WO2022122000A1 - 电动吻合器及其位置检测单元失效保护方法 - Google Patents

电动吻合器及其位置检测单元失效保护方法 Download PDF

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Publication number
WO2022122000A1
WO2022122000A1 PCT/CN2021/136916 CN2021136916W WO2022122000A1 WO 2022122000 A1 WO2022122000 A1 WO 2022122000A1 CN 2021136916 W CN2021136916 W CN 2021136916W WO 2022122000 A1 WO2022122000 A1 WO 2022122000A1
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WIPO (PCT)
Prior art keywords
control module
detection unit
position detection
motor
assembly
Prior art date
Application number
PCT/CN2021/136916
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
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Publication of WO2022122000A1 publication Critical patent/WO2022122000A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • 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 failure protection method for its position detection unit.
  • the stapler includes a motor, a jaw assembly, a cutting knife assembly and a staple cartridge assembly.
  • the motor can drive the jaw assembly to open or the pen case, and can also drive the cutting knife assembly to move. First, the jaw assembly is closed to clamp the tissue, then the cutting blade assembly is driven to cut the tissue, while the cutting blade assembly pushes the staple cartridge assembly out of staples to suture the tissue, then the cutting blade assembly is driven to retract, the jaw assembly is opened, and the subsequent Reload the staple cartridge.
  • the motor will be controlled to stop to perform the next operation.
  • the motor cannot be shut down in time, which will cause the motor to stall and cause damage to the stapler; more seriously, it may cause the stapler to directly cut good human tissue or be unable to remove the body from the patient. removed, causing injury to the patient.
  • an object of this specification is to provide a failure protection method for an electric stapler and its position detection unit, so that the electric stapler has reliable safety and will not cause patient injury or self-damage during use .
  • the embodiments of the present specification provide a method for failure protection of a position detection unit of an electric stapler, wherein the electric stapler includes a jaw assembly, a cutting knife assembly, a transmission mechanism, a motor, and a control assembly;
  • the transmission mechanism drives the jaw assembly and the cutting knife assembly;
  • the control assembly includes a position detection unit and a control module that are electrically connected, and the control module is electrically connected to the motor;
  • the position detection unit It includes an initial position detection unit and a closed bottom position detection unit, the initial position detection unit is used for sending a first signal to the control module when the cutting knife assembly is in the initial position;
  • the closed bottom position detection unit is used for When the mouth assembly is in the closed bottom position, a second signal is sent to the control module;
  • the motor rotates in the first direction, firstly drives the jaw assembly to perform the jaw closing action to the end, and then drives the cutting knife assembly to perform the firing action to the end; the jaw assembly performs the closing action, when all the The jaw assembly is in the closed bottom position, and the control module controls the motor to stop after receiving the second signal;
  • the failsafe method includes:
  • the jaw assembly is in the open state, and the motor rotates in the first direction, if the control module cannot receive the second signal sent by the closed bottom position detection unit, and cannot receive all the signals sent by the initial position detection unit. If the first signal is received, the control module determines that the closed bottom position detection unit is invalid, and controls the motor to stop.
  • the motor rotates in the second direction, firstly driving the cutting knife assembly to perform a retracting action to an initial position, and then driving the jaw assembly to perform a jaw opening action to the end, the The second direction is opposite to the first direction; the cutting knife assembly performs a knife retracting action, and when the cutting knife assembly is at the initial position, the control module receives the first signal and controls the motor to stop;
  • the failsafe method also includes:
  • the cutting knife assembly is in the knife-out state, the motor rotates in the second direction, the control module cannot receive the first signal sent by the initial position detection unit, and cannot receive all the signals sent by the closed bottom position detection unit.
  • the control module determines that the initial position detection unit is invalid, and controls the motor to stop.
  • the position detection unit includes an open-to-bottom position detection unit, configured to send a third signal to the control module when the jaw assembly is in the open-to-bottom position;
  • the motor moves along the second The direction of rotation is to drive the cutting knife assembly to perform the retracting action to the initial position first, and then drive the jaw assembly to perform the jaw opening action to the end, the second direction is opposite to the first direction;
  • the cutting The knife assembly performs the knife retracting action, and when the cutting knife assembly is at the initial position, the control module receives the first signal and controls the motor to stop;
  • the failsafe method also includes:
  • the cutting knife assembly is in the knife-out state, the motor rotates in the second direction, the control module does not receive the first signal sent by the initial position detection unit, and receives the open-to-bottom position detection unit.
  • the control module determines that the initial position detection unit is invalid, and controls the motor to stop.
  • control assembly includes a current sensor, the current sensor is electrically connected to the motor and the control module, and is used to obtain the current of the motor and send it to the control module;
  • position The detection unit includes a firing bottom position detection unit for sending a fourth signal to the control module when the cutting knife assembly is at the firing bottom position; the cutting knife assembly performs a firing action, when the cutting knife assembly is at the cutting bottom position , the control module controls the motor to stop after receiving the fourth signal;
  • the failsafe method also includes:
  • the control module cannot receive the firing to the end If the fourth signal is sent from the position detection unit, the control module determines that the firing bottom position detection unit is invalid, and controls the motor to stop.
  • the control assembly includes a current sensor, the current sensor is electrically connected to the motor and the control module, and is used to obtain the current of the motor and send it to the control module;
  • the position The detection unit includes an open-to-bottom position detection unit, which is used to send a third signal to the control module when the jaw assembly is in the open-to-bottom position;
  • the motor rotates in the second direction, and firstly drives the cutting knife assembly to execute The tool retracts to the initial position, and then the jaw assembly is driven to perform the jaw opening operation to the end, and the second direction is opposite to the first direction;
  • the jaw assembly performs the opening action, when the jaw assembly is located in the Open to the bottom position, the control module receives the third signal and controls the motor to stop;
  • the failsafe method also includes:
  • the control module cannot receive the When the third signal is sent from the bottom-opening position detection unit, the control module determines that the bottom-opening position detection unit is invalid, and controls the motor to stop.
  • the embodiments of this specification provide a method for protecting a position detection unit failure of an electric stapler, wherein the electric stapler includes a jaw assembly, a cutting knife assembly, a transmission mechanism, a motor, and a control assembly; the motor drives all the components through the transmission mechanism.
  • the control assembly includes a current sensor, a position detection unit and a control module, the current sensor is electrically connected with the motor and the control module for obtaining the current of the motor and sent to the control module;
  • the position detection unit is electrically connected to the control module;
  • the control module is electrically connected to the motor;
  • the position detection unit includes a firing bottom position detection unit, which is used for When the cutting knife assembly is in the firing bottom position, a fourth signal is sent to the control module;
  • the motor rotates in the first direction, firstly drives the jaw assembly to perform the jaw closing action to the end, and then drives the cutting
  • the knife assembly executes the firing action to the end;
  • the cutting knife assembly executes the firing action, and when the cutting knife assembly is at the bottom cutting position, the control module receives the fourth signal and controls the motor to stop;
  • the failsafe method includes:
  • the control module cannot receive the firing to the end If the fourth signal is sent from the position detection unit, the control module determines that the firing bottom position detection unit is invalid, and controls the motor to stop.
  • the embodiments of this specification provide a method for protecting a position detection unit failure of an electric stapler, wherein the electric stapler includes a jaw assembly, a cutting knife assembly, a transmission mechanism, a motor, and a control assembly; the motor drives all the components through the transmission mechanism.
  • the control assembly includes a current sensor, a position detection unit and a control module, the current sensor is electrically connected with the motor and the control module for obtaining the current of the motor and sent to the control module;
  • the position detection unit is electrically connected to the control module;
  • the control module is electrically connected to the motor;
  • the position detection unit includes an open-to-bottom position detection unit for When the jaw assembly is in the open bottom position, a third signal is sent to the control module;
  • the motor rotates in the second direction, firstly drives the cutting knife assembly to perform a retraction action to the initial position, and then drives the jaws
  • the assembly performs the jaw opening action to the end;
  • the jaw assembly performs the opening action, and when the jaw assembly is in the fully opened position, the control module receives the third signal and controls the motor to stop;
  • the failsafe method includes:
  • the control module cannot receive the When the third signal is sent from the bottom-opening position detection unit, the control module determines that the bottom-opening position detection unit is invalid, and controls the motor to stop.
  • an electric stapler including a jaw assembly, a cutting knife assembly, a transmission mechanism, a motor, and a control assembly; the motor drives the jaw assembly and the cutting knife assembly through the transmission mechanism;
  • the control assembly includes an electrically connected position detection unit and a control module, the control module is electrically connected to the motor; the position detection unit includes an initial position detection unit and a closed bottom position detection unit, and the initial position detection unit uses When the cutting knife assembly is at the initial position, a first signal is sent to the control module; the closed bottom position detection unit is used for sending a second signal to the control module when the jaw assembly is at the closed bottom position ;
  • the motor rotates in the first direction, firstly drives the jaw assembly to perform the jaw closing action to the end, and then drives the cutting knife assembly to perform the firing action to the end; the jaw assembly performs the closing action, when the jaw assembly is in the closed bottom position, and the control module controls the motor to stop after receiving the second signal;
  • the jaw assembly is in an open state, and the motor rotates in the first direction. If the control module cannot receive the second signal sent by the closed bottom position detection unit, and cannot receive any signal sent by the initial position detection unit. If the first signal is received, the control module determines that the closed bottom position detection unit is invalid, and controls the motor to stop.
  • the motor rotates in the second direction, firstly driving the cutting knife assembly to perform a retracting action to an initial position, and then driving the jaw assembly to perform a jaw opening action to the end, the The second direction is opposite to the first direction; the cutting knife assembly performs a knife retracting action, and when the cutting knife assembly is at the initial position, the control module receives the first signal and controls the motor to stop;
  • the cutting knife assembly is in the knife-out state, the motor rotates in the second direction, the control module cannot receive the first signal sent by the initial position detection unit, and cannot receive all the signals sent by the closed bottom position detection unit.
  • the control module determines that the initial position detection unit is invalid, and controls the motor to stop.
  • the position detection unit includes an open-to-bottom position detection unit, configured to send a third signal to the control module when the jaw assembly is in the open-to-bottom position;
  • the motor moves along the second The direction of rotation is to drive the cutting knife assembly to perform the retracting action to the initial position first, and then drive the jaw assembly to perform the jaw opening action to the end, the second direction is opposite to the first direction;
  • the cutting The knife assembly performs the knife retracting action, and when the cutting knife assembly is at the initial position, the control module receives the first signal and controls the motor to stop;
  • the cutting knife assembly is in the knife-out state, the motor rotates in the second direction, the control module does not receive the first signal sent by the initial position detection unit, and receives the open-to-bottom position detection unit.
  • the control module determines that the initial position detection unit is invalid, and controls the motor to stop.
  • control assembly includes a current sensor, the current sensor is electrically connected to the motor and the control module, and is used to obtain the current of the motor and send it to the control module;
  • position The detection unit includes a firing bottom position detection unit for sending a fourth signal to the control module when the cutting knife assembly is at the firing bottom position; the cutting knife assembly performs a firing action, when the cutting knife assembly is at the cutting bottom position , the control module controls the motor to stop after receiving the fourth signal;
  • the control module cannot receive the firing to the end If the fourth signal is sent from the position detection unit, the control module determines that the firing bottom position detection unit is invalid, and controls the motor to stop.
  • the control assembly includes a current sensor, the current sensor is electrically connected to the motor and the control module, and is used to obtain the current of the motor and send it to the control module;
  • the position The detection unit includes an open-to-bottom position detection unit, which is used to send a third signal to the control module when the jaw assembly is in the open-to-bottom position;
  • the motor rotates in the second direction, and firstly drives the cutting knife assembly to execute The tool retracts to the initial position, and then the jaw assembly is driven to perform the jaw opening operation to the end, and the second direction is opposite to the first direction;
  • the jaw assembly performs the opening action, when the jaw assembly is located in the Open to the bottom position, the control module receives the third signal and controls the motor to stop;
  • the control module cannot receive the When the third signal is sent from the bottom-opening position detection unit, the control module determines that the bottom-opening position detection unit is invalid, and controls the motor to stop.
  • the embodiments of this specification provide an electric stapler, including a jaw assembly, a cutting knife assembly, a transmission mechanism, a motor, and a control assembly; the motor drives the jaw assembly and the cutting knife assembly through the transmission mechanism;
  • the control assembly includes a current sensor, a position detection unit and a control module, the current sensor is electrically connected to the motor and the control module, and is used to obtain the current of the motor and send it to the control module;
  • the position detection The unit is electrically connected to the control module;
  • the control module is electrically connected to the motor;
  • the position detection unit includes a firing bottom position detecting unit, which is used for sending the The control module sends a fourth signal;
  • the cutting blade assembly executes a firing action, and when the cutting blade assembly is at the bottom cutting position, the control module receives the fourth signal and controls the motor to stop;
  • the control module cannot receive the firing to the end If the fourth signal is sent from the position detection unit, the control module determines that the firing bottom position detection unit is invalid, and controls the motor to stop.
  • the embodiments of this specification provide an electric stapler, including a jaw assembly, a cutting knife assembly, a transmission mechanism, a motor, and a control assembly; the motor drives the jaw assembly and the cutting knife assembly through the transmission mechanism;
  • the control assembly includes a current sensor, a position detection unit and a control module, the current sensor is electrically connected to the motor and the control module, and is used to obtain the current of the motor and send it to the control module;
  • the position detection The unit is electrically connected to the control module;
  • the control module is electrically connected to the motor;
  • the position detection unit includes an open-to-the-bottom position detection unit, which is used to detect the position of the jaw assembly when the jaw assembly is in the open-to-bottom position.
  • the control module sends a third signal; the jaw assembly performs an opening action, and when the jaw assembly is at the bottom opening position, the control module receives the third signal and controls the motor to stop;
  • the control module cannot receive the When the third signal is sent from the bottom-opening position detection unit, the control module determines that the bottom-opening position detection unit is invalid, and controls the motor to stop.
  • the jaw assembly In a method for protecting the position detection unit of an electric stapler provided by the embodiment of this specification, the jaw assembly is in an open state, and the motor rotates in the first direction. The second signal is not received, and the first signal sent by the initial position detection unit is not received, that is, the motor is controlled to stop. Even if the closed bottom position detection unit fails, the cutting blade assembly can be stopped immediately after leaving the initial position, and it cannot continue to cut. Will not cause patient injury.
  • Another method for protecting the position detection unit failure of an electric stapler provided by the embodiment of this specification, even if the position detection unit is fired to the bottom or the position detection unit is opened to the bottom fails, according to the current measured by the current sensor, when the current is greater than the first predetermined value and the increase of the current per unit time is greater than the second predetermined value, the control module determines that the firing bottom position detection unit is invalid, and controls the motor to stop; or when the current is greater than the third predetermined value and the increase of the current per unit time is greater than the fourth predetermined value When the value is set, the control module judges that the open end position detection unit is invalid, and controls the motor to stop. It can avoid the hard locking of the motor, will not cause damage to the stapler, and is safe and reliable.
  • FIG. 1 is a schematic diagram of the external structure of an electric stapler provided in an embodiment of the present specification
  • FIG. 2 is a schematic diagram of the internal structure of an electric stapler provided in an embodiment of the present specification from a first perspective;
  • FIG. 3 is a schematic diagram of the internal structure of an electric stapler provided in an embodiment of the present specification from a second perspective;
  • FIG. 4 is a schematic diagram of a control circuit of an electric stapler provided in an embodiment of the present specification
  • FIG. 5 is a schematic diagram of a control circuit of another electric stapler provided in the embodiment of the present specification.
  • FIG. 6 shows a partial enlarged view of the electric stapler of FIG. 2 .
  • the electric stapler 100 may include a jaw assembly 10 , a cutting knife assembly 20 , a transmission mechanism, a motor 30 and a control assembly.
  • the motor 30 drives the jaw assembly 10 and drives the cutting blade assembly 20 through a transmission mechanism.
  • the control assembly includes a position detection unit 50 and a control module 40 that are electrically connected.
  • the control module 40 is electrically connected to the motor 30 .
  • the position detection unit 50 includes an initial position detection unit 51 and a closed bottom position detection unit 53 .
  • the initial position detection unit 51 is used for sending a first signal to the control module 40 when the cutting blade assembly 20 is in the initial position.
  • the closed bottom position detection unit 53 is used to send a second signal to the control module 40 when the jaw assembly 10 is in the closed bottom position.
  • the motor 30 rotates in the first direction, firstly drives the jaw assembly 10 to perform the jaw closing action to the end, and then drives the cutting knife assembly 20 to execute the firing action to the end.
  • the jaw assembly 10 performs the closing action.
  • the control module 40 receives the second signal and controls the motor 30 to stop.
  • the fail-safe method includes: the jaw assembly 10 is in an open state, and the motor 30 rotates in the first direction, if the control module 40 cannot receive the second signal sent by the closed bottom position detection unit 53 and cannot receive the initial position detection unit 51 sends the first signal, the control module 40 determines that the closing bottom position detection unit 53 is invalid, and controls the motor 30 to stop.
  • the above-mentioned "the jaw assembly 10 is in the open state, and the motor 30 rotates in the first direction” means that the motor is driven to rotate in the first direction from a moment when the motor stops and the jaw is in the open state.
  • the electric stapler 100 may include a closing unit 61 electrically connected to the control module 40 for the user to trigger a jaw closing signal representing the jaw closing action.
  • the closing unit 61 may include a jaw closing button provided on the stapler.
  • the control module 40 detects that the jaw closing button is pressed, it controls the motor 30 to rotate, so that the jaw assembly 10 is driven to close by the motor 30 , until the jaw assembly 10 is fully closed, the control module 40 controls the motor 30 to stop.
  • the jaw assembly 10 can be continuously closed by continuously pressing the jaw closing button, and the control module 40 controls the motor 30 to stop when it is closed to the end; or the jaw closing button can be released by pressing the jaw closing button once.
  • a jaw closing signal is given to keep the jaw assembly 10 closed until it is closed to the end, and the control module 40 controls the motor 30 to stop.
  • the transmission mechanism may be connected with a clutch mechanism, so that the driving object of the motor 30 is switched between the jaw assembly 10 and the cutting blade assembly 20 through the clutch mechanism.
  • the transmission mechanism may include a first transmission mechanism and a second transmission mechanism.
  • the motor 30 can drive the first transmission mechanism to advance or retreat, thereby driving the jaw assembly 10 to open or close; the motor 30 can drive the second transmission mechanism to advance or retreat, thereby driving the cutting knife assembly 20 to cut forward or retreat. Knife.
  • the clutch mechanism can switch the motor 30 to drive the first transmission mechanism or drive the second transmission mechanism.
  • the movement stroke of the jaw assembly 10 has an open bottom position and a closed bottom position, the opening action of the jaw assembly 10 is to move toward the open bottom position, and the closing action of the jaw assembly 10 is to move toward the closed bottom position; the movement of the cutter assembly 20
  • the stroke has an initial position and a firing bottom position.
  • the firing action of the cutting blade assembly 20 moves toward the firing bottom position, and the retracting action of the cutting knife assembly 20 moves toward the initial position.
  • the cutting blade assembly 20 when the jaw assembly 10 moves, the cutting blade assembly 20 does not perform cutting and the cutting blade assembly 20 is in the initial position; when the jaw assembly 10 is in the closed bottom position, the cutting blade assembly 20 can only be Motion to cut and then retract. This embodiment only uses one motor 30 for a complete service cycle.
  • the jaw assembly 10 is in the open bottom position.
  • the motor 30 first drives the first transmission mechanism.
  • the motor 30 rotates N times in the first direction
  • the first The transmission mechanism drives the jaw assembly 10 to close and close to the end, and the clutch mechanism switches the motor 30 to drive the second transmission mechanism; the motor 30 continues to rotate M circles in the first direction, and the second transmission mechanism can drive the cutting knife assembly 20 to advance and cut
  • the motor 30 rotates M circles in the second direction
  • the cutting knife assembly 20 can be driven by the second transmission mechanism to retreat and retract the knife to the end, and the clutch mechanism switches the motor 30 to drive the first transmission mechanism; then rotate N in the second direction.
  • the first transmission mechanism can drive the jaw assembly 10 to open and open to the end. wherein the second direction is opposite to the first direction.
  • the first direction is clockwise
  • the second direction is counterclockwise.
  • the above is the working condition of cutting to the end.
  • the size of the staple cartridge is 60mm
  • the staple cartridge is fully used
  • the length of the cut on the tissue is 60mm.
  • part of the staple cartridge assembly can be used, for example, the cutting length is 40mm.
  • the cutting blade assembly 20 is first driven to perform the retracting action to the initial position, and then the jaw assembly 10 is driven to perform the jaw opening action until it is fully opened. That is, while maintaining the rotation of the motor in the first direction, the jaw closing action can be smoothly entered into the firing action without mechanical jamming. In the same way, in the case of keeping the motor rotating in the second direction, it can smoothly go from the retraction action to the jaw opening action without mechanical jamming.
  • the electric stapler 100 realizes the power transmission from the motor 30 to the jaw assembly 10 and the cutting knife assembly 20 through the above-mentioned transmission mechanism.
  • the motor 30 first drives the jaw assembly 10 to close through the transmission mechanism to clamp the tissue, then the motor 30 drives the cutting blade assembly 20 forward through the transmission mechanism to cut and staple the tissue, then the motor 30 drives the cutting blade assembly 20 to retreat through the transmission mechanism, and finally the motor 30 is driven by the transmission mechanism to open the jaw assembly 10 to loosen the tissue, thereby realizing the functions of the stapler for cutting and anastomosis.
  • the position detection unit 50 may include a closed bottom position detection unit 53 for sending a second signal to the control module 40 when the jaw assembly 10 is in the closed bottom position.
  • the control module 40 controls the motor 30 to stop.
  • the motor may be stopped when the jaw assembly 10 is closed to the end by other means.
  • the control module 40 may control the motor 30 to stop when it is detected that the motor 30 rotates N times in the first direction.
  • the closed bottom position detection unit 53 ensures a pause between the two movements, which is beneficial to the surgical procedure.
  • the closing bottom position detection unit 53 or other devices for detecting the bottom closing of the jaw assembly 10 for example, a device for detecting the number of turns of the motor 30 in the first direction
  • the control module 40 receives a The motor 30 cannot be stopped until the second signal or other signals that the jaw assembly is closed to the end.
  • the motor 30 continues to rotate in the first direction, so that the cutting blade assembly 20 is advanced to perform the cutting action.
  • the doctor may not Do a good job in locating the location of the lesion.
  • the control module 40 does not receive the second signal and does not The control stops, and the motor continues to rotate, causing the cutting blade assembly 20 to advance and fire.
  • the control module 40 cannot receive the first signal sent by the initial position detection unit 51.
  • the motor 30 is controlled to stop, so that the cutting blade assembly 20 will stop immediately after leaving the initial position, so that it cannot continue to cut, and the patient will not be injured.
  • the switch can be turned on through the jaw assembly 10 to control the opening of the jaw assembly 10, and the stapler can be taken out from the patient.
  • the position detection unit 50 and the control module 40 can be respectively connected to a power module to obtain electrical power to operate.
  • the control module 40 can be a circuit board assembly 41, which is accommodated in the housing and includes a detection unit, a control unit, a switch driving unit and a switch unit.
  • the position detection unit 50 is electrically connected to the detection unit, the detection unit is electrically connected to the control unit, the control unit is electrically connected to the switch driving unit, and the switch driving unit is electrically connected to the switch unit.
  • the detection unit detects the state of the position detection unit 50, and when triggered, the position detection unit 50 transmits a signal to the control unit, and the control unit analyzes and processes the signal, and then controls the stapler.
  • the position detection unit 50 includes various limit switches or sensors for controlling the running state of the motor 30 , such as an initial position detection unit 51 , a closed bottom position detection unit 53 and the like.
  • the control unit receives a signal for controlling the motor 30 from the position detection unit 50, the control unit generates a corresponding low-voltage PWM signal to the switch drive unit, and the switch drive unit converts the input low-voltage PWM signal 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 the two ends of the motor 30 through the switch unit.
  • the on-off frequency of the switch unit determines the power supply or power off of the power module to the motor 30 , thereby determining the running state of the motor 30 - the speed and direction of the motor 30 .
  • the switch unit may include four Mos switches forming the H-bridge.
  • the on-off of the Mos switches of the H-bridge determines whether the power module supplies or powers off the motor 30
  • 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 rotate the motor 30 in the first direction or in the second direction. It should be noted that the above-mentioned H-bridge control and rotation control along the first and second directions of the motor 30 are all in the prior art and will not be repeated here.
  • the control unit is a microcontroller chip.
  • the cutting blade assembly 20 performs a knife retracting action.
  • the control module 40 receives the first signal and controls the motor 30 to stop.
  • the fail-safe method may further include: when the cutting knife assembly 20 is in the knife-out state, the motor 30 rotates in the second direction, the control module 40 cannot receive the first signal sent by the initial position detection unit 51, and cannot receive the closed bottom position detection When the second signal is sent from the unit 53, the control module 40 determines that the initial position detection unit 51 is invalid, and controls the motor 30 to stop.
  • the cutting blade assembly 20 is in the knife-out state, and the motor rotates in the second direction
  • the motor is driven to rotate in the second direction at a moment when the motor is stopped and the cutting knife assembly is in the knife-out state.
  • the knife-out state means that the cutting knife assembly is not in the initial position, that is, in front of the initial position.
  • the electric stapler 100 may include a retraction unit 64 electrically connected to the control module 40 for the user to trigger a retraction signal representing the retraction action.
  • the retracting unit 64 may include a retracting button provided on the stapler.
  • the control module 40 detects that the retract button is pressed, the motor 30 is controlled to rotate, so that the cutter assembly 20 is driven by the motor 30 to retract to the initial position.
  • the cutting knife assembly 20 can also be retracted by other methods, so that the cutting knife assembly 20 can perform a knife retracting action until it is in the initial position, and is not limited to pressing the retract button. For example, when the cutting knife assembly 20 is fired, the knife can be automatically retracted.
  • the motor 30 cannot be controlled to stop when the cutter assembly 20 is retracted to the end, the motor 30 continues to rotate, and the jaws continue to open until the jaw assembly 10 is limited by the mechanical structure and locked. It can cause damage to the stapler.
  • the control module 40 does not receive the first signal and does not control the shutdown, and the motor 30 continues to rotate so as to The jaw assembly 10 begins to open, and the control module 40 cannot receive the second signal sent by the closing bottom position detection unit 53.
  • control module 40 determines that the initial position detection unit 51 is invalid, and controls the motor 30 to stop, so that the jaw assembly 10 can be stopped. As soon as it is opened, it will stop immediately, the motor 30 will not be blocked, and the stapler will not be damaged, which is safe and reliable.
  • the position detection unit 50 may further include an open-to-bottom position detection unit 54 for sending a third signal to the control module 40 when the jaw assembly 10 is in the open-to-bottom position.
  • the fail-safe method may further include: when the cutting knife assembly 20 is in the knife-out state, the motor rotates in the second direction, the control module 40 cannot receive the first signal sent by the initial position detection unit 51, and receives the open-to-bottom position detection unit 54 When the third signal is sent, the control module 40 determines that the initial position detection unit 51 is invalid, and controls the motor 30 to stop.
  • the control module 40 does not receive the first signal and does not control the shutdown, and the motor 30 continues to rotate so that the jaw assembly 10 is opened to the end.
  • the control module 40 receives the third signal from the opening to the bottom position detection unit 54.
  • the control module 40 judges that the initial position detection unit 51 is invalid, and controls the motor 30 to stop, which can make the jaw assembly 10 stop immediately after it is opened to the end, The motor 30 will not be blocked, and the stapler will not be damaged, which is safe and reliable.
  • the embodiment of the present specification also provides a method for protecting the position detection unit 50 of the electric stapler 100 from failure.
  • the control assembly includes a current sensor, and the current sensor is electrically connected to the motor 30 and the control module 40 for acquiring the current of the motor 30 and sending it to the control module 40 .
  • the position detection unit 50 may include a fired-to-bottom position detection unit 52 .
  • the firing bottom position detection unit 52 is used to send a fourth signal to the control module 40 when the cutting blade assembly 20 is in the firing bottom position.
  • the cutting blade assembly 20 performs the firing action.
  • the control module 40 receives the fourth signal and controls the motor 30 to stop.
  • the fail-safe method includes: during the firing action of the cutting blade assembly 20, when the current of the current sensor is greater than a first predetermined value and the increase of the current per unit time is greater than a second predetermined value, the control module 40 receives a false alarm. When the fourth signal sent by the firing bottom position detection unit 52 is reached, the control module 40 determines that the firing bottom position detection unit 52 is invalid, and controls the motor 30 to stop.
  • the embodiment of the present specification also provides a method for protecting the position detection unit 50 of the electric stapler 100 from failure.
  • the protection method further includes: during the jaw assembly 10 performing the jaw opening action, when the current of the current sensor is greater than a third predetermined value and the increase of the current per unit time is greater than a fourth predetermined value, the control module 40 If the third signal sent by the open-to-bottom position detection unit 54 is not received, the control module 40 determines that the open-to-bottom position detection unit 54 is invalid, and controls the motor 30 to stop.
  • the electric stapler 100 may include an opening unit 62 electrically connected to the control module 40 for a user to trigger a jaw opening signal representing the jaw opening action.
  • the opening unit 62 may include a jaw opening button provided on the stapler.
  • the control module 40 detects that the jaw opening button is pressed, the motor 30 is controlled to rotate, so that the jaw assembly 10 is driven to open by the motor 30 until the jaw assembly 10 reaches the bottom opening position.
  • the electric stapler 100 may include a firing unit 63 electrically connected to the control module 40 for a user to trigger a firing signal indicative of an advancing action.
  • the firing unit 63 may include firing buttons provided on the stapler.
  • the control module 40 When the control module 40 detects that the firing button is pressed, the motor 30 is controlled to rotate, so that the cutting blade assembly 20 is driven forward by the motor 30 until the cutting blade assembly 20 reaches the firing bottom position.
  • the cutting knife assembly 20 can also be fed by other methods, so that the cutting knife assembly 20 performs a firing action, instead of being limited to pressing the firing button.
  • a safety switch and a timer that become valid when the jaw assembly 10 is closed to the end are provided. When the safety switch is triggered for the first time, the timer starts to count. When a preset time, such as 15s, is reached, the control module 40 automatically controls the motor 30 drives the cutter assembly 20 forward, performing the firing action.
  • the closing unit 61 and the firing unit 63 can be integrated into a closing/firing unit 65 , specifically the first button 71
  • the retracting unit 64 and the opening unit 62 can be integrated into a retracting/firing unit 65 .
  • the knife/opening unit 66 specifically the second button 72, so that the trigger switch that controls the rotation of the motor 30 in the first direction is the same switch unit.
  • the electric stapler 100 completes the entire working process by sequentially performing the jaw closing action, the firing action, the retracting action and the jaw opening action, and corresponding to the above 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 so as to drive the motor 30 to rotate in the first direction, the first direction, the second direction, and the second direction through the control module 40, and finally Do all the above actions in sequence.
  • the control module 40 cannot receive the third signal or the fourth signal when the jaw assembly 10 is opened to the bottom or the cutter assembly 20 is fired to the bottom, and the motor 30 It will continue to run, and after colliding with the mechanical restriction structure, a mechanical hard lock will be generated, causing damage to the electric stapler 100 . Even on some staplers, the knife cannot be retracted, the jaws cannot be opened, and it cannot be removed from the patient, causing patient damage.
  • the mechanical hard locked rotor is characterized by a high current rising slope (greater than the second predetermined value or the fourth predetermined value), and a large current value (greater than the first predetermined value or the third predetermined value).
  • Mechanical hard stall can be distinguished from normal cutting thick tissue and empty staple cartridge safety position stall.
  • the current value is high and may be greater than the first predetermined value or the third predetermined value, but the current rises slowly and is smaller than the second predetermined value or the fourth predetermined value.
  • the current rising slope can be as high as that of the mechanical hard locked rotor, but the current value is small and smaller than the first predetermined value or the third predetermined value.
  • Empty staple cartridge refers to the stapler without a staple cartridge or a used staple cartridge installed, wherein the empty staple cartridge safety position is set during the forward process of the cutting knife assembly 20, which is used to determine that the stapler is in an empty staple cartridge state and prevent cutting The knife assembly 20 is out of the knife.
  • the cutting knife assembly 20 is blocked by the empty staple cartridge safety position and blocked.
  • the cutting knife assembly 20 can go over the empty staples without stopping.
  • the warehouse safety position continues to advance until the firing is in the end.
  • the stapler if it is detected that the current value is greater than the first predetermined value or the third predetermined value and the current rising slope is greater than the second predetermined value or the fourth predetermined value, it can be determined that the whole machine is hard locked.
  • the control module 40 judges that the firing bottom position detection unit 52 is invalid, and controls the motor 30 to stop; or when the current is greater than the third predetermined value and the increase of the current per unit time is greater than the fourth predetermined value, The control module 40 determines that the opening-to-bottom position detection unit 54 is invalid, and controls the motor 30 to stop.
  • the motor 30 can be prevented from being hard locked, the stapler will not be damaged, and it is safe and reliable.
  • the first predetermined value may be 4A
  • the second predetermined value may be 0.04A/ms.
  • the third predetermined value may be 4A
  • the fourth predetermined value may be 0.04A/ms.
  • the time difference of slope calculation needs to be as small as possible (for example, less than 100ms), so that the obtained slope of this point can be more accurate. If I n is greater than 4A and the slope at I n is greater than 0.04A/ms, the control module 40 can determine that the firing bottom position detection unit 52 or the open bottom position detection unit 54 has failed, and the motor 30 is in a hard locked rotor state, and immediately controls the When the motor 30 is stopped, the hard lock of the motor 30 can be avoided.
  • the embodiments of the present specification also provide an electric stapler 100, which can be the electric stapler 100 in any of the above-mentioned embodiments, applying the position detection unit failure protection method in any of the above-mentioned embodiments, and has the same protection method as the above-mentioned protection method. The same effect will not be repeated here.
  • any numerical value recited herein includes all values of the lower value and the upper value in one unit increments from the lower value to the upper value, where there is an interval of at least two units between any lower value and any higher value, i.e. Can.
  • the number of components or process variables eg, temperature, pressure, time, etc.
  • the intent is to illustrate that the The specification also explicitly lists values such as 15 to 85, 22 to 68, 43 to 51, 30 to 32, and the like.
  • one unit is appropriately considered to be 0.0001, 0.001, 0.01, 0.1.
  • 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）及其位置检测单元（50）失效保护方法，电动吻合器（100）包括钳口组件（10）、切割刀组件（20）、传动机构、电机（30）、控制组件；电机（30）通过传动机构驱动钳口组件（10）和驱动切割刀组件（20）；控制组件包括位置检测单元（50）和控制模块（40）；位置检测单元（50）包括初始位置检测单元（51）和闭合到底位置检测单元（53）；失效保护方法包括：钳口组件（10）处于打开状态，电机（30）沿第一方向转动，若控制模块（40）接收不到闭合到底位置检测单元（53）发出的第二信号，且接收不到初始位置检测单元（51）发出的第一信号，则控制模块（40）判断闭合到底位置检测单元（53）失效，控制电机（30）停机。电动吻合器（100）具有可靠的安全性，在使用过程中不会造成患者受伤或自身损坏。

Description

电动吻合器及其位置检测单元失效保护方法
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202011444911.5，发明名称为“电动吻合器及其位置检测单元失效保护方法”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位置检测单元失效保护方法。
背景技术
本部分的描述仅提供与本说明书公开相关的背景信息，而不构成现有技术。
腔内切割吻合器已经普遍应用于腹腔等腔内手术中。吻合器包括电机、钳口组件、切割刀组件和钉仓组件，电机能够驱动钳口组件打开或笔盒，还能驱动切割刀组件移动。首先钳口组件闭合以夹持组织，然后切割刀组件被驱动来切割组织，同时切割刀组件推动钉仓组件出钉来缝合组织，接着切割刀组件被驱动退刀，钳口组件打开，后续可以重新装填钉仓。
现有技术通过设置多个检测装置，在检测到钳口打开到底、或钳口闭合到底、或切割刀击发到底、或切割刀退刀到底时，会控制电机停机，以进行下一步操作。然而，当其中某个检测装置失效后，则电机无法及时停机，会导致电机堵转，造成吻合器损坏；更严重的是，可能会导致吻合器直接切割到好的人体组织或者无法从患者体内取出，造成患者损伤。
应该注意，上面对技术背景的介绍只是为了方便对本说明书的技术方案进行清楚、完整的说明，并方便本领域技术人员的理解而阐述的。不能仅仅因为这些方案在本说明书的背景技术部分进行了阐述而认为上述技术方案为本领域技术人员所公知。
发明内容
鉴于现有技术的不足，本说明书的一个目的是提供一种电动吻合器及其位置检测单元失效保护方法，使电动吻合器具有可靠的安全性，在使用过程中不会造成患者受伤或自身损坏。
为达到上述目的，本说明书实施方式提供一种电动吻合器的位置检测单元失效保护方法，所述电动吻合器包括钳口组件、切割刀组件、传动机构、电机、控制组件；所述电机通过所述传动机构驱动所述钳口组件和驱动所述切割刀组件；所述控制组件包括电性连接的位置检测单元和控制模块，所述控制模块与所述电机电性连接；所述位置检测单元包括初始位置检测单元和闭合到底位置检测单元，初始位置检测单元用于在所述切割刀组件位于初始位置时，向所述控制模块发出第一信号；闭合到底位置检测单元用于在所述钳口组件位于闭合到底位置时，向所述控制模块发出第二信号；
所述电机沿第一方向转动，先驱动所述钳口组件执行钳口闭合动作至闭合到底，后驱动所述切割刀组件执行击发动作至击发到底；所述钳口组件执行闭合动作，当所述钳口组件位于闭合到底位置，所述控制模块接收到所述第二信号而控制电机停机；
所述失效保护方法包括：
钳口组件处于打开状态，电机沿第一方向转动，若所述控制模块接收不到所述闭合到底位置检测单元发出的所述第二信号，且接收不到所述初始位置检测单元发出的所述第一信号，则所述控制模块判断所述闭合到底位置检测单元失效，控制所述电机停机。
在其中一种实施方式中，所述电机沿第二方向转动，先驱动所述切割刀组件执行退刀动作至初始位置，后驱动所述钳口组件执行钳口打开动作至打开到底，所述第二方向与所述第一方向相反；所述切割刀组件执行退刀动作，当所述切割刀组件位于初始位置，所述控制模块接收到所述第一信号而控制电机停机；
所述失效保护方法还包括：
切割刀组件处于出刀状态，电机沿第二方向转动，所述控制模块接收不到所述初始位置检测单元发出的所述第一信号，且接收不到所述闭合到底位置检测单元发出的所述第二信号时，所述控制模块判断所述初始位置检测单元失效，并控制所述电机停机。
在其中一种实施方式中，所述位置检测单元包括打开到底位置检测单元，用于在所述钳口组件位于打开到底位置时，向所述控制模块发出第三信号；所述电机沿第二方向转动，先驱动所述切割刀组件执行退刀动作至初始位置，后驱动所述钳口组件执行钳口打开动作至打开到底，所述第二方向与所述第一方向相反；所述切割刀组件执行退刀动作，当切割刀组件位于初始位置，所述控制模块接收到所述第一信号而控制电机停机；
所述失效保护方法还包括：
切割刀组件处于出刀状态，电机沿第二方向转动，所述控制模块接收不到所述初始位置检测单元发出的所述第一信号，且接收到所述打开到底位置检测单元发出的所述第三信号时，所述控制模块判断所述初始位置检测单元失效，并控制所述电机停机。
在其中一种实施方式中，所述控制组件包括电流传感器，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元包括击发到底位置检测单元，用于在所述切割刀组件位于击发到底位置时，向所述控制模块发出第四信号；所述切割刀组件执行击发动作，当切割刀组件位于切割到底位置，所述控制模块接收到所述第四信号而控制电机停机；
所述失效保护方法还包括：
在所述切割刀组件执行击发动作的过程中，所述电流传感器的电流大于第一预定值且电流在单位时间的增长量大于第二预定值时，所述控制模块接收不到所述击发到底位置检测单元发出的所述第四信号，则所述控制模块判断所述击发到底位置检测单元失效，并控制所述电机停机。
在其中一种实施方式中，所述控制组件包括电流传感器，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元包括打开到底位置检测单元，用于在所述钳口组件位于打开到底位置时，向所述控制模块发出第三信号；所述电机沿第二方向转动，先驱动所述切割刀组件执行退刀动作至初始位置，后驱动所述钳口组件执行钳口打开动作至打开到底，所述第二方向与所述第一方向相反；所述钳口组件执行打开动作，当钳口组件位于打开到底位置，所述控制模块接收到所述第三信号而控制电机停机；
所述失效保护方法还包括：
在所述钳口组件执行钳口打开动作的过程中，所述电流传感器的电流大于第三预定值且电流在单位时间的增长量大于第四预定值时，所述控制模块接收不到所述打开到底位置检测单元发出的所述第三信号，则所述控制模块判断所述打开到底位置检测单元失效，并控制所述电机停机。
本说明书实施方式提供一种电动吻合器的位置检测单元失效保护方法，所述电动吻合器包括钳口组件、切割刀组件、传动机构、电机、控制组件；所述电机通过所述传动机构驱动所述钳口组件和驱动所述切割刀组件；所述控制组件包括电流传感器、位置检测单元和控制模块，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至 所述控制模块；所述位置检测单元与所述控制模块电性连接；所述控制模块与所述电机电性连接；所述位置检测单元包括击发到底位置检测单元，用于在所述切割刀组件位于击发到底位置时，向所述控制模块发出第四信号；所述电机沿第一方向转动，先驱动所述钳口组件执行钳口闭合动作至闭合到底，后驱动所述切割刀组件执行击发动作至击发到底；所述切割刀组件执行击发动作，当切割刀组件位于切割到底位置，所述控制模块接收到所述第四信号而控制电机停机；
所述失效保护方法包括：
在所述切割刀组件执行击发动作的过程中，所述电流传感器的电流大于第一预定值且电流在单位时间的增长量大于第二预定值时，所述控制模块接收不到所述击发到底位置检测单元发出的所述第四信号，则所述控制模块判断所述击发到底位置检测单元失效，并控制所述电机停机。
本说明书实施方式提供一种电动吻合器的位置检测单元失效保护方法，所述电动吻合器包括钳口组件、切割刀组件、传动机构、电机、控制组件；所述电机通过所述传动机构驱动所述钳口组件和驱动所述切割刀组件；所述控制组件包括电流传感器、位置检测单元和控制模块，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元与所述控制模块电性连接；所述控制模块与所述电机电性连接；所述位置检测单元包括打开到底位置检测单元，用于在所述钳口组件位于打开到底位置时，向所述控制模块发出第三信号；所述电机沿第二方向转动，先驱动所述切割刀组件执行退刀动作至初始位置，后驱动所述钳口组件执行钳口打开动作至打开到底；所述钳口组件执行打开动作，当钳口组件位于打开到底位置，所述控制模块接收到所述第三信号而控制电机停机；
所述失效保护方法包括：
在所述钳口组件执行钳口打开动作的过程中，所述电流传感器的电流大于第三预定值且电流在单位时间的增长量大于第四预定值时，所述控制模块接收不到所述打开到底位置检测单元发出的所述第三信号，则所述控制模块判断所述打开到底位置检测单元失效，并控制所述电机停机。
本说明书实施方式提供一种电动吻合器，包括钳口组件、切割刀组件、传动机构、电机、控制组件；所述电机通过所述传动机构驱动所述钳口组件和驱动所述切割刀组件；
所述控制组件包括电性连接的位置检测单元和控制模块，所述控制模块与所述电机电性连接；所述位置检测单元包括初始位置检测单元和闭合到底位置检测单元，初始位置检测单 元用于在所述切割刀组件位于初始位置时，向所述控制模块发出第一信号；闭合到底位置检测单元用于在所述钳口组件位于闭合到底位置时，向所述控制模块发出第二信号；所述电机沿第一方向转动，先驱动所述钳口组件执行钳口闭合动作至闭合到底，后驱动所述切割刀组件执行击发动作至击发到底；所述钳口组件执行闭合动作，当所述钳口组件位于闭合到底位置，所述控制模块接收到所述第二信号而控制电机停机；
钳口组件处于打开状态，电机沿第一方向转动，若所述控制模块接收不到所述闭合到底位置检测单元发出的所述第二信号，且收不到所述初始位置检测单元发出的所述第一信号，则所述控制模块判断所述闭合到底位置检测单元失效，控制所述电机停机。
在其中一种实施方式中，所述电机沿第二方向转动，先驱动所述切割刀组件执行退刀动作至初始位置，后驱动所述钳口组件执行钳口打开动作至打开到底，所述第二方向与所述第一方向相反；所述切割刀组件执行退刀动作，当所述切割刀组件位于初始位置，所述控制模块接收到所述第一信号而控制电机停机；
切割刀组件处于出刀状态，电机沿第二方向转动，所述控制模块接收不到所述初始位置检测单元发出的所述第一信号，且接收不到所述闭合到底位置检测单元发出的所述第二信号时，所述控制模块判断所述初始位置检测单元失效，并控制所述电机停机。
在其中一种实施方式中，所述位置检测单元包括打开到底位置检测单元，用于在所述钳口组件位于打开到底位置时，向所述控制模块发出第三信号；所述电机沿第二方向转动，先驱动所述切割刀组件执行退刀动作至初始位置，后驱动所述钳口组件执行钳口打开动作至打开到底，所述第二方向与所述第一方向相反；所述切割刀组件执行退刀动作，当切割刀组件位于初始位置，所述控制模块接收到所述第一信号而控制电机停机；
切割刀组件处于出刀状态，电机沿第二方向转动，所述控制模块接收不到所述初始位置检测单元发出的所述第一信号，且接收到所述打开到底位置检测单元发出的所述第三信号时，所述控制模块判断所述初始位置检测单元失效，并控制所述电机停机。
在其中一种实施方式中，所述控制组件包括电流传感器，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元包括击发到底位置检测单元，用于在所述切割刀组件位于击发到底位置时，向所述控制模块发出第四信号；所述切割刀组件执行击发动作，当切割刀组件位于切割到底位置，所述控制模块接收到所述第四信号而控制电机停机；
在所述切割刀组件执行击发动作的过程中，所述电流传感器的电流大于第一预定值且电流在单位时间的增长量大于第二预定值时，所述控制模块接收不到所述击发到底位置检测单 元发出的所述第四信号，则所述控制模块判断所述击发到底位置检测单元失效，并控制所述电机停机。
在其中一种实施方式中，所述控制组件包括电流传感器，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元包括打开到底位置检测单元，用于在所述钳口组件位于打开到底位置时，向所述控制模块发出第三信号；所述电机沿第二方向转动，先驱动所述切割刀组件执行退刀动作至初始位置，后驱动所述钳口组件执行钳口打开动作至打开到底，所述第二方向与所述第一方向相反；所述钳口组件执行打开动作，当钳口组件位于打开到底位置，所述控制模块接收到所述第三信号而控制电机停机；
在所述钳口组件执行钳口打开动作的过程中，所述电流传感器的电流大于第三预定值且电流在单位时间的增长量大于第四预定值时，所述控制模块接收不到所述打开到底位置检测单元发出的所述第三信号，则所述控制模块判断所述打开到底位置检测单元失效，并控制所述电机停机。
本说明书实施方式提供一种电动吻合器，包括钳口组件、切割刀组件、传动机构、电机、控制组件；所述电机通过所述传动机构驱动所述钳口组件和驱动所述切割刀组件；所述控制组件包括电流传感器、位置检测单元和控制模块，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元与所述控制模块电性连接；所述控制模块与所述电机电性连接；所述位置检测单元包括击发到底位置检测单元，用于在所述切割刀组件位于击发到底位置时，向所述控制模块发出第四信号；所述切割刀组件执行击发动作，当切割刀组件位于切割到底位置，所述控制模块接收到所述第四信号而控制电机停机；
在所述切割刀组件执行击发动作的过程中，所述电流传感器的电流大于第一预定值且电流在单位时间的增长量大于第二预定值时，所述控制模块接收不到所述击发到底位置检测单元发出的所述第四信号，则所述控制模块判断所述击发到底位置检测单元失效，并控制所述电机停机。
本说明书实施方式提供一种电动吻合器，包括钳口组件、切割刀组件、传动机构、电机、控制组件；所述电机通过所述传动机构驱动所述钳口组件和驱动所述切割刀组件；所述控制组件包括电流传感器、位置检测单元和控制模块，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元与所述控制模块电性连接；所述控制模块与所述电机电性连接；所述位置检测单元包括打开到底位置检测 单元，用于在所述钳口组件位于打开到底位置时，向所述控制模块发出第三信号；所述钳口组件执行打开动作，当钳口组件位于打开到底位置，所述控制模块接收到所述第三信号而控制电机停机；
在所述钳口组件执行钳口打开动作的过程中，所述电流传感器的电流大于第三预定值且电流在单位时间的增长量大于第四预定值时，所述控制模块接收不到所述打开到底位置检测单元发出的所述第三信号，则所述控制模块判断所述打开到底位置检测单元失效，并控制所述电机停机。
有益效果：本说明书实施方式所提供的一种电动吻合器的位置检测单元失效保护方法，钳口组件处于打开状态，电机沿第一方向转动，若控制模块接收不到闭合到底位置检测单元发出的第二信号，且接收不到初始位置检测单元发出的第一信号，即控制电机停机，即使闭合到底位置检测单元失效，也可以使切割刀组件一离开初始位置就立刻停止，无法继续前进切割，不会造成患者受伤。
本说明书实施方式所提供的另一种电动吻合器的位置检测单元失效保护方法，即使击发到底位置检测单元或打开到底位置检测单元失效，根据电流传感器所测电流的情况，在电流大于第一预定值且电流在单位时间的增长量大于第二预定值时，控制模块判断击发到底位置检测单元失效，控制电机停机；或者在电流大于第三预定值且电流在单位时间的增长量大于第四预定值时，控制模块判断打开到底位置检测单元失效，控制电机停机。可以避免电机硬堵转，不会造成吻合器损坏，安全可靠。
参照后文的说明和附图，详细公开了本说明书的特定实施方式，指明了本说明书的原理可以被采用的方式。应该理解，本说明书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
图1为本说明书实施方式中所提供的一种电动吻合器的外部结构示意图；
图2为本说明书实施方式中所提供的一种电动吻合器的第一视角的内部结构示意图；
图3为本说明书实施方式中所提供的一种电动吻合器的第二视角的内部结构示意图；
图4为本说明书实施方式中所提供的一种电动吻合器的控制电路示意图；
图5为本说明书实施方式中所提供的另一种电动吻合器的控制电路示意图；
图6示出了图2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、钳口组件；20、切割刀组件；30、电机；40、控制模块；41、电路板组件；50、位置检测单元；51、初始位置检测单元；52、击发到底位置检测单元；53、闭合到底位置检测单元；54、打开到底位置检测单元；61、闭合单元；62、打开单元；63、击发单元；64、退刀单元；65、闭合/击发单元；66、退刀/打开单元；71、第一按键；72、第二按键。
具体实施方式
为了使本技术领域的人员更好地理解本说明书中的技术方案，下面将结合本说明书实施例中的附图，对本说明书实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本说明书一部分实施例，而不是全部的实施例。基于本说明书中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都应当属于本说明书保护的范围。
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另一个元件。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另一个元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
除非另有定义，本文所使用的所有的技术和科学术语与属于本说明书的技术领域的技术人员通常理解的含义相同。本文中在本说明书的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本说明书。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1至图6。本说明书实施方式提供一种电动吻合器100的位置检测单元失效保护方法。如图1、图2和图3所示，该电动吻合器100可以包括钳口组件10、切割刀组件20、传动机构、电机30和控制组件。电机30通过传动机构驱动钳口组件10和驱动切割刀组件20。控制组件包括电性连接的位置检测单元50和控制模块40。控制模块40与电机30电性连接。位置检测单元50包括初始位置检测单元51和闭合到底位置检测单元53。初始位置检测单元51用于在切割刀组件20位于初始位置时，向控制模块 40发出第一信号。闭合到底位置检测单元53用于在钳口组件10位于闭合到底位置时，向控制模块40发出第二信号。电机30沿第一方向转动，先驱动钳口组件10执行钳口闭合动作至闭合到底，后驱动切割刀组件20执行击发动作至击发到底。钳口组件10执行闭合动作，当钳口组件10位于闭合到底位置，控制模块40接收到所述第二信号而控制电机30停机。所述失效保护方法包括：钳口组件10处于打开状态，电机30沿第一方向转动，若控制模块40接收不到闭合到底位置检测单元53发出的第二信号，且接收不到初始位置检测单元51发出的第一信号，则控制模块40判断闭合到底位置检测单元53失效，控制电机30停机。上述的“钳口组件10处于打开状态，电机30沿第一方向转动”，指的是在从电机停机且钳口处于打开状态的一个时刻开始驱动电机第一方向转动。
具体的，如图4所示，电动吻合器100可以包括与控制模块40电连接的闭合单元61，供使用者触发表征钳口闭合动作的钳口闭合信号。闭合单元61可以包括设置在吻合器上的钳口闭合按键。当控制模块40检测到钳口闭合按键被按下时，控制电机30转动，使钳口组件10被电机30驱动闭合，直到钳口组件10闭合到底时，控制模块40控制电机30停机。其中，可以通过持续按下所述钳口闭合按键，使钳口组件10持续闭合，直到闭合到底时，控制模块40控制电机30停机；也可以通过按一下所述钳口闭合按键后松开，给出钳口闭合信号，使钳口组件10持续闭合，直到闭合到底时，控制模块40控制电机30停机。
在本实施方式中，所述传动机构可以连接有离合机构，从而通过离合机构切换电机30的驱动对象是钳口组件10还是切割刀组件20。传动机构可以包括第一传动机构和第二传动机构。具体的，电机30可以通过驱动第一传动机构前进或后退，从而驱动钳口组件10打开或闭合；电机30可以通过驱动第二传动机构前进或后退，从而驱动切割刀组件20前进切割或后退退刀。离合机构可以切换电机30驱动第一传动机构或驱动第二传动机构。钳口组件10的移动行程具有打开到底位置和闭合到底位置，钳口组件10的打开动作即朝向打开到底位置运动，钳口组件10的闭合动作即朝向闭合到底位置运动；切割刀组件20的移动行程具有初始位置和击发到底位置，切割刀组件20的击发动作即朝向击发到底位置运动，切割刀组件20的退刀动作即朝向初始位置运动。根据外科手术吻合器的使用工况而限定，钳口组件10运动时，切割刀组件20未执行切割而切割刀组件20位于初始位置；钳口组件10位于闭合到底位置时，切割刀组件20才能运动而切割然后退刀。本实施方式仅采用一个电机30，一个完整的使用周期，初始时钳口组件10位于打开到底位置，电机30首先驱动第一传动机构，当电机30沿第一方向转动N圈，可 以通过第一传动机构带动钳口组件10闭合且闭合到底，离合机构切换电机30驱动第二传动机构；电机30再继续沿第一方向转动M圈，可以通过第二传动机构带动切割刀组件20前进切割且切割到底；然后电机30沿第二方向转动M圈，可以通过第二传动机构带动切割刀组件20后退退刀且退刀到底，离合机构切换电机30驱动第一传动机构；再沿第二方向转动N圈，可以通过第一传动机构带动钳口组件10打开且打开到底。其中所述第二方向与所述第一方向相反。例如当第一方向为顺时针方向，则第二方向为逆时针方向。以上是执行了切割到底的工况，例如钉仓规格为60mm，钉仓被完全使用，在组织上切割的长度为60mm。在其它工况下，可以使用部分的钉仓组件，例如切割的长度为40mm，此时，在一个使用周期，同上述闭合到底时，电机30继续沿第一方向转动m圈，m小于M，切割刀组件20前进切割但未切割到底；然后相应的电机30将被沿第二方向转动m圈，实现切割刀组件20退刀并退刀到底，最后同上电机30再继续沿第二方向转动N圈实现钳口组件10打开到底。由上可知，本实施例采用一个电机30，电机30沿第一方向转动时，先驱动所述钳口组件10执行钳口闭合动作至闭合到底，后驱动所述切割刀组件20执行击发动作至击发到底。电机30沿第二方向转动时，先驱动切割刀组件20执行退刀动作至初始位置，后驱动钳口组件10执行钳口打开动作至打开到底。即，在保持电机第一方向转动的情况下，可以顺畅的从钳口闭合动作进入击发动作，无机械上的卡顿。同理，在保持电机第二方向转动的情况下，可以顺畅的从退刀动作进入钳口打开动作，无机械上的卡顿。
由此，电动吻合器100通过上述传动机构实现了电机30到钳口组件10和切割刀组件20的动力传递。电机30通过传动机构先驱动钳口组件10闭合而夹紧组织，然后电机30通过传动机构驱动切割刀组件20前进而切割和吻合组织，随后电机30通过传动机构驱动切割刀组件20后退，最后电机30通过传动机构驱动钳口组件10打开而松开组织，从而实现吻合器切割及吻合的功能。
在钳口组件10闭合到底和切割刀组件20击发之间，是需要停顿的，用来观察钳口组件10夹持的位置是否正确、压榨组织得是否到位。因此，位置检测单元50可以包括闭合到底位置检测单元53，用于在钳口组件10位于闭合到底位置时，向控制模块40发出第二信号。在钳口组件10被电机30驱动闭合时，控制模块40接收到闭合到底位置检测单元53发出的第二信号后，控制模块40控制电机30停机。或者通过其他方式使钳口组件10闭合到底时电机停机，例如，可以当检测到电机30沿第一方向转动N圈时，控制模块40控制电机30停机。闭合到底位置检测单元53保证了两个动作中间的停顿，有 益于手术过程。而当闭合到底位置检测单元53或者其他检测钳口组件10闭合到底的装置(例如检测电机30沿第一方向转动圈数的装置)失效时，钳口组件10闭合到底后，控制模块40接收不到第二信号或其他钳口组件闭合到底的信号，而无法使电机30停机，此时电机30继续沿第一方向转动，会使切割刀组件20前进以执行切割动作，而此时医生可能未做好病变位置定位，这种意外的击发会导致直接切割到好的人体组织，造成患者受伤，导致严重后果，或者此时还未对组织的充分压榨到较薄的厚度，会导致成钉效果差，切面厚而渗血多。
因此，本实施方式提供的位置检测单元50失效保护方法，即使闭合到底位置检测单元53因意外失效，在实际上钳口组件10已经闭合到底时但控制模块40却未接收到第二信号而未控制停机，电机继续转动而导致切割刀组件20前进击发，然而在切割刀组件20前进过程中，由于切割刀组件20离开初始位置，控制模块40接收不到初始位置检测单元51发出的第一信号，此时控制电机30停机，可以使切割刀组件20一离开初始位置就立刻停止，无法继续前进切割，不会造成患者受伤。后续可通过钳口组件10打开开关，控制打开钳口组件10，从患者体内取出吻合器。
在本实施方式中，位置检测单元50和控制模块40可以分别连接电源模块来获得电能工作。控制模块40可以为一块电路板组件41，收容于壳体内，包括检测单元、控制单元、开关驱动单元和开关单元。位置检测单元50电性连接于检测单元，检测单元电性连接于控制单元，控制单元电性连接于开关驱动单元，开关驱动单元电性连接于开关单元。检测单元检测位置检测单元50的状态，当被触发时位置检测单元50传输一信号给控制单元，控制单元对信号进行分析处理，然后对吻合器执行控制。
位置检测单元50包括用于控制电机30运行状态的各种行程开关或者传感器，例如初始位置检测单元51、闭合到底位置检测单元53等。当控制单元从位置检测单元50接收到控制电机30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30两端，开关单元的通断的频率决定电源模块对电机30供电或断电，从而决定电机30的运转状态-电机30的转速和方向。本实施例中，开关单元可以包括组成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30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30沿第一方向转动或沿第二方向转动。需要说明的是，电机30的上述H桥控制和沿第一方向、第二方向转动控制，均为 现有技术，不再赘述。控制单元为微控制器芯片。
在本实施方式中，切割刀组件20执行退刀动作，当切割刀组件20位于初始位置，控制模块40接收到第一信号而控制电机30停机。失效保护方法还可以包括：当切割刀组件20处于出刀状态，电机30沿第二方向转动，控制模块40接收不到初始位置检测单元51发出的第一信号，且接收不到闭合到底位置检测单元53发出的第二信号时，控制模块40判断初始位置检测单元51失效，并控制电机30停机。上述的“切割刀组件20处于出刀状态，电机沿第二方向转动”，指的是在从电机停机且切割刀组件处于出刀状态的一个时刻开始驱动电机第二方向转动。出刀状态即切割刀组件不在初始位置，即在初始位置的前方。
具体的，电动吻合器100可以包括与控制模块40电连接的退刀单元64，供使用者触发表征退刀动作的退刀信号。退刀单元64可以包括设置在吻合器上的退刀按键。当控制模块40检测到退刀按键被按下时，控制电机30转动，使切割刀组件20被电机30驱动退刀至初始位置。在其他实施方式中，也可以通过其他方法实现切割刀组件20退刀，使切割刀组件20执行退刀动作直至处于初始位置，而不限于按下退刀按键。例如，可以设置当切割刀组件20击发完成后，自动退刀。
若初始位置检测单元51失效，将会在切割刀组件20退刀到底时，不能控制电机30停机，电机30持续转动，持续打开钳口，直到钳口组件10被机械结构限位而堵转，会造成吻合器损坏。本实施方式提供的位置检测单元50失效保护方法，即使初始位置检测单元51失效，在切割刀组件20退刀到底时，控制模块40未接收到第一信号而未控制停机，电机30继续转动从而钳口组件10开始打开，控制模块40接收不到闭合到底位置检测单元53发出的第二信号，此时控制模块40判断初始位置检测单元51失效，并控制电机30停机，可以使钳口组件10一打开就立刻停止，不会让电机30堵转，不会造成吻合器损坏，安全可靠。
在另一种实施方式中，位置检测单元50还可以包括打开到底位置检测单元54，用于在钳口组件10位于打开到底位置时，向控制模块40发出第三信号。失效保护方法还可以包括：当切割刀组件20处于出刀状态，电机沿第二方向转动，控制模块40接收不到初始位置检测单元51发出的第一信号，且接收到打开到底位置检测单元54发出的第三信号时，控制模块40判断初始位置检测单元51失效，并控制电机30停机。在该实施方式中，即使初始位置检测单元51失效，在切割刀组件20退刀到底时，控制模块40未接收到第一信号而未控制停机，电机30继续转动从而钳口组件10打开到底后，控制模 块40接收到打开到底位置检测单元54发出的第三信号，此时控制模块40判断初始位置检测单元51失效，并控制电机30停机，可以使钳口组件10打开到底后就立刻停止，不会让电机30堵转，不会造成吻合器损坏，安全可靠。
本说明书实施方式还提供一种电动吻合器100的位置检测单元50失效保护方法。所述控制组件包括电流传感器，电流传感器与电机30、控制模块40电性连接，用于获取电机30的电流并发送至控制模块40。位置检测单元50可以包括击发到底位置检测单元52。击发到底位置检测单元52用于在切割刀组件20位于击发到底位置时，向控制模块40发出第四信号。切割刀组件20执行击发动作，当切割刀组件20位于切割到底位置，控制模块40接收到第四信号而控制电机30停机。所述失效保护方法包括：在所述切割刀组件20执行击发动作的过程中，电流传感器的电流大于第一预定值且电流在单位时间的增长量大于第二预定值时，控制模块40接收不到击发到底位置检测单元52发出的第四信号，则控制模块40判断击发到底位置检测单元52失效，并控制电机30停机。
进一步的，本说明书实施方式还提供一种电动吻合器100的位置检测单元50失效保护方法。所述保护方法还包括：在所述钳口组件10执行钳口打开动作的过程中，电流传感器的电流大于第三预定值且电流在单位时间的增长量大于第四预定值时，控制模块40接收不到所述打开到底位置检测单元54发出的第三信号，则控制模块40判断打开到底位置检测单元54失效，并控制所述电机30停机。
具体的，如图4所示，电动吻合器100可以包括与控制模块40电连接的打开单元62，供使用者触发表征钳口打开动作的钳口打开信号。打开单元62可以包括设置在吻合器上的钳口打开按键。当控制模块40检测到钳口打开按键被按下时，控制电机30转动，使钳口组件10被电机30驱动打开，直到钳口组件10到达打开到底位置。电动吻合器100可以包括与控制模块40电连接的击发单元63，供使用者触发表征进刀动作的击发信号。击发单元63可以包括设置在吻合器上的击发按键。当控制模块40检测到击发按键被按下时，控制电机30转动，使切割刀组件20被电机30驱动前进，直到切割刀组件20到达击发到底位置。在其他实施方式中，也可以通过其他方法实现切割刀组件20进刀，使切割刀组件20执行击发动作，而不限于按下击发按键。例如，设置有在钳口组件10闭合到底时转为有效的保险开关和定时器，首次触发保险开关，则定时器开始计时，当达到预设时间，例如15s时，则控制模块40自动控制电机30驱动切割刀组件20前进，执行击发动作。
在一个实施例中，如图1和图5所示，闭合单元61和击发单元63可以集成为闭合 /击发单元65，具体为第一按键71，退刀单元64和打开单元62可以集成为退刀/打开单元66，具体为第二按键72，从而控制电机30沿第一方向转动的触发开关为同一开关单元。该电动吻合器100通过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40驱动电机30沿第一方向转动、沿第一方向转动、沿第二方向转动、沿第二方向转动，最终顺序地完成上述所有动作。
若打开到底位置检测单元54或击发到底位置检测单元52意外失效，将会在钳口组件10打开到底或切割刀组件20击发到底时，控制模块40无法接收第三信号或第四信号，电机30会继续运行，碰撞到机械限制结构后，产生机械硬堵转，造成电动吻合器100的损坏。甚至在部分吻合器上，会造成无法退刀、打开钳口，无法从患者体内取出，引起患者损伤。机械硬堵转的特征为电流上升斜率高(大于第二预定值或第四预定值)，电流值大(大于第一预定值或第三预定值)。机械硬堵转可以与正常切割厚组织和空钉仓保险位置堵转区分开。正常切割厚组织时，电流值高，可能大于第一预定值或第三预定值，但是电流上升斜率缓慢，小于第二预定值或第四预定值。空钉仓保险位置堵转时，电流上升斜率能与机械硬堵转一样高，但是电流值小，小于第一预定值或第三预定值。空钉仓指吻合器上未安装钉仓或安装了使用过的钉仓，其中空钉仓保险位置设置在切割刀组件20前进过程中，用于判断出吻合器处于空钉仓状态并阻止切割刀组件20出刀，当吻合器处于空钉仓状态时，切割刀组件20被空钉仓保险位置阻挡前进而堵转，当钉仓符合要求时，切割刀组件20可以不停顿地越过空钉仓保险位置继续前进，直到击发到底。因此，在吻合器运行过程中，检测到电流值大于第一预定值或第三预定值且电流上升斜率大于第二预定值或第四预定值，则可以判断整机发生硬堵转。
本实施方式提供的位置检测单元50失效保护方法，即使击发到底位置检测单元52或打开到底位置检测单元54失效，根据电流传感器所测电流的情况，在电流大于第一预定值且电流在单位时间的增长量大于第二预定值时，控制模块40判断击发到底位置检测单元52失效，控制电机30停机；或者在电流大于第三预定值且电流在单位时间的增长量大于第四预定值时，控制模块40判断打开到底位置检测单元54失效，控制电机30停机。可以避免电机30硬堵转，不会造成吻合器损坏，安全可靠。
在本实施方式中，所述第一预定值可以为4A，所述第二预定值可以为0.04A/ms。所述第三预定值可以为4A，所述第四预定值可以为0.04A/ms。假设可以每10ms测量一 次电流I，第n次采样的电流为I n，I n处的斜率(单位时间的增长量)的计算方法为(I n+1-I n)/10ms，或者(I n-I n-1)/10ms，或者(I n-I n-9)/90ms。需要注意的是，斜率计算的时间差需要尽量小(例如小于100ms)，才能使得到的该点的斜率更准确。若I n大于4A，且I n处的斜率大于0.04A/ms，则控制模块40可以判断击发到底位置检测单元52或打开到底位置检测单元54失效，电机30处于硬堵转状态，则立即控制电机30停机，可以避免电机30硬堵转。
本说明书实施方式还提供一种电动吻合器100，其可以为如上所述任一实施方式中的电动吻合器100，应用如上任一实施方式中的位置检测单元失效保护方法，具有和上述保护方法相同的效果，在此不再赘述。
需要说明的是，在本说明书的描述中，术语“第一”、“第二”等仅用于描述目的和区别类似的对象，两者之间并不存在先后顺序，也不能理解为指示或暗示相对重要性。此外，在本说明书的描述中，除非另有说明，“多个”的含义是两个或两个以上。
本文引用的任何数值都包括从下限值到上限值之间以一个单位递增的下值和上值的所有值，在任何下值和任何更高值之间存在至少两个单位的间隔即可。举例来说，如果阐述了一个部件的数量或过程变量(例如温度、压力、时间等)的值是从1到90，优选从20到80，更优选从30到70，则目的是为了说明该说明书中也明确地列举了诸如15到85、22到68、43到51、30到32等值。对于小于1的值，适当地认为一个单位是0.0001、0.001、0.01、0.1。这些仅仅是想要明确表达的示例，可以认为在最低值和最高值之间列举的数值的所有可能组合都是以类似方式在该说明书明确地阐述了的。
除非另有说明，所有范围都包括端点以及端点之间的所有数字。与范围一起使用的“大约”或“近似”适合于该范围的两个端点。因而，“大约20到30”旨在覆盖“大约20到大约30”，至少包括指明的端点。
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。因此，本教导的范围不应该参照上述描述来确定，而是应该参照所附权利要求以及这些权利要求所拥有的等价物的全部范围来确定。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。在前述权利要求中省略这里公开的主题的任何方面并不是为了放弃该主体内容，也不应该认为发明人没有将该主题考虑为所公开的发明主题的一部分。

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  1. 一种电动吻合器的位置检测单元失效保护方法，其特征在于，所述电动吻合器包括钳口组件、切割刀组件、传动机构、电机、控制组件；所述电机通过所述传动机构驱动所述钳口组件和驱动所述切割刀组件；所述控制组件包括电性连接的位置检测单元和控制模块，所述控制模块与所述电机电性连接；所述位置检测单元包括初始位置检测单元和闭合到底位置检测单元，所述初始位置检测单元用于在所述切割刀组件位于初始位置时，向所述控制模块发出第一信号；所述闭合到底位置检测单元用于在所述钳口组件位于闭合到底位置时，向所述控制模块发出第二信号；
    所述电机沿第一方向转动，先驱动所述钳口组件执行钳口闭合动作至闭合到底，后驱动所述切割刀组件执行击发动作至击发到底；所述钳口组件执行闭合动作，当所述钳口组件位于闭合到底位置，所述控制模块接收到所述第二信号而控制电机停机；
    所述失效保护方法包括：
    钳口组件处于打开状态，电机沿第一方向转动，若所述控制模块接收不到所述闭合到底位置检测单元发出的所述第二信号，且接收不到所述初始位置检测单元发出的所述第一信号，则所述控制模块判断所述闭合到底位置检测单元失效，控制所述电机停机。
  2. 根据权利要求1所述的电动吻合器的位置检测单元失效保护方法，其特征在于，所述电机沿第二方向转动，先驱动所述切割刀组件执行退刀动作至初始位置，后驱动所述钳口组件执行钳口打开动作至打开到底，所述第二方向与所述第一方向相反；所述切割刀组件执行退刀动作，当所述切割刀组件位于初始位置，所述控制模块接收到所述第一信号而控制电机停机；
    所述失效保护方法还包括：
    切割刀组件处于出刀状态，电机沿第二方向转动，所述控制模块接收不到所述初始位置检测单元发出的所述第一信号，且接收不到所述闭合到底位置检测单元发出的所述第二信号时，所述控制模块判断所述初始位置检测单元失效，并控制所述电机停机。
  3. 根据权利要求1所述的电动吻合器的位置检测单元失效保护方法，其特征在于，所述位置检测单元包括打开到底位置检测单元，用于在所述钳口组件位于打开到底位置时，向所述控制模块发出第三信号；所述电机沿第二方向转动，先驱动所述切割刀组件执行退刀动作至初始位置，后驱动所述钳口组件执行钳口打开动作至打开到底，所述第二方向与所述第一方向相反；所述切割刀组件执行退刀动作，当切割刀组件位于初始位 置，所述控制模块接收到所述第一信号而控制电机停机；
    所述失效保护方法还包括：
    切割刀组件处于出刀状态，电机沿第二方向转动，所述控制模块接收不到所述初始位置检测单元发出的所述第一信号，且接收到所述打开到底位置检测单元发出的所述第三信号时，所述控制模块判断所述初始位置检测单元失效，并控制所述电机停机。
  4. 根据权利要求1所述的电动吻合器的位置检测单元失效保护方法，其特征在于，所述控制组件包括电流传感器，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元包括击发到底位置检测单元，用于在所述切割刀组件位于击发到底位置时，向所述控制模块发出第四信号；所述切割刀组件执行击发动作，当切割刀组件位于切割到底位置，所述控制模块接收到所述第四信号而控制电机停机；
    所述失效保护方法还包括：
    在所述切割刀组件执行击发动作的过程中，所述电流传感器的电流大于第一预定值且电流在单位时间的增长量大于第二预定值时，所述控制模块接收不到所述击发到底位置检测单元发出的所述第四信号，则所述控制模块判断所述击发到底位置检测单元失效，并控制所述电机停机。
  5. 根据权利要求1所述的电动吻合器的位置检测单元失效保护方法，其特征在于，所述控制组件包括电流传感器，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元包括打开到底位置检测单元，用于在所述钳口组件位于打开到底位置时，向所述控制模块发出第三信号；所述电机沿第二方向转动，先驱动所述切割刀组件执行退刀动作至初始位置，后驱动所述钳口组件执行钳口打开动作至打开到底，所述第二方向与所述第一方向相反；所述钳口组件执行打开动作，当钳口组件位于打开到底位置，所述控制模块接收到所述第三信号而控制电机停机；
    所述失效保护方法还包括：
    在所述钳口组件执行钳口打开动作的过程中，所述电流传感器的电流大于第三预定值且电流在单位时间的增长量大于第四预定值时，所述控制模块接收不到所述打开到底位置检测单元发出的所述第三信号，则所述控制模块判断所述打开到底位置检测单元失效，并控制所述电机停机。
  6. 一种电动吻合器的位置检测单元失效保护方法，其特征在于，所述电动吻合器包 括钳口组件、切割刀组件、传动机构、电机、控制组件；所述电机通过所述传动机构驱动所述钳口组件和驱动所述切割刀组件；所述控制组件包括电流传感器、位置检测单元和控制模块，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元与所述控制模块电性连接；所述控制模块与所述电机电性连接；所述位置检测单元包括击发到底位置检测单元，用于在所述切割刀组件位于击发到底位置时，向所述控制模块发出第四信号；所述切割刀组件执行击发动作，当切割刀组件位于切割到底位置，所述控制模块接收到所述第四信号而控制电机停机；
    所述失效保护方法包括：
    在所述切割刀组件执行击发动作的过程中，所述电流传感器的电流大于第一预定值且电流在单位时间的增长量大于第二预定值时，所述控制模块接收不到所述击发到底位置检测单元发出的所述第四信号，则所述控制模块判断所述击发到底位置检测单元失效，并控制所述电机停机。
  7. 一种电动吻合器的位置检测单元失效保护方法，其特征在于，所述电动吻合器包括钳口组件、切割刀组件、传动机构、电机、控制组件；所述电机通过所述传动机构驱动所述钳口组件和驱动所述切割刀组件；所述控制组件包括电流传感器、位置检测单元和控制模块，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元与所述控制模块电性连接；所述控制模块与所述电机电性连接；所述位置检测单元包括打开到底位置检测单元，用于在所述钳口组件位于打开到底位置时，向所述控制模块发出第三信号；所述钳口组件执行打开动作，当钳口组件位于打开到底位置，所述控制模块接收到所述第三信号而控制电机停机；
    所述失效保护方法包括：
    在所述钳口组件执行钳口打开动作的过程中，所述电流传感器的电流大于第三预定值且电流在单位时间的增长量大于第四预定值时，所述控制模块接收不到所述打开到底位置检测单元发出的所述第三信号，则所述控制模块判断所述打开到底位置检测单元失效，并控制所述电机停机。
  8. 一种电动吻合器，其特征在于，包括钳口组件、切割刀组件、传动机构、电机、控制组件；所述电机通过所述传动机构驱动所述钳口组件和驱动所述切割刀组件；
    所述控制组件包括电性连接的位置检测单元和控制模块，所述控制模块与所述电机电性连接；所述位置检测单元包括初始位置检测单元和闭合到底位置检测单元，初始位 置检测单元用于在所述切割刀组件位于初始位置时，向所述控制模块发出第一信号；闭合到底位置检测单元用于在所述钳口组件位于闭合到底位置时，向所述控制模块发出第二信号；所述电机沿第一方向转动，先驱动所述钳口组件执行钳口闭合动作至闭合到底，后驱动所述切割刀组件执行击发动作至击发到底；所述钳口组件执行闭合动作，当所述钳口组件位于闭合到底位置，所述控制模块接收到所述第二信号而控制电机停机；
    钳口组件处于打开状态，电机沿第一方向转动，若所述控制模块接收不到所述闭合到底位置检测单元发出的所述第二信号，且收不到所述初始位置检测单元发出的所述第一信号，则所述控制模块判断所述闭合到底位置检测单元失效，控制所述电机停机。
  9. 根据权利要求8所述的电动吻合器，其特征在于，所述电机沿第二方向转动，先驱动所述切割刀组件执行退刀动作至初始位置，后驱动所述钳口组件执行钳口打开动作至打开到底，所述第二方向与所述第一方向相反；所述切割刀组件执行退刀动作，当所述切割刀组件位于初始位置，所述控制模块接收到所述第一信号而控制电机停机；
    切割刀组件处于出刀状态，电机沿第二方向转动，所述控制模块接收不到所述初始位置检测单元发出的所述第一信号，且接收不到所述闭合到底位置检测单元发出的所述第二信号时，所述控制模块判断所述初始位置检测单元失效，并控制所述电机停机。
  10. 根据权利要求8所述的电动吻合器，其特征在于，所述位置检测单元包括打开到底位置检测单元，用于在所述钳口组件位于打开到底位置时，向所述控制模块发出第三信号；所述电机沿第二方向转动，先驱动所述切割刀组件执行退刀动作至初始位置，后驱动所述钳口组件执行钳口打开动作至打开到底，所述第二方向与所述第一方向相反；所述切割刀组件执行退刀动作，当切割刀组件位于初始位置，所述控制模块接收到所述第一信号而控制电机停机；
    切割刀组件处于出刀状态，电机沿第二方向转动，所述控制模块接收不到所述初始位置检测单元发出的所述第一信号，且接收到所述打开到底位置检测单元发出的所述第三信号时，所述控制模块判断所述初始位置检测单元失效，并控制所述电机停机。
  11. 根据权利要求8所述的电动吻合器，其特征在于，所述控制组件包括电流传感器，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元包括击发到底位置检测单元，用于在所述切割刀组件位于击发到底位置时，向所述控制模块发出第四信号；所述切割刀组件执行击发动作，当切割刀组件位于切割到底位置，所述控制模块接收到所述第四信号而控制电机停机；
    在所述切割刀组件执行击发动作的过程中，所述电流传感器的电流大于第一预定值 且电流在单位时间的增长量大于第二预定值时，所述控制模块接收不到所述击发到底位置检测单元发出的所述第四信号，则所述控制模块判断所述击发到底位置检测单元失效，并控制所述电机停机。
  12. 根据权利要求8所述的电动吻合器，其特征在于，所述控制组件包括电流传感器，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元包括打开到底位置检测单元，用于在所述钳口组件位于打开到底位置时，向所述控制模块发出第三信号；所述电机沿第二方向转动，先驱动所述切割刀组件执行退刀动作至初始位置，后驱动所述钳口组件执行钳口打开动作至打开到底，所述第二方向与所述第一方向相反；所述钳口组件执行打开动作，当钳口组件位于打开到底位置，所述控制模块接收到所述第三信号而控制电机停机；
    在所述钳口组件执行钳口打开动作的过程中，所述电流传感器的电流大于第三预定值且电流在单位时间的增长量大于第四预定值时，所述控制模块接收不到所述打开到底位置检测单元发出的所述第三信号，则所述控制模块判断所述打开到底位置检测单元失效，并控制所述电机停机。
  13. 一种电动吻合器，其特征在于，包括钳口组件、切割刀组件、传动机构、电机、控制组件；所述电机通过所述传动机构驱动所述钳口组件和驱动所述切割刀组件；所述控制组件包括电流传感器、位置检测单元和控制模块，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元与所述控制模块电性连接；所述控制模块与所述电机电性连接；所述位置检测单元包括击发到底位置检测单元，用于在所述切割刀组件位于击发到底位置时，向所述控制模块发出第四信号；所述切割刀组件执行击发动作，当切割刀组件位于切割到底位置，所述控制模块接收到所述第四信号而控制电机停机；
    在所述切割刀组件执行击发动作的过程中，所述电流传感器的电流大于第一预定值且电流在单位时间的增长量大于第二预定值时，所述控制模块接收不到所述击发到底位置检测单元发出的所述第四信号，则所述控制模块判断所述击发到底位置检测单元失效，并控制所述电机停机。
  14. 一种电动吻合器，其特征在于，包括钳口组件、切割刀组件、传动机构、电机、控制组件；所述电机通过所述传动机构驱动所述钳口组件和驱动所述切割刀组件；所述控制组件包括电流传感器、位置检测单元和控制模块，所述电流传感器与所述电机、控制模块电性连接，用于获取所述电机的电流并发送至所述控制模块；所述位置检测单元 与所述控制模块电性连接；所述控制模块与所述电机电性连接；所述位置检测单元包括打开到底位置检测单元，用于在所述钳口组件位于打开到底位置时，向所述控制模块发出第三信号；所述钳口组件执行打开动作，当钳口组件位于打开到底位置，所述控制模块接收到所述第三信号而控制电机停机；
    在所述钳口组件执行钳口打开动作的过程中，所述电流传感器的电流大于第三预定值且电流在单位时间的增长量大于第四预定值时，所述控制模块接收不到所述打开到底位置检测单元发出的所述第三信号，则所述控制模块判断所述打开到底位置检测单元失效，并控制所述电机停机。
PCT/CN2021/136916 2020-12-11 2021-12-09 电动吻合器及其位置检测单元失效保护方法 WO2022122000A1 (zh)

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