forward, and the motor 80 drives the knife pusher 42 to sprint through the large load area in one fell swoop to complete the knife feeding action, thereby improving the firing capability of the electric stapler 100 .
  • a plurality of elements, components, components or steps can be provided by a single integrated element, component, component or step. Alternatively, a single integrated element, component, component or step may be divided into separate multiple elements, components, components or steps.
  • the disclosure of "a” or “an” used to describe an element, ingredient, part or step is not intended to exclude other elements, ingredients, parts or steps.

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Abstract

一种电动吻合器（100）及其控制方法，包括：操作手柄（10）；杆身组件（20）；切割刀组件（40），包括推刀件（42）；电机（80），设置在操作手柄（10）内；触发器（60），包括：击发单元（51），用于发出表征进刀动作的击发信号和表征进刀动作停止的停止击发信号；退刀单元（63），用于发出表征退刀动作的退刀信号和表征退刀动作停止的停止退刀信号；控制模块（90），与电机（80）和触发器（60）电性连接，推刀件（42）在进刀动作中停止在初始位置与击发到底位置之间的第一状态，当处于第一状态，控制模块（90）在检测到退刀信号时，控制推刀件（42）朝向击发到底位置执行退刀动作，退刀动作中控制模块（90）检测到停止退刀信号时，控制推刀件（42）停止退刀动作。该电动吻合器（100）可控制退刀动作，防止推刀件（42）一步退刀到底，提升容错能力并提高击发能力。

Description

电动吻合器及其控制方法
相关申请
本申请要求于2020年12月11日提交至中国专利局、申请号为202011448523.4，发明名称为“电动吻合器及其控制方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及医疗器械技术领域，特别是涉及一种电动吻合器及其控制方法。
背景技术
众所周知，腔内切割吻合器已经普遍应用于腹腔等腔内手术中。吻合器包括钳口组件、切割刀组件和钉仓组件，在一个操作周期，将吻合器的钳口组件从人体皮肤上的穿刺孔伸入人体内部后，首先操作吻合器使钳口组件闭合以夹持住目标组织，然后操作吻合器使切割刀组件被驱动向前移动来推动钉仓组件出钉以吻合目标组织，同时切割刀组件也切割目标组织，当完成对目标组织的吻合和切割后，再操作吻合器驱动切割刀组件退刀并退回至初始位置，最后将钳口组件打开以脱离目标组织，从穿刺孔取出吻合器的钳口组件，之后可重新装填新的钉仓以进行下一次操作周期。
现有技术提供如下的电动吻合器，采用电池和电机来提供驱动力使钳口组件和切割刀组件运动，电动吻合器的机身上通常配置有供用户操作的击发按键和强制回刀按键。根据钉仓组件的规格，切割刀对应具有移动行程。当用户第一次操作击发按键时，切割刀组件从后向前做进刀运动，开始吻合和切割组织。如中途停止操作击发按键可使得电机停机，使切割刀组件停止在移动行程的任意一个中间点，此时下一步动作可以是通过用户操作强制回刀按键，切割刀组件开始向后做退刀运动直至到达最后端，也可以是再次操作击发按键，切割刀组件继续向前出刀运动；或者，用户保持操作击发开关，直至切割刀组件运动到移动行程的最前端时电机将自动停机，切割刀组件停止在最前端，此时一旦用户不再操作击发按键时，电机将启动使切割刀组件向后运动做退刀运动直至到达最后端。以上方式，切割刀组件采用一步退刀到底的方式。
实际工况下，切割刀组件包括位于套管内部的一个长的薄片状的推刀件和位于推刀件前端的切割刀，在遇到切割大负载的情况下，切割刀组件的推刀件在进刀运动时容易弯曲在套管内壁，推刀件与套管内壁之间产生较大的摩擦力，无法推动前端的切割刀继续前进，进而无法继续执行进刀动作。现有的电动吻合器的控制方法无法解决这个问题。
发明内容
为了解决现有技术中存在的至少一个技术问题，本申请提供了一种电动吻合器及其控制方法，可以控制退刀动作，防止推刀件一步退刀到底，提升容错能力并提高击发能力。
为了达到上述目的，本申请提供的技术方案如下所述：
一种电动吻合器，包括：
操作手柄；
杆身组件，自所述操作手柄延伸；
切割刀组件，设置在所述杆身组件远离所述操作手柄的一端，包括：推刀件；
电机，设置在所述操作手柄内，用于带动所述推刀件运动；
触发器，包括：供用户触发的击发单元，用于发出表征进刀动作的击发信号和表征进刀动作停止的停止击发信号；供用户触发的退刀单元，用于发出表征退刀动作的退刀信号和表征退刀动作停止的停止退刀信号；
控制模块，与所述电机和所述触发器电性连接，所述控制模块在检测到所述击发信号时，控制所述电机带动所述推刀件朝向击发到底位置执行进刀动作，在所述控制模块在检测到所述停止击发信号时，控制所述推刀件停止进刀动作；
所述推刀件具有在进刀动作中停止在初始位置与击发到底位置之间的第一状态，当处于第一状态，所述控制模块在检测到所述退刀信号时，控制所述推刀件朝向所述初始位置执行退刀动作，退刀动作中所述控制模块检测到所述停止退刀信号时，控制所述推刀件停止退刀动作。
作为一种优选的实施方式，所述推刀件具有在所述第一状态下执行退刀动作并停止在所述初始位置与所述击发到底位置之间的第二状态，在所述第一状态和所述第二状态时，所述击发单元均为有效状态，从而所述控制模块基于检测的所述击发信号控制所述推刀件执行进刀动作。
作为一种优选的实施方式，所述切割刀组件还包括：切割刀，位于所述推刀件朝向所述击发到底位置的前方，所述推刀件处于所述第一状态时，所述推刀件靠近切割刀的端部具有 第一停止位置；所述推刀件处于所述第二状态时，所述推刀件靠近切割刀的端部具有第二停止位置，所述第二停止位置位于所述第一停止位置的后方或者所述第二停止位置与所述第一停止位置相重合。
作为一种优选的实施方式，当所述推刀件处于所述第一状态，所述控制模块在检测到所述退刀信号时，控制所述推刀件朝向所述初始位置执行退刀动作，当所述推刀件停止退刀动作时到达所述初始位置，则所述控制模块控制所述击发单元从有效状态转为失效状态，从而控制所述推刀件不再进刀。
作为一种优选的实施方式，所述触发器包括：第一位置检测单元，用于检测所述推刀件是否位于所述初始位置并输出表征所述推刀件位于所述初始位置的第一到位信号，所述控制模块基于所述第一到位信号控制电机停机。
作为一种优选的实施方式，当所述推刀件执行进刀动作并到达所述击发到底位置时，所述控制模块控制所述击发单元从有效状态转为失效状态，从而控制所述推刀件不再进刀。
作为一种优选的实施方式，当所述推刀件执行进刀动作并到达所述击发到底位置时，所述控制模块在检测到所述退刀信号时，控制所述推刀件离开所述击发到底位置朝向所述初始位置执行退刀动作直至到达所述初始位置。
作为一种优选的实施方式，当所述推刀件执行进刀动作并到达所述击发到底位置时，所述控制模块在检测到所述退刀信号时，控制所述推刀件离开所述击发到底位置朝向所述初始位置执行退刀动作，退刀动作中所述控制模块检测到所述停止退刀信号时，控制所述推刀件停止退刀动作。
作为一种优选的实施方式，所述推刀件具有到达所述击发到底位置后执行退刀动作并停止在所述初始位置与所述击发到底位置之间的第三状态，在所述第三状态时，所述控制模块控制所述击发单元保持失效状态，从而控制所述推刀件不再进刀。
作为一种优选的实施方式，所述触发器包括：第二位置检测单元，用于检测所述推刀件是否位于所述击发到底位置并输出表征所述推刀件位于击发到底位置的第二到位信号，所述控制模块能基于所述第二到位信号控制所述电机停机，并基于所述第二到位信号控制所述击发单元从有效状态转为失效状态，并控制在退刀动作中所述击发单元保持失效状态。
作为一种优选的实施方式，所述电动吻合器还包括钳口组件，所述钳口组件包括钉仓座和抵钉座，所述抵钉座可相对所述钉仓座打开和关闭，所述推刀件中的切割刀容置于所述钉仓座和所述抵钉座之间的空间；所述触发器还包括：钳口闭合单元，用于供用户触发表征钳口闭合动作的钳口闭合信号；钳口打开单元，用于供用户触发表征钳口打开动作的钳口打开 信号；所述控制模块检测到所述钳口闭合信号时，控制所述钳口组件执行钳口闭合动作，所述控制模块检测到所述钳口打开信号时，控制所述钳口组件执行钳口打开动作。
作为一种优选的实施方式，所述钳口闭合单元和所述击发单元集成为第一按键，所述退刀单元和所述钳口打开单元集成为第二按键。
一种电动吻合器的控制方法，所述电动吻合器包括切割刀组件和电机，所述切割刀组件包括推刀件，所述电机用于带动所述推刀件运动；所述控制方法包括：
控制所述电机沿第一方向转动，所述电机驱动所述推刀件朝向击发到底位置执行进刀动作；
当所述推刀件未到达所述击发到底位置时，控制所述电机沿第二方向转动，所述第二方向与所述第一方向相反，所述电机驱动所述推刀件朝向初始位置执行退刀动作；
当所述推刀件未退至所述初始位置时，控制所述电机沿第一方向转动，所述电机驱动所述推刀件继续朝向所述击发到底位置执行进刀动作。
有益效果：
与现有技术相比，本说明书电动吻合器及其控制方法可以通过使用者操作触发退刀信号，以使得推刀件执行退刀动作。该退刀动作可以通过控制模块基于退刀单元发出的退刀信号和停止退刀信号进行控制，从而在误操作的情况下防止推刀件一步退刀到底。
在正常使用过程中，推刀件在未完击发到底时，若使用者因误触发退刀单元而发出退刀信号时，造成推刀件退刀，此时若通过退刀单元发出停止退刀信号时，推刀件停止退刀动作且可以再次击发，从而剩余的钉仓还可以继续使用完，使手术达到理想的效果。
另外，在遇到大负载时，推刀件在进刀时容易弯曲在套管内壁，推刀件与套管内壁产生较大的摩擦力，无法继续执行进刀动作。通过触发退刀单元，推刀件退刀一段距离后可以恢复到直的状态，使得推刀件与套管内壁之间无摩擦，再通过触发击发单元，可一举冲刺通过大负载区域，完成进刀动作，从而提高了推刀件的击发能力。
参照后文的说明和附图，详细公开了本申请的特定实施方式，指明了本申请的原理可以被采用的方式。应该理解，本申请的实施方式在范围上并不因而受到限制。
针对一种实施方式描述和/或示出的特征可以以相同或类似的方式在一个或更多个其它实施方式中使用，与其它实施方式中的特征相组合，或替代其它实施方式中的特征。
应该强调，术语“包括/包含”在本文使用时指特征、整件、步骤或组件的存在，但并不排除一个或更多个其它特征、整件、步骤或组件的存在或附加。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动力的前提下，还可以根据这些附图获得其他的附图。
图1是本说明书一种实施例的电动吻合器的外部结构示意图；
图2是本说明书一种实施例的电动吻合器的第一视角的内部结构示意图；
图3是本说明书一种实施例的电动吻合器的第二视角的内部结构示意图；
图4是本说明书一种实施例的电动吻合器的控制电路示意图；
图5是本说明书另一种实施例的电动吻合器的控制电路示意图；
图6是本说明书另一种实施例的电动吻合器的控制电路示意图；
图7是本说明书一个实施例的电动吻合器的控制方法流程示意图；
图8是图3的电动吻合器的局部放大图。
附图标记说明
100、电动吻合器；10、操作手柄；20、杆身组件；21、芯轴；22、套管；30、端部执行器；31、钉仓座；32、抵钉座；40、切割刀组件；41、切割刀；42、推刀件；60、触发器；61、击发单元；62、退刀单元；63、钳口闭合单元；64、钳口打开单元；61′、钳口闭合/击发单元；62′、钳口打开/退刀单元；65、第三位置检测单元；66、第四位置检测单元；67、第二位置检测单元；68、第一位置检测单元；69、保险开关；71、第一按键；72、第二按键；80、电机；90、控制模块；90′、电路板组件；110、计时显示模块。
具体实施方式
下面将结合附图和具体实施方式，对本发明的技术方案作详细说明，应理解这些实施方式仅用于说明本发明而不用于限制范围，在阅读了本发明之后，本领域技术人员对本发明的各种等价形式的修改均落入本申请所限定的范围内。
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。下面将结合图1至图7对本说明书实施 例的电动吻合器及其控制方法进行解释和说明。需要说明的是，为了便于说明，在本发明的实施例中，相同的附图标记表示相同的部件。而为了简洁，在不同的实施例中，省略对相同部件的详细说明，且相同部件的说明可互相参照和引用。本发明中的连接包括电性连接和机械连接。
具体的，以图1所示的电动吻合器的方位为参考，本文所用术语“前”和“后”是相对于操作电动吻合器的使用者而言。术语“后”是指相对靠近使用者的方向，术语“前”则是相对远离使用者的部分。关于“左”“右”方向的定义，例如，端部执行器在“左”，套管在“右”。术语“上”、“下”以端部执行器的抵钉座和钉仓座的相对位置为参考，具体的，抵钉座在“上”，钉仓座在“下”。需要理解的是，“上”“下”“前”“后”“左”“右”这些方位是为了方便描述而进行的定义，然而，电动吻合器可以在许多方向和位置使用，因此这些表达相对位置关系的术语并不是受限和绝对的。下面通过参考附图描述的实施例是示例性的，旨在用于解释本说明书，而不能理解为对本说明书实施方式的限制。
请参阅图1至图6所示，本实施方案提供一种电动吻合器100包括操作手柄10、自操作手柄10延伸的杆身组件20及设置于杆身组件20一端的端部执行器30。操作手柄10内部包括电源模块、电机80。电源模块可以由多个电池串联组成，对电机80的工作提供电能。杆身组件20包括芯轴21及套设于芯轴21的套管22。
电动吻合器100还包括传动机构，该传动机构与电机80连接，当电机80获得电能而工作时，电机80输出动力而驱动传动机构运动。杆身组件20的芯轴21具有两端，一端连接于传动机构，另一端位于套管22内。而套管22的一端连接传动机构，另一端连接端部执行器30。
端部执行器30包括钳口组件和钉仓组件。钳口组件包括钉仓座31和可枢转地连接于钉仓座31的抵钉座32，钉仓组件容置于钉仓座31中，抵钉座32可相对钉仓座31打开和关闭，从而与钉仓座31和钉仓组件配合而夹紧或者松开组织。杆身组件20的套管22一端连接于抵钉座32，另一端连接于传动机构，传动机构在电机80的驱动下可以驱动套管22在前后方向上移动，例如驱动套管22的向后移动使得抵钉座32向上枢转以打开钳口组件，驱动套管22的向前运动使得抵钉座32向下枢转以闭合钳口组件。
如图3和图8所示，电动吻合器还包括设置在杆身组件20远离操作手柄10一端的切割刀组件40，切割刀组件40包括推刀件42和位于推刀件42前端的切割刀41。推刀件42具有长的薄片状结构，且一部分位于套管22内且与芯轴21连接，传动机构在驱动 芯轴21的向前和向后运动的过程中，能够带动推刀件42向前和向后运动。在切割和吻合的过程中，推刀件42的另一部分与切割刀41相接触，在推刀件42向前运动的过程中可带动切割刀41向前运动，切割组织并推动钉仓组件的吻合钉出钉来吻合组织。
推刀件42与切割刀41的连接方式包括两种：第一种方式是推刀件42与切割刀41固定连接，在切割和吻合的过程中，切割刀41位于钳口组件的钉仓座31和抵钉座32之间形成的空间内，由于与推刀件42固定连接，可被推刀件42带动向前和向后运动；第二种方式是推刀件42与切割刀41可分离地连接，在该种方式下，切割刀41安装于钉仓组件内，并随着钉仓组件的安装位于钉仓座31中，在切割和吻合的过程中，推刀件42被芯轴21带动向前移动直至与切割刀41相抵接，当推刀件42继续被芯轴21带动向前移动时，能够带动切割刀41向前移动，当推刀件42被芯轴21带动向后移动时，推刀件42与切割刀41相分离，从而切割刀41留在原处，不能与推刀件42一起向后移动，后续随着钉仓组件更换时一同取出。
在推刀件42与切割刀41的第一种连接方式中，切割刀41与推刀件42固定连接，切割刀41可以重复使用，无需在每次安装钉仓组件时重新更换，用户体验更方便。在推刀件42与切割刀41的第二种连接方式中，推刀件42在退刀时，切割刀41与推刀件42相分离，从而，即使推刀件42未能退回至初始位置，也不影响钉仓组件的更换，具有较高的安全性。
由此，电机80通过传动机构先驱动钳口组件闭合而夹紧组织，然后电机80通过传动机构驱动推刀件42并推动切割刀41前进而切割和吻合组织，随后电机80通过传动机构驱动推刀件42后退，最后电机80通过传动机构驱动钳口组件打开而松开组织，从而实现吻合器切割及吻合的整体功能。
如图2所示，电动吻合器100包括触发器60和控制模块90，并与电源模块连接。控制模块90收容于操作手柄10内，具体为一块电路板组件90′。控制模块90与触发器60和电机80电性连接，包括检测单元、控制单元、开关驱动单元和开关单元。检测单元检测触发器60的状态，当被触发时传输对应的信号给控制单元，控制单元对信号进行分析处理，然后对吻合器执行控制。其中，该控制单元可以采取例如微处理器或处理器以及存储可由该(微)处理器执行的计算机可读程序代码(例如软件或固件)的计算机可读介质、逻辑门、开关、专用集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑控制器和嵌入微控制器的形式等等。
触发器60包括用于控制电机运行状态的电机控制触发器。当控制单元从该类触发 器接收到控制电机80的信号时，控制单元生成相应的低电压的PWM信号给开关驱动单元，开关驱动单元对输入的低电压的PWM信号转为为开关单元可用的高电压的PWM信号，输出给开关单元，从而控制开关单元的通断。电源模块通过开关单元连接电机80两端，开关单元的通断的频率决定电源模块对电机80供电或断电，从而决定电机80的运转状态-电机的转速和方向。
本实施例中，开关单元包括组成H桥的4个Mos开关，H桥的Mos开关的通断决定电源模块对电机80供电或断电，开关驱动单元为Mos驱动芯片。并且，H桥的设计，使得控制单元可控制H桥实现电机的正转或反转。需要说明的是，电机的上述H桥控制和正反转控制，均为现有技术，不再赘述。控制单元为微控制器芯片。
为了实现切割刀组件40的切割组织功能，电机控制触发器包括：供用户触发的击发单元61和供用户触发的退刀单元62，击发单元61用于发出表征进刀动作的击发信号和表征进刀动作停止的停止击发信号，退刀单元62用于发出表征退刀动作的退刀信号和表征退刀动作停止的停止退刀信号。具体的，使用者可以通过触摸或者按压或者松开击发单元61和退刀单元62以输入信号，来控制电机80的启动和停机。
在一个实施例中，如图4和图5所示，击发单元61和退刀单元62分别具有设置在操作手柄10上的一个按键，能够供使用者操作手柄10时触发，对应于击发单元61的按键为第一按键71，对应于退刀单元62的按键为第二按键72，使用者可以通过按下或者按下后松开按键触发对应的信号，并通过控制模块90的检测单元向控制单元输入一个电信号。
击发单元61和退刀单元62可以均为常开开关，击发单元61和退刀单元62可以根据用户的触发输出对应的信号，控制模块90分别接收来自击发单元61和退刀单元62的信号来控制电机的运行状态-启动或停机，从而执行相应的吻合器的动作。
在本实施方式中，用户操作第一按键71，触发击发单元61，控制模块90检测到击发信号控制电机80运转，驱动推刀件42朝向击发到底位置执行进刀动作。当停止操作第一按键71，不触发击发单元61，控制模块90检测到停止击发信号控制电机80停机。
使用时，根据击发单元61的触发状态给出对应的不同信号。触发状态包括触发和不触发，当用户触发击发单元61时，输出高电平信号，用户不触发击发单元61时，输出低电平信号。所述击发信号为从低电平转为高电平的突变，所述停止击发信号为从高电平转为低电平的突变，如此实现用户持续触发击发单元61时，推刀件42持续进行击发动作，当停止触发击发单元61时，则立刻停止击发动作。
或者，所述击发信号为从低电平转为高电平的第奇数次突变，停止击发信号为从低电平转为高电平的第偶数次突变。从而，用户首次操作第一按键71，触发击发单元61，控制模块90检测到击发信号控制电机80运转；当再次操作第一按键71，再次触发击发单元61，控制模块90检测到停止击发信号控制电机80停机。或者在一些实施例中，击发单元61还包括第一定时模块，设置有一个预设时间，例如0.5s。当击发单元61被触发时，第一定时模块同时开启，开始计时，当计时达到预设时间0.5s时，第一定时模块关闭，计时清零。控制模块90在检测到计时清零时判断为停止击发信号，控制电机80停机。从而控制模块90被配置为在检测到击发单元61的第一定时模块计时清零时判断为停止击发信号，控制电机80停机，控制模块90在检测到第一定时模块开启时判断为击发信号，控制电机80运转。
在本实施方式中，在进刀的过程中，当控制模块90检测到停止击发信号时，控制电机80停机，推刀件42停止运动。若推刀件42在进刀动作中停止在初始位置与击发到底位置之间的任意一个中间点时，用户通过操作第二按键72，触发退刀单元62，控制模块90检测到退刀信号控制电机80运转，能驱动推刀件42执行退刀动作，退刀动作中当控制模块90检测到停止退刀信号时控制电机80停机，推刀件42停止退刀动作。
在本实施例中，可通过击发单元61可实现逐步击发，在进刀动作停止时，可通过退刀单元62实现逐步退刀，区别于传统的电动吻合器100推刀件42在退刀时一步退刀到底，该退刀单元62可执行推刀件42非一步到底的退刀动作，提供了更多的观察和操作时间，医生可根据复杂的手术工况而自主控制，可操作性增强，能更好的服务手术过程，用户体验好。例如，逐步退刀过程提供了更多地操作时间，使医生可将切割下来的组织准确装入一次性医用取物袋中，避免污染健康组织，最后取取物袋。
使用时，用户可通过操作第二按键72，根据退刀单元62的触发状态给出对应的信号，通过退刀单元62输出退刀信号和停止退刀信号的原理与上述击发单元61相同，本说明书此处不再赘述。
推刀件42在被传动机构驱动下移动，根据外科手术使用的吻合器的工作方式，推刀件42的移动具有固定长度的移动行程，并被传动机构驱动在移动行程内向前或者向后运动。移动行程的最远端为向前移动的前止点，即前述的击发到底位置，最近端为向前移动的起点和向后移动的后止点，即前述的初始位置。击发前，推刀件42位于初始位置；进行击发，推刀件42从初始位置向击发到底位置移动，进行切割组织，并停止在移动行程的中间点，即初始位置与击发到底位置之间的位置，或最终到达击发到底位置；进行 退刀，推刀件42从中间点或击发到底位置向后移动。
在推刀件42未击发到底的情况下，根据推刀件42的进刀动作和退刀动作，定义推刀件42具有在进刀动作中停止在初始位置与击发到底位置之间的第一状态，即推刀件42进刀时停止在移动行程的中间点，以及具有在第一状态下执行退刀动作并停止在初始位置与击发到底位置之间的第二状态，即从第一状态进入退刀动作时停止在移动行程的中间点。当用户通过击发单元61发出的停止击发信号，使得推刀件42停止在移动行程的第一中间点，即未击发到底，处于第一状态，既而又通过退刀单元62，使得推刀件42退刀后停止在移动行程的第二中间点，即未退刀到底，处于第二状态。
在第一状态和第二状态时，击发单元61均为有效状态，控制模块90在检测到击发信号时控制电机80运转，驱动推刀件42继续执行进刀动作。从而，在第一状态下，推刀件42在已击发但未击发到底而停止前进的状态下，可执行非一步退刀到底的退刀动作，并可以在非一步到底的退刀动作停止后进入第二状态，在第二状态下击发单元61有效，还能控制推刀件42继续执行进刀动作，从而实现“拉链”功能。
进一步的，推刀件42处于第一状态时，推刀件42靠近切割刀41的端部具有第一停止位置，即前述的第一中间点；推刀件42处于第二状态时，推刀件42靠近切割刀41的端部具有第二停止位置，即前述的第二中间点，第二停止位置位于第一停止位置的后方或者第二停止位置与第一停止位置相重合。
进刀运动时，在遇到切割大负载的情况下，前端的切割刀41被堵住缓慢前进或无法前进，而推刀件42由于其长的薄片状的结构，在此时将持续受到后端传动机构传递的推动前进的力，容易弯曲在套管22内壁，与套管22内壁之间产生较大的摩擦力，进而进一步在阻止进刀动作。采用上述方案，第一状态下当通过触发退刀单元62控制执行退刀动作，可以使得推刀件42恢复到直的状态。在推刀件42恢复到直的过程中，主要依靠推刀件42远离切割刀41的与芯轴21连接的后端被传动机构向后拉动，以将推刀件42由弯曲状态恢复到直的状态，推刀件42靠近切割刀41的前端位置可能保持不变或者后退一段距离。
在推刀件42到达击发到底位置时，此时推刀件42已击发到底，控制模块90控制击发单元61为失效状态，推刀件42不再执行进刀动作。
当推刀件42处于第一状态，控制模块90在检测到退刀信号时，控制推刀件42朝向初始位置执行退刀动作，退刀动作中在检测到停止退刀信号时，控制推刀件42停止退刀动作，当推刀件42停止退刀动作时未到达初始位置，即推刀件42未完成退刀动作， 同时推刀件42也未击发到底，击发单元61为有效状态，当触发击发单元61时，推刀件42仍可继续进刀。从而，推刀件42的“拉链”功能能够提高电动吻合器100的击发能力，例如在上述遇到切割大负载的情况下，推刀件42在进刀运动时容易弯曲在套管22内壁，推刀件42与套管22内壁之间产生较大的摩擦力，无法继续执行进刀动作，若通过触发退刀单元62控制推刀件42退刀一段距离，可以使得推刀件42恢复到直的状态，使得推刀件42与套管22内壁之间无摩擦，此时再通过触发击发单元61，可一举冲刺通过大负载区域，完成进刀动作。
同时，推刀件42的“拉链”功能能够提高电动吻合器100的容错能力，在正常使用过程中，推刀件42逐步击发而停止在中间点时，若用户误触发了退刀单元62而造成推刀件42退刀并停机，只要未退刀到底，用户可以再次操作击发单元61而实现再次击发，从而剩余的钉仓还可以继续使用完，使手术达到理想的效果。
在第一状态下，控制模块90在检测到退刀信号时，控制推刀件42朝向初始位置执行退刀动作，当推刀件42停止退刀动作时到达初始位置，即推刀件42完成退刀动作，此时控制模块90控制击发单元61从有效状态转为失效状态，推刀件42不能再击发，以防止对吻合部位重新切割，造成患者损伤。
上述击发单元61的失效状态指，触发该单元，但吻合器不执行动作，有效状态指，触发该单元，吻合器执行相应的动作。本实施例中，失效状态下触发击发单元61，击发单元61仍发出一个信号给控制模块90，但控制模块90不对该信号分析和处理，也不会根据该信号来指令电机80动作。与之相反的，有效状态下触发击发单元61，则控制模块90将根据该信号控制电机80正转。
在本实施例中，电机控制触发器还包括第一位置检测单元68和第二位置检测单元67，来控制电机80的停机。第一位置检测单元68和第二位置检测单元67设置在操作手柄10内，并处于使用者无法用手直接触发的位置。第一位置检测单元68和第二位置检测单元67用于检测切割刀组件40所处的位置来判断推刀件42是否击发到底或者退刀到底，并通过控制模块90使电机80停机从而使推刀件42停止移动。
在本实施例中，传动机构包括配合部，配合部包括第一凸块和第二凸块。第一位置检测单元68和第二位置检测单元67可以为开关机构，传动机构通过芯轴21驱动推刀件42以及切割刀41向前移动的过程中，到达前止点，即击发到底位置，第一凸块触发第二位置检测单元67，控制模块90接收到第二位置检测单元67发出的第二到位信号并指令电机80停止转动，此时，切割刀组件40击发到底；传动机构通过芯轴21驱动推刀件 42向后移动的过程中，到达后止点，即初始位置，第二凸块触发第一位置检测单元68，控制模块90接收到第一位置检测单元68发出的第一到位信号并指令电机80停止转动，此时，推刀件42退刀完毕，即退刀到底。需要说明的是，第一凸块和第二凸块可由一个凸块代替，上述一个凸块在向前移动的过程中触发第二位置检测单元67，向后移动的过程中触发第一位置检测单元68。此时，配合部包括上述一个凸块。
进一步的，当用户触发击发单元61并保持触发，电机80通过传动机构带动推刀件42执行进刀动作直至推刀件42前端的切割刀41触发第二位置检测单元67，控制模块90在接收到第二到位信号后控制电机80停机，并控制击发单元61为失效状态，从而控制切割刀组件40不再进刀。
在一个实施方式中，控制模块90能基于第二到位信号控制电机80停机，并在检测到停止击发信号时驱动电机80控制推刀件42执行退刀动作直至初始位置。例如，在进刀过程中，当用户触发击发单元61并保持触发，推刀件42能持续执行进刀动作直至触发第二位置检测单元67，控制单元控制电机80停机，此时，当用户不再触发击发单元61，以给出停止击发信号，则控制单元控制电机80驱动推刀件42执行退刀动作，推刀件42向后移动，直至触发第一位置检测单元68而停机。从而在推刀件42击发到底时，通过松开击发单元61自动一步退刀，节省了使用者的操作时间。
在一个实施方式中，控制模块90能基于第二到位信号控制电机80停机，并基于检测到的退刀信号控制推刀件42执行退刀动作。当推刀件42击发到底时，通过传动机构的配合部触发第二位置检测单元67，控制模块90接收到第二到位信号控制电机80停机，当需要退刀时，用户通过操作退刀单元62，给出退刀信号，控制模块90检测到退刀信号后控制电机80驱动推刀件42执行退刀动作。
在本实施方式中，当推刀件42执行进刀动作并到达击发到底位置时，控制模块90检测在退刀信号时，控制电机80带动推刀件42离开击发到底位置朝向初始位置执行退刀动作直至初始位置。具体的，当推刀件42执行进刀动作并到达击发到底位置时，通过传动机构的配合部触发第二位置检测单元67，控制模块90接收到第二到位信号控制电机80停机，此时当用户触发退刀单元62，控制模块90检测到退刀信号后控制电机80驱动推刀件42退刀，直至触发第一位置检测单元68而停机，从而实现手动一步退刀到底的方式，而不管中间是否接收到停止退刀信号。在该方式中，退刀单元62提供一步退刀到底的退刀动作的启动信号，一步退刀到底的过程中，不需要用户保持持续的触发退刀单元62，且击发单元61始终保持失效状态。或者，当推刀件42执行进刀动作并到达 击发到底位置时，控制模块90检测到退刀信号时，控制电机80带动推刀件42朝向初始位置执行退刀动作，退刀动作中控制模块90在检测到停止退刀信号时，控制推刀件42停止退刀动作。
推刀件42具有到达击发到底位置后执行退刀动作并停止在初始位置与击发到底位置之间的第三状态，在第三状态时，控制模块90控制击发单元61保持失效状态，从而控制推刀件42不再进刀。推刀件42在到达击发到底位置时，控制模块90检测到退刀信号时，控制电机80带动推刀件42朝向初始位置执行退刀动作，退刀动作中控制模块90在检测到停止退刀信号时，控制推刀件42停止退刀动作，即处于第三状态。区别于推刀件42的第一状态和第二状态，推刀件42在第三状态时击发单元61保持失效状态，从而推刀件42不能再执行进刀动作。
在一些实施例中，在用户触发退刀单元62，控制模块90检测到退刀信号控制电机80运转，驱动切割刀组件40的推刀件42朝向初始位置执行退刀动作；在用户不触发退刀单元62，控制模块90检测到停止退刀信号控制电机80停机。从而在使用时，当使用者保持持续的触发退刀单元62时，可以使得推刀件42持续性退刀，直至触发第一位置检测单元68而自动停机；或者，使用者触发退刀单元62时，推刀件42退刀，在退刀过程中一旦使用者不触发退刀单元62时，电机80将立刻停机，推刀件42停止退刀动作，从而通过多次触发退刀单元62实现推刀件42的阶段性退刀(逐步退刀)直至触发第一位置检测单元68而自动停机，从而实现手动阶段性退刀直至退刀到底的方式。
推刀件42的进刀动作和退刀动作可以通过电机80的正转和反转实现。即，电机80的输出轴的转动方向包括第一方向和第二方向，第一方向和第二方向相反，定义第一方向为正转方向，则第二方向为反转方向。当控制单元驱动电机80正转时，电机80能够通过传动机构驱动推刀件42执行进刀动作，当控制单元驱动电机80反转时，电机80能够通过传动机构驱动推刀件42执行退刀动作。
在本说明书中，采用同一个电机80对推刀件42的进刀动作和退刀动作以及钳口组件的钳口打开和钳口闭合动作提供动力。在一个执行周期内，需要电动吻合器顺序完成钳口闭合动作、击发动作、退刀动作和钳口打开动作来完成整个工作过程，而对应整个工作过程的上述四个动作，可以由控制模块90顺序地驱动电机80正转、正转、反转、反转来依次顺序驱动最终实现顺序地执行钳口闭合动作、击发动作、退刀动作和钳口打开动作。
为了实现钳口的打开和关闭功能，电机控制触发器还包括：钳口闭合单元63，供用 户触发表征钳口闭合动作的钳口闭合信号；钳口打开单元64，供用户触发表征钳口打开动作的钳口打开信号；控制模块90检测到钳口闭合信号时，控制钳口组件执行钳口闭合动作，即抵钉座32向下枢转以闭合钳口组件，控制模块90检测到钳口打开信号时，控制钳口组件执行钳口打开动作，即抵钉座32向上枢转以打开钳口组件。具体的，使用者可以通过触摸或者按压钳口闭合单元63和钳口打开单元64以输入信号，来控制电机80的启动和停机。
在一个实施例中，如图4所示，钳口打开单元64和钳口闭合单元63分别具有设置在操作手柄10上的一个按键，对应于钳口闭合单元63的按键为第三按键，对应于钳口打开单元64的按键为第四按键，使用者可以通过按下按键触发对应的信号，并通过控制模块90的检测单元向控制单元输入一个电信号。用户通过操作第三按键，触发钳口闭合单元63，控制模块90控制电机80正转，驱动钳口组件执行钳口闭合动作，当停止操作第三按键，不触发钳口闭合单元63，控制模块90控制电机80停机；用户通过操作第四按键，触发钳口打开单元64，控制模块90控制电机80反转，驱动钳口组件执行钳口打开动作，当停止操作第四按键，不触发钳口打开单元64，控制模块90控制电机80停机。
在另一个实施例中，如图5所示，钳口闭合单元63和击发单元61集成为钳口闭合/击发单元61′，具体为第一按键71，退刀单元62和钳口打开单元64集成为钳口打开/退刀单元62′，具体为第二按键72，从而控制电机80正转的触发开关为同一开关单元。该吻合器通过顺序的执行钳口闭合动作、击发动作、退刀动作和钳口打开动作来完成整个工作过程，而对应触发整个工作过程的上述四个动作，通过顺序的按压第一按键71、第一按键71、第二按键72、第二按键72，以通过控制模块90驱动电机80正转、正转、反转、反转，最终顺序地完成上述所有动作。
进一步的，抵钉座32在枢转运动时在闭合到底位置和打开到底位置之间双向的运动，其中，闭合到底位置为抵钉座32枢转至距离钉仓座31最近的位置，此时钳口组件闭合到位，打开到底位置为抵钉座32枢转至距离钉仓座31最远的位置，此时钳口组件打开到位。电机控制触发器还包括：第三位置检测单元65和第四位置检测单元66来控制电机80停机。第三位置检测单元65用于检测钳口组件是否闭合到位并通过控制模块90使电机80停机从而使抵钉座32停止枢转，第四位置检测单元66用于检测钳口组件是否开启到位并通过控制模块90使电机80停机从而使抵钉座32停止枢转。
在本实施例中，传动机构的配合部还包括第三凸块和第四凸块。第三位置检测单元65和第四位置检测单元66可以为开关机构，传动机构在通过驱动套管22向前移动而驱 动抵钉座32闭合转动的过程中，抵钉座32到达闭合到底位置时，第三凸块触发第三位置检测单元65，控制模块90接收第三位置检测单元65发出的信号并指令电机停止正向转动，此时，钳口组件已闭合到位，处于钳口闭合状态；传动机构在通过驱动套管22向后移动而驱动抵钉座32打开转动的过程中，抵钉座32到达打开到底位置，第四凸块触发第四位置检测单元66，控制模块90接收第四位置检测单元66发出的信号并指令电机停止反向转动，此时，钳口组件已打开到位，处于钳口打开到底状态。需要说明的是，第三凸块和第四凸块可由一个凸块代替。
传动机构可以通过第一组件驱动套管22移动进而驱动钳口组件打开和闭合，传动机构通过第二组件驱动芯轴21移动进而驱动推刀件42进刀和退刀，第一组件与第二组件不同时动作，以满足钳口组件与推刀件42之间的动作逻辑关系。第一组件包括第一凸块和第二凸块，或者，第一组件包括代替第一凸块和第二凸块的一个凸块。第二组件包括第三凸块和第四凸块，或者第二组件包括代替第三凸块和第四凸块的一个凸块。
在另一个实施例中，如图6所示，触发器60还包括由用户操作来手动触发的保险开关69，电性连接于控制模块90。保险开关69可以具有设置在操作手柄10上的一个按键，用户操作按键，可触发对应的开关，该开关通过检测单元向控制单元输入一个电信号。控制模块90还包括一个定时单元，设置有一个预设时间，例如15s，定时单元启动，开始计时，计时达到预设时间时，定时单元关闭，计时清零。定时单元可以是独立于微控制器的电路模块，也可以是微控制器自带的定时单元。吻合器还包括计时显示模块110，电性连接于控制单元，具有两个功能：第一功能：用于指示定时单元达到了预设时间，告知用户该状态；第二功能：用于指示定时单元计时工作的实时的时间长度，提供给用户来获知经过的时间长度，当定时单元开启时，控制模块90同时开启计时显示模块110。例如定时单元计时了10s，则计时显示模块110则指示经过了10s。在一个操作周期中，仅在钳口组件从打开状态转为闭合状态时，保险开关69才能被有效触发，同时开启定时单元和计时显示模块110，计时中，用户无法操作失效的击发单元61来进行击发动作，当定时单元关闭时，击发单元61才转为有效，从而可以进行后续的击发动作。
由此，保险开关69、定时单元、计时显示模块110形成了便于用户获知已充分压榨组织的压榨保持机构，压榨保持机构可使得钳口组件对目标组织的压榨持续一定时长，组织液排除更加充分，即压榨保持机构可以在一定时长内不允许推刀件42向前移动并且保持钳口组件闭合以提升钳口组件对于组织的压榨效果。
在其它实施例中，采用双电机提供驱动力，一个电机驱动推刀件42执行击发动作 和退刀动作，另一个电机驱动钳口组件执行钳口打开动作和钳口闭合动作，在该实施例中，同样可应用上述第一至第四位置检测单元，差别在于控制的电机不同，同样可应用上述退刀单元及退刀单元的控制逻辑，实现相同的“拉链”功能、上述逐步退刀功能等等，本领域技术人员容易理解，此处不再赘述。
本说明书还提供了一种电动吻合器的控制方法，如图1至图7所示，该电动吻合器100包括切割刀组件40和电机80，切割刀组件40包括推刀件42，电机80用于带动推刀件42运动，所述控制方法包括：
步骤S10：控制电机80沿第一方向转动，电机80驱动推刀件42朝向击发到底位置执行进刀动作；
步骤S20：当推刀件42未到达击发到底位置时，控制电机80沿第二方向转动，第二方向与第一方向相反，电机80驱动推刀件42朝向初始位置执行退刀动作；
步骤S30：当推刀件42未退至初始位置时，控制电机80沿第一方向转动，电机80驱动推刀件42继续朝向击发到底位置执行进刀动作。
在一个实施例中，该第一方向为正转方向，则第二方向为反转方向。当控制单元驱动电机80正转时，电机80能够驱动推刀件42执行进刀动作，当控制单元驱动电机80反转时，电机80能够驱动推刀件42执行退刀动作。
该控制方法在推刀件42在未击发到底时，若使用者误触发导致推刀件42退刀时，可以控制电机80停机，使得退刀动作停止。在推刀件42未到达后止点时控制电机80正转，以带动推刀件42再次击发，从而钳口组件中剩余的钉仓还可以继续使用，使手术达到理想的效果。
在遇到大负载时，无法击发的情况下，通过控制电机80反转，使得电机80带动推刀件42退刀一段距离后可以恢复到直的状态。再控制电机80正转，电机80带动推刀件42可一举冲刺通过大负载区域，完成进刀动作，从而提高了电动吻合器100的击发能力。
上述实施例只为说明本申请的技术构思及特点，其目的在于让熟悉此项技术的人士能够了解本申请的内容并据以实施，并不能以此限制本申请的保护范围。凡根据本申请精神实质所作的等效变化或修饰，都应涵盖在本申请的保护范围之内。
披露的所有文章和参考资料，包括专利申请和出版物，出于各种目的通过援引结合于此。描述组合的术语“基本由…构成”应该包括所确定的元件、成分、部件或步骤以及实质上没有影响该组合的基本新颖特征的其他元件、成分、部件或步骤。使用术语“包含”或“包括”来描述这里的元件、成分、部件或步骤的组合也想到了基本由这些元件、 成分、部件或步骤构成的实施方式。这里通过使用术语“可以”，旨在说明“可以”包括的所描述的任何属性都是可选的。
多个元件、成分、部件或步骤能够由单个集成元件、成分、部件或步骤来提供。另选地，单个集成元件、成分、部件或步骤可以被分成分离的多个元件、成分、部件或步骤。用来描述元件、成分、部件或步骤的公开“一”或“一个”并不说为了排除其他的元件、成分、部件或步骤。
应该理解，以上描述是为了进行图示说明而不是为了进行限制。通过阅读上述描述，在所提供的示例之外的许多实施方式和许多应用对本领域技术人员来说都将是显而易见的。出于全面之目的，所有文章和参考包括专利申请和公告的公开都通过参考结合在本文中。

Claims (10)

  1. 一种电动吻合器，其特征在于，包括：
    操作手柄；
    杆身组件，自所述操作手柄延伸；
    切割刀组件，设置在所述杆身组件远离所述操作手柄的一端，包括：推刀件；
    电机，设置在所述操作手柄内，用于带动所述推刀件运动；
    触发器，包括：供用户触发的击发单元，用于发出表征进刀动作的击发信号和表征进刀动作停止的停止击发信号；供用户触发的退刀单元，用于发出表征退刀动作的退刀信号和表征退刀动作停止的停止退刀信号；
    控制模块，与所述电机和所述触发器电性连接，所述控制模块在检测到所述击发信号时，控制所述电机带动所述推刀件朝向击发到底位置执行进刀动作，在所述控制模块在检测到所述停止击发信号时，控制所述推刀件停止进刀动作；
    所述推刀件具有在进刀动作中停止在初始位置与击发到底位置之间的第一状态，当处于第一状态，所述控制模块在检测到所述退刀信号时，控制所述推刀件朝向所述初始位置执行退刀动作，退刀动作中所述控制模块检测到所述停止退刀信号时，控制所述推刀件停止退刀动作。
  2. 根据权利要求1所述的电动吻合器，其特征在于，所述推刀件具有在所述第一状态下执行退刀动作并停止在所述初始位置与所述击发到底位置之间的第二状态，在所述第一状态和所述第二状态时，所述击发单元均为有效状态，从而所述控制模块基于检测的所述击发信号控制所述推刀件执行进刀动作。
  3. 如权利要求2所述的电动吻合器，其特征在于，所述切割刀组件还包括：切割刀，位于所述推刀件朝向所述击发到底位置的前方，所述推刀件处于所述第一状态时，所述推刀件靠近切割刀的端部具有第一停止位置；所述推刀件处于所述第二状态时，所述推刀件靠近切割刀的端部具有第二停止位置，所述第二停止位置位于所述第一停止位置的后方或者所述第二停止位置与所述第一停止位置相重合。
  4. 如权利要求1所述的电动吻合器，其特征在于，当所述推刀件处于所述第一状态，所述控制模块在检测到所述退刀信号时，控制所述推刀件朝向所述初始位置执行退刀动作，当所述推刀件停止退刀动作时到达所述初始位置，则所述控制模块控制所述击发单元从有效状态转为失效状态，从而控制所述推刀件不再进刀。
  5. 如权利要求1或4所述的电动吻合器，其特征在于，所述触发器包括：第一位置检测单元，用于检测所述推刀件是否位于所述初始位置并输出表征所述推刀件位于所述初始位置的第一到位信号，所述控制模块基于所述第一到位信号控制电机停机。
  6. 如权利要求1所述的电动吻合器，其特征在于，当所述推刀件执行进刀动作并到达所述击发到底位置时，所述控制模块控制所述击发单元从有效状态转为失效状态，从而控制所述推刀件不再进刀；
    当所述推刀件执行进刀动作并到达所述击发到底位置时，所述控制模块在检测到所述退刀信号时，控制所述推刀件离开所述击发到底位置朝向所述初始位置执行退刀动作直至到达所述初始位置。
  7. 如权利要求1所述的电动吻合器，其特征在于，当所述推刀件执行进刀动作并到达所述击发到底位置时，所述控制模块控制所述击发单元从有效状态转为失效状态，从而控制所述推刀件不再进刀；
    当所述推刀件执行进刀动作并到达所述击发到底位置时，所述控制模块在检测到所述退刀信号时，控制所述推刀件离开所述击发到底位置朝向所述初始位置执行退刀动作，退刀动作中所述控制模块检测到所述停止退刀信号时，控制所述推刀件停止退刀动作。
  8. 如权利要求7所述的电动吻合器，其特征在于，所述推刀件具有到达所述击发到底位置后执行退刀动作并停止在所述初始位置与所述击发到底位置之间的第三状态，在所述第三状态时，所述控制模块控制所述击发单元保持失效状态，从而控制所述推刀件不再进刀。
  9. 如权利要求6或7所述的电动吻合器，其特征在于，所述触发器还包括：第二位置检测单元，用于检测所述推刀件是否位于所述击发到底位置并输出表征所述推刀件位于击发到底位置的第二到位信号，所述控制模块能基于所述第二到位信号控制所述电机停机，并基于所述第二到位信号控制所述击发单元从有效状态转为失效状态，并控制在退刀动作中所述击发单元保持失效状态。
  10. 一种电动吻合器的控制方法，其特征在于，所述电动吻合器包括切割刀组件和电机，所述切割刀组件包括推刀件，所述电机用于带动所述推刀件运动；所述控制方法包括：
    控制所述电机沿第一方向转动，所述电机驱动所述推刀件朝向击发到底位置执行进刀动作；
    当所述推刀件未到达所述击发到底位置时，控制所述电机沿第二方向转动，所述第 二方向与所述第一方向相反，所述电机驱动所述推刀件朝向初始位置执行退刀动作；
    当所述推刀件未退至所述初始位置时，控制所述电机沿第一方向转动，所述电机驱动所述推刀件继续朝向所述击发到底位置执行进刀动作。
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