WO2023036263A1 - 一种吻合器及其控制方法 - Google Patents

一种吻合器及其控制方法 Download PDF

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Publication number
WO2023036263A1
WO2023036263A1 PCT/CN2022/117913 CN2022117913W WO2023036263A1 WO 2023036263 A1 WO2023036263 A1 WO 2023036263A1 CN 2022117913 W CN2022117913 W CN 2022117913W WO 2023036263 A1 WO2023036263 A1 WO 2023036263A1
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WO
WIPO (PCT)
Prior art keywords
driving
stapler
control
current value
time
Prior art date
Application number
PCT/CN2022/117913
Other languages
English (en)
French (fr)
Inventor
刘青
陈晓强
杨雪兰
刘立波
Original Assignee
北京派尔特医疗科技股份有限公司
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Application filed by 北京派尔特医疗科技股份有限公司 filed Critical 北京派尔特医疗科技股份有限公司
Publication of WO2023036263A1 publication Critical patent/WO2023036263A1/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
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
    • 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
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • 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
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • 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
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00128—Electrical control of surgical instruments with audible or visual output related to intensity or progress of surgical action
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00473—Distal part, e.g. tip or head
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00734—Aspects not otherwise provided for battery operated
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0803—Counting the number of times an instrument is used
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

Definitions

  • the invention relates to the field of medical instruments, in particular to a stapler and a control method thereof.
  • an embodiment of the present invention provides a stapler, including a housing, the housing is provided with a control part and a driving part for providing power, and the control part is electrically connected to the driving part;
  • the control part is used to obtain the real-time driving current value and the average value of the jump current of the driving part; determine the difference between the driving current value at the current moment and the driving current value at the previous moment; Compared with the average value of the current, if the difference is greater than the average value of the jump current, the driving part is controlled to stop working.
  • control part is also used to obtain the historical driving current value of the driving part; determine the difference between the driving current values at two adjacent moments; and determine the jump current average value according to all the differences.
  • control unit is further configured to compare the real-time driving current value with a driving current threshold, and control the driving unit to stop working when the real-time driving current value is greater than or equal to the driving current threshold.
  • the control part is used to control the driving part to drive the firing rod through the transmission part to perform a reset calibration action when the stapler is activated.
  • the stapler also includes a loading switch and a detachable nail magazine assembly; the control unit is electrically connected to the loading switch;
  • the nail magazine assembly When the nail magazine assembly is installed, the nail magazine assembly triggers the loading switch;
  • the control part is used for recording the trigger time of the loading switch, and comparing the trigger time with a time threshold, and if the trigger time is greater than or equal to the time threshold, it is determined that the nail magazine assembly is successfully loaded.
  • control part is also used to compare the real-time driving current value with a preset variable speed current value, and when the real-time driving current value is greater than the preset variable speed current value, control the driving part to pass the
  • the transmission part drives the firing rod to continue to move away from the driving part to increase the closing stroke of the nail magazine assembly and reduce the rotational speed of the driving part to increase the tissue positioning capability of the nail magazine assembly.
  • control part is also used to control the driving part to drive the firing rod through the transmission part to perform a reset calibration action when the nail magazine assembly is removed.
  • the stapler also includes an induction part arranged in the housing; a protrusion is provided on the transmission part, and the induction area of the induction part is located on the moving path of the protrusion on the transmission part,
  • the control part is electrically connected to the sensing part;
  • the control part is used to control the driving part to drive the firing rod to move towards the driving part through the transmission part when the stapler is activated or the nail magazine assembly is removed, so that the sensing part will the protrusion is sensed once;
  • the driving part is controlled to drive the firing rod to move away from the driving part through the transmission part, so that the protrusion is separated from the The sensing area of the sensing part;
  • the driving part When leaving the sensing area of the sensing part, the driving part is controlled to drive the firing rod to move towards the driving part through the transmission part, so that the sensing part senses the sensing part for the second time.
  • said protrusion
  • the driving part is controlled to stop working.
  • the stapler also includes a detachable power supply and a battery circuit board disposed inside the housing, and the control unit is electrically connected to the battery circuit board;
  • the control part is used to collect the voltage on the battery circuit board when the power supply is installed, and determine whether the voltage is an operating voltage, and if the voltage is an operating voltage, determine that the stapler is activation.
  • the stapler also includes an identification part electrically connected to the control part, and an information mark is also provided on the nail magazine assembly;
  • the identification part is used to identify the information mark on the nail magazine assembly
  • the control part is used to control the stapler to be in a shutdown state if the recognition fails, and to control the stapler to be in an activated state if the recognition is successful.
  • control unit is also used to record the total number of recognition times and the total number of successful recognition times of the recognition unit, and obtain a preset corresponding relationship between the total number of recognition times and the total number of successful recognition times; according to the corresponding relationship and the identification
  • the total number of times is to determine the preset total number of successful recognitions; comparing the total number of successful recognitions with the preset total number of successful recognitions, if the total number of successful recognitions is greater than or equal to the preset total number of successful recognitions,
  • the stapler is then controlled to be in a shutdown state.
  • an embodiment of the present invention provides a method for controlling a stapler, which is applied to the above-mentioned stapler, including:
  • the difference is compared with the average value of the jump current, and if the difference is greater than the average value of the jump current, the control drive unit stops working.
  • the driving part drives the firing rod to retreat or advance.
  • the control part of the stapler is used to obtain the real-time driving current value and the average value of the jump current of the driving part; The difference of the driving current value at a moment; then compare the difference with the average value of the jump current, if the difference is greater than the average value of the jump current, the control drive part will stop working, so that the operator does not need to judge whether the matching is completed
  • the stapler is operated after the action, thereby improving the operation efficiency.
  • Fig. 2 is a structural diagram of a nail magazine assembly according to an alternative embodiment of the present invention.
  • Fig. 3 is a structural diagram of a transmission part according to an alternative embodiment of the present invention.
  • FIG. 4 is a structural diagram of a power supply according to an alternative embodiment of the present invention.
  • Fig. 5 is a structural diagram of a power supply and an insulating sheet according to the present invention.
  • Fig. 6 is a schematic circuit diagram of a stapler according to an alternative embodiment of the present invention.
  • 1-power supply 101-conducting piece, 102-battery, 103-signal conducting piece, 2-housing, 3-indicating light, 4-driving part, 5-trigger, 6-identifying part, 7-gear, 8 -rack, 9-nail magazine assembly, 10-information mark, 11-protrusion, 12-firing trigger link, 13-backward trigger link, 14-confirmation switch, 15-battery circuit board, 16-circlip slice, 17-control unit, 1701-processor, 1702-power management unit, 1703-memory, 18-insulation slice.
  • the embodiment of the present invention provides a stapler, including a housing 2, a control part 17 and a driving part 4 for providing power are arranged in the housing 2, and the control part 17 is electrically connected with the drive unit 4; the control unit 17 is used to obtain the real-time drive current value and the jump current average value of the drive unit 4; determine the difference between the drive current value at the current moment and the drive current value at the previous moment; The value is compared with the average value of the jump current, and if the difference is greater than the average value of the jump current, the control drive unit 4 stops working.
  • the housing 2 is tubular as a whole, and there is a handle shell formed along the radial extension of the housing 2 on the housing 2.
  • the handle shell can be conveniently held by the operator; on the other hand, the housing cavity formed by the handle shell is arranged with a motor. The space of the shell cavity of the casing 2 is effectively utilized, and the volume of the stapler is reduced.
  • control unit 17 of the stapler is used to acquire the real-time driving current value and the average value of the jump current of the driving unit 4 (acquisition methods include direct acquisition and conversion acquisition); then determine the current driving current value and The difference of the drive current value at the last moment; then the difference is compared with the average value of the jump current, if the difference is greater than the average value of the jump current, the control drive part 4 stops working, so that the operator does not need to judge whether the The stapler is operated after the anastomosis is completed, thereby improving the operation efficiency.
  • acquisition methods include direct acquisition and conversion acquisition
  • the control unit 17 controls the drive unit 4 to stop working.
  • the housing 2 is also provided with an indicator light 3 electrically connected to the control unit 17.
  • the control unit 17 controls the indicator light 3 to light up, thereby operating The operator can use the indicator light 3 to determine whether the stapler has completed the stapling action.
  • control unit 17 is also used to obtain the historical driving current value of the driving unit 4; determine the difference between the driving current values at two adjacent moments; and determine the average value of the jump current according to all the differences.
  • the historical driving current value may be the driving current value within a period of time during the fitting operation.
  • the historical drive current value of the drive unit 4 determines the difference between the drive current values at two adjacent moments. For example, assume that the drive current value at the first moment is 5A, and the drive current at the second moment is 4.6A. A, the driving current value at the third moment is 4.3A, then the driving current difference between the first moment and the second moment is 0.4A, the driving current difference between the second moment and the third moment is 0.3A, and so on, Thereby, the difference values of the drive current values at all two adjacent moments are obtained. After all the differences are obtained, the average value of all the differences is calculated, and finally the average value of the jump current is determined.
  • control unit 17 is also used to compare the real-time driving current value with the driving current threshold, and when the real-time driving current value is greater than or equal to the driving current threshold, control the driving unit 4 to stop working.
  • the control unit 17 detects the driving current of the driving unit 4 in real time, and if the real-time driving current value is greater than or equal to the driving current threshold, the driving unit 4 is controlled to stop working, thereby avoiding the overcurrent operation of the driving unit 4 As a result, the driving portion 4 may be damaged.
  • the driving current threshold is the maximum current value of the driving unit 4 under normal operation.
  • the stapler also includes a transmission part and a firing rod; the driving part 4 is connected to one end of the firing rod through the transmission part; the control part 17 is electrically connected to the driving part 4; When activated, the control driving part 4 drives the firing rod through the transmission part to perform reset calibration action.
  • the transmission part can adopt the existing transmission structure, specifically, as shown in Figure 1, the transmission part includes a rack 8 and a gear 7, one end of the rack 8 is connected with the firing rod, the drive part 4 is a motor, and the rotating shaft of the motor is connected to the firing rod.
  • the gear 7 is coaxially connected and the gear 7 is meshed with the rack 8 for transmission.
  • the specific working principle of the transmission part is: the rotation of the motor drives the rotation of the gear 7, thereby driving the rack 8 to perform linear reciprocating motion, and then driving the firing rod to perform linear reciprocating motion, so that the motor can drive the firing rod to move.
  • the positive rotation direction of the motor is that the motor can drive the firing rod to move away from the motor, that is, the rotation direction of the extension action
  • the direction of the motor’s rotation direction is that the motor can drive the firing rod to move towards the direction of the motor, that is, the retraction action direction of rotation.
  • the control part 17 controls the rotation direction of the transmission part, thereby driving the transmission part to drive the firing rod to complete the reset calibration action, so as to avoid reset blocking, so that the installation operation of the nail magazine assembly 9 is smoother; and
  • the firing rod is reset without manual operation, which brings convenience to the use of the stapler.
  • the stapler also includes a loading switch and a detachable nail box assembly 9; the control part 17 is electrically connected to the loading switch; when the nail box assembly 9 is installed, the nail box assembly 9 Trigger the loading switch; the control unit 17 is used to record the triggering time of the loading switch, and compare the triggering time with the time threshold, if the triggering time is greater than or equal to the time threshold, it is determined that the nail magazine assembly 9 is loaded successfully.
  • the nail magazine assembly 9 can adopt the existing nail magazine assembly 9, which is not strictly limited in this embodiment.
  • nail box assembly 9 can trigger loading switch by pushing part
  • control Part 17 records the triggering time of the loading switch, and compares the triggering time with the time threshold, if the triggering time is greater than or equal to the time threshold, then it is determined that the nail magazine assembly 9 is loaded successfully, thereby realizing automatic identification of whether the nail magazine assembly 9 is installed successfully. Further, if the trigger time is less than the time threshold, the control unit 17 can control the indicator light 3 to light up, so as to remind the operator to check the installation state of the nail magazine assembly 9 .
  • control part 17 is also used to compare the real-time driving current value with the preset variable speed current value, and when the real-time driving current value is greater than the preset variable speed current value, the control drive part 4 is driven by the transmission part.
  • the firing rod continues to move away from the driving part 4 to increase the closing stroke of the nail magazine assembly 9 , and reduce the rotational speed of the driving part 4 to increase the tissue positioning capability of the nail magazine assembly 9 .
  • the control unit 17 detects the real-time driving current value of the driving motor.
  • the real-time driving current value is greater than the preset variable speed current value, it indicates that the tissue clamped by the stapler is thick, so the control unit 17 controls the driving unit. 4 Drive the firing rod to continue to move away from the driving part 4 through the transmission part, so as to increase the closing stroke of the nail magazine assembly 9, so as to achieve the purpose that the thick tissue can still completely close and clamp the tissue, and reduce the rotating speed of the driving part 4, so as to Increase the tissue positioning ability of the nail box assembly 9, so as to achieve the purpose that thick tissue can still be anastomotic.
  • the preset variable speed current value can be set by the staff themselves, which is not strictly limited in this embodiment.
  • control part 17 is also used to control the drive part 4 to drive the firing rod through the transmission part to perform reset calibration action when the nail magazine assembly 9 is removed.
  • the control part 17 controls the driving part 4 to drive the firing rod through the transmission part to perform a reset calibration action, thereby facilitating the next use of the stapler.
  • the stapler also includes an induction part arranged in the housing 2; a protrusion 11 is provided on the transmission part, and the sensing area of the induction part is positioned at the movement of the protrusion 11 on the transmission part.
  • the control unit 17 is electrically connected to the sensing unit;
  • the control part 17 is used to control the driving part 4 to drive the firing rod to move in a direction close to the driving part 4 through the transmission part when the stapler is activated or the nail magazine assembly 9 is removed, so that the sensing part senses the protrusion 11 for the first time;
  • the driving part 4 is controlled to drive the firing rod to move away from the driving part 4 through the transmission part, so that the protrusion 11 is separated from the sensing area of the sensing part;
  • the driving part 4 When leaving the sensing area of the sensing part, the driving part 4 is controlled to drive the firing rod to move in a direction close to the driving part 4 through the transmission part, so that the sensing part senses the protrusion 11 for the second time;
  • the driving part 4 is controlled to stop working.
  • the protrusion 11 can be arranged on the rack 8, and the sensing part can adopt a photoelectric sensing component. If the protrusion 11 is located in the sensing area of the sensing part, it can be determined that the firing lever is in the initial position. In this embodiment, when the driving part 4 drives the rack 8 to retreat so that the protrusion 11 is located in the sensing area for the first time, The driving part 4 drives the rack 8 to extend-retreat until the protrusion 11 is located in the sensing area for the second time, so as to avoid the zero position blocking of the firing rod, thereby ensuring that the nail magazine assembly 9 can be installed smoothly.
  • the stapler also includes a detachable power supply 1 and a battery circuit board 15 disposed inside the casing 2, and the control unit 17 is electrically connected to the battery circuit board 15; the control unit 17 is used for installing the power supply 1 , collect the voltage on the battery circuit board 15, and determine whether the voltage is an operating voltage, and if the voltage is an operating voltage, determine that the stapler is activated.
  • the power supply 1 includes a battery 102 , a conduction plate 101 and a signal conduction plate 103 provided on the battery 102 , and a clip spring 16 is provided on the circuit board.
  • the battery 102 supplies power to each component through the conductive sheet 101
  • the battery circuit board 15 is connected to the battery 102 through the clip spring 16
  • the battery circuit board 15 communicates with each component through the signal conductive sheet 103 .
  • the control unit 17 can determine that the power supply 1 is successfully installed by collecting the voltage of the battery circuit board 15 and determining that the voltage is the working voltage, thereby determining that the stapler is in an activated state and can be used by the operator. It is possible to automatically identify whether the power supply 1 is installed successfully, thereby facilitating the operator to use the stapler. Similarly, after determining that the power supply 1 is successfully installed, the control unit 17 can also control the power supply 1 to light up the indicator light 3, so that the operator can intuitively understand the installation situation of the power supply 1 .
  • the power supply 1 can also include an insulating sheet 18, and the operator can insert the insulating sheet 18 between the spring sheet 16 and the battery 102 without using a stapler, so as to play an important role.
  • the function of isolation thereby reducing the power consumption of the battery 102 .
  • the stapler also includes an identification part 6 electrically connected to the control part 17, and an information identification 10 is also provided on the nail magazine assembly 9; the identification part 6 is used to identify the information identification 10 on the nail magazine assembly 9; The control unit 17 is used to control the stapler to be in a shutdown state if the recognition fails, and to control the stapler to be in an activated state if the recognition is successful.
  • the identification part 6 can be an RFID reader (Radio Frequency Identification, referred to as RFID), and the RFID reader can read the electronic tag data, that is, the RFID reader.
  • the recognition part 6 includes a recognition coil, and the recognition part 6 is arranged on the outer surface or the inner surface of the housing 2. According to actual use conditions, the recognition part 6 is arranged at an appropriate position of the stapler, for example, the recognition part 6 is arranged at the rear end of the stapler part or top or side.
  • the information sign 10 can be installed on the front, side or top surface of the nail magazine assembly 9, which is not strictly limited in this embodiment.
  • the information label 10 can be fixedly connected to the nail magazine assembly 9 or detachably connected, which is not strictly limited in this embodiment.
  • control unit 17 can control the stapler to be in an active state, so that the stapler can be used normally, so that it can be identified whether the nail magazine assembly 9 meets the use standard, so as to avoid installation failures Or the nail box assembly 9 of other problems, thereby improving the safety of operation.
  • control unit 17 is also used to record the total number of recognition times and the total number of successful recognition times of the recognition unit 6, and obtain the preset correspondence between the total number of recognition times and the total number of successful recognition times; according to the corresponding relationship and the total number of recognition times, determine the preset The total number of successful recognitions; the total number of successful recognitions is compared with the preset total number of successful recognitions, if the total number of successful recognitions is greater than or equal to the preset total number of successful recognitions, the control stapler is in a shutdown state.
  • the identification part 6 can identify multiple different nail magazine assemblies 9 .
  • the total number of successful recognitions is limited by the total number of recognitions, so that the total number of successful recognitions can be limited.
  • the stapler is in a shutdown state, that is, a state that cannot be used, which limits the number of times the main body of the stapler is used, thereby avoiding excessive use of the main body of the stapler.
  • the stapler is prone to failure or the bacteria exceed the standard.
  • the identification part 6 obtains the identification record of the information identification 10 on the nail magazine assembly 9, and if the identification record is a successful identification record, it determines that the identification of the information identification 10 fails.
  • the nail magazine assembly 9 if the nail magazine assembly 9 has been successfully identified, it indicates that the nail magazine assembly 9 may have been used. In this case, the identification result of the identification part 6 is still an identification failure, so as to avoid the nail magazine assembly. 9 Duplicate use occurs.
  • the stapler of the present application also includes a confirmation switch 14, a firing switch and a retraction switch.
  • the confirmation switch 14 When the confirmation switch 14 is closed, the trigger 5 is pulled, and the trigger 5 pushes the firing trigger link 12, and the firing trigger link 12 triggers the firing switch.
  • the rack 8 can drive the firing rod to extend.
  • the trigger 5 When the trigger 5 is pushed up, the trigger 5 pushes the retracting trigger link 13, and the retracting trigger link 13 triggers the retracting switch.
  • the rack 8 can drive the firing rod to perform a retracting action, and the protrusion 11 of the rack 8 is in the induction
  • the driving part 4 stops running to terminate the firing operation, so that the operator can also perform manual operation to improve the flexibility of using the stapler.
  • the control unit 17 includes a processor 1701 (CPU), a power management unit 1702 (PWM) and a memory 1703.
  • the processor 1701 communicates with the indicator light 3, the drive unit 4, the trigger 5 and the identification 6, so as to specifically transmit and receive input instructions and transmit corresponding control signals.
  • the indicator light 3 and the trigger 5 can be connected with the processor 1701 in a PIO (programmable input and output) connection mode to realize data transmission.
  • the memory 1703 is used to store transmission data.
  • the battery management unit 1702 is connected to the battery 102 through the battery circuit board 15 , and the battery management unit 1702 is used to monitor the state of the battery 102 to prevent the battery 102 from over-current or over-voltage operation.
  • an embodiment of the present invention provides a method for controlling a stapler, which is applied to the above-mentioned stapler, including:
  • Step 101 Obtain the real-time driving current value and jump current average value of the driving unit 4 .
  • Step 102 Determine the difference between the driving current value at the current moment and the driving current value at the previous moment.
  • Step 103 compare the difference with the average value of the jump current, and if the difference is greater than the average value of the jump current, control the drive unit 4 to stop working.
  • the method obtains the real-time driving current value and the average value of the jump current of the driving unit 4; then determines the driving current value at the current moment and the driving current value at the previous moment Then the difference is compared with the average value of the jump current, if the difference is greater than the average value of the jump current, the control drive part 4 stops working, so that the operator does not need to judge whether the matching action is completed before the matching The device is operated, thereby improving the operation efficiency.
  • the method also includes:
  • the driving part drives the firing rod to retreat or advance.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Engineering & Computer Science (AREA)
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  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
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Abstract

一种吻合器及其控制方法，吻合器的控制部（17）用于获取驱动部（4）的实时驱动电流值及跳变电流平均值；然后确定当前时刻的驱动电流值与上一时刻的驱动电流值的差值；再将差值与跳变电流平均值相比较，如果差值大于跳变电流平均值，则控制驱动部（4）停止工作，无需操作者自行判断是否完成吻合动作后再对吻合器进行操作，从而提高了手术效率。

Description

一种吻合器及其控制方法 技术领域
本发明涉及医疗器械领域，具体而言涉及一种吻合器及其控制方法。
背景技术
吻合器是医学上替代手动缝合的设备。吻合器一般设有钉仓组件、切割刀等结构。手术中，将待吻合的组织夹持并咬合在钉仓组件的钳口内，按下器械仓的手柄驱动切割刀离断组织，同时设置在钉仓组件内的吻合钉被推出并成型，对组织进行吻合。但是，在现有技术中，操作者自行判断是否完成吻合动作后再对吻合器进行操作，从而影响手术的进度及效率。
发明内容
有鉴于此，本发明实施例提供了一种吻合器及其控制方法，以解决在现有技术中，操作者自行判断是否完成吻合动作后再对吻合器进行操作，从而影响手术的进度及效率的问题。
第一方面，本发明实施例提供了一种吻合器，包括壳体，所述壳体内设有控制部及用于提供动力的驱动部，所述控制部与所述驱动部电连接；
所述控制部用于获取所述驱动部的实时驱动电流值及跳变电流平均值；确定当前时刻的驱动电流值与上一时刻的驱动电流值的差值；将所述差值与跳变电流平均值相比较，如果所述差值大于所述跳变电流平均值，则控制所述驱动部停止工作。
具体地，所述控制部还用于获取驱动部的历史驱动电流值；确定相邻两个时刻的驱动电流值的差值；根据所有差值，确定所述跳变电流平均值。
具体地，所述控制部还用于将所述实时驱动电流值与驱动电流阈值相比较，当所述实时驱动电流值大于或等于驱动电流阈值时，控制所述驱动部停止工作。
具体地，所述吻合器还包括传动部及击发杆；所述驱动部通过所述传动部与所述击发杆的一端连接；
所述控制部用于当所述吻合器被激活时，控制所述驱动部通过所述传动部带动所述击发杆进行复位校准动作。
具体地，所述吻合器还包括装载开关及可拆卸的钉匣组件；所述控制部与所述装载开关电连接；
当安装所述钉匣组件时，所述钉匣组件触发所述装载开关；
所述控制部用于记录所述装载开关的触发时间，并将所述触发时间与时间阈值相比较，如果所述触发时间大于或等于时间阈值，则确定所述钉匣组件装载成功。
具体地，所述控制部还用于将所述实时驱动电流值与预设的变速电流值相比较，当所述实时驱动电流值大于预设的变速电流值时，控制所述驱动部通过所述传动部带动所述击发杆继续向远离驱动部的方向移动，以增加钉匣组件的闭合行程，并降低所述驱动部的转速，以增加钉匣组件的组织定位能力。
具体地，所述控制部还用于当拆除所述钉匣组件时，控制所述驱动部通过所述传动部带动所述击发杆进行复位校准动作。
具体地，所述吻合器还包括设置在所述壳体内的感应部；所述传动部上设有凸起，所述感应部的感应区位于所述传动部上的凸起的移动路径上，所述控制部与所述感应部电连接；
所述控制部用于当所述吻合器被激活或者拆除钉匣组件时，控制所述驱动部通过传动部带动所述击发杆向靠近所述驱动部的方向移动，以使所述感应部第一次感应到所述凸起；
当所述感应部第一次感应到所述凸起时，控制所述驱动部通过所述传动部带动所述击发杆向远离所述驱动部的方向移动，以使所述凸起脱离所述感应部的感应区域；
当所述脱离所述感应部的感应区域时，控制所述驱动部通过所述传动部带动所述击发杆向靠近所述驱动部的方向运动，以使所述感应部第二次感应到所述凸起；
当所述感应部第二次感应到所述凸起时，控制所述驱动部停止工作。
具体地，所述吻合器还包括可拆卸的电源以及设置在所述壳体内部的电池电路板，所述控制部与所述电池电路板电连接；
所述控制部用于当所述安装所述电源时，采集所述电池电路板上的电压，并判定所述电压是否为工作电压，如果所述电压为工作电压，则确定所述吻合器被激活。
具体地，所述吻合器还包括与所述控制部电连接的识别部，所述钉匣组件上还设有信息标识；
所述识别部用于识别所述钉匣组件上的信息标识；
所述控制部用于如果识别失败，则控制所述吻合器处于停机状态，如果识别成功，则控制所述吻合器处于激活状态。
具体地，所述控制部还用于记录所述识别部的识别总次数及识别成功总次数，并获取识别总次数与识别成功总次数的预设对应关系；根据所述对应关系及所述识别总次数，确定预设的成功识别总次数；将所述识别成功总次数与预设的成功识别总次数相比较，如果所述识别成功总次数大于或等于所述预设的成功识别总次数，则控制所述吻合器处于停机状态。
具体地，所述识别部获取所述钉匣组件上的信息标识的识别记录，如果所述识别记录为成功识别记录，则确定所述信息标识识别失败。
第二方面，本发明实施例提供了一种吻合器的控制方法，应用于上述的吻合器，包括：
获取驱动部的实时驱动电流值及跳变电流平均值；
确定当前时刻的驱动电流值与上一时刻的驱动电流值的差值；
将所述差值与跳变电流平均值相比较，如果所述差值大于所述跳变电流平均值，则控制驱动部停止工作。
进一步地，所述方法还包括：
在回退触发连杆或击发触发连杆被触发的情况下，驱动部驱动击发杆回退或前进。
根据本发明实施例所提供的一种吻合器及其控制方法，该吻合器的控制部用于获取驱动部的实时驱动电流值及跳变电流平均值；然后确定当前时刻的驱动电流值与上一时刻的驱动电流值的差值；再将差值与跳变电流平均值相比较，如果差值大于跳变电流平均值，则控制驱动部停止工作，这样就无需操作者自行判断是否完成吻合动作后再对吻合器进行操作，从而提高了手术效率。
附图说明
本发明的下列附图在此作为本发明实施例的一部分用于理解本发明。附图中示出了本发明的实施例及其描述，用来解释本发明的原理。
附图中：
图1为根据本发明的一个可选实施例的吻合器的局部剖面图；
图2为根据本发明的一个可选实施例的钉匣组件的结构图；
图3为根据本发明的一个可选实施例的传动部的结构图；
图4为根据本发明的一个可选实施例的电源的结构图；
图5为根据本发明的电源与绝缘片的结构图；
图6为根据本发明的一个可选实施例的吻合器的电路原理图。
附图标记说明：
1-电源，101-导通片，102-电池，103-信号导通片，2-壳体，3-指示灯，4-驱动部，5-扳机，6-识别部，7-齿轮，8-齿条，9-钉匣组件，10-信息标识，11-凸起，12-击发触发连杆，13-回退触发连杆，14-确认开关，15-电池电路板，16-卡簧片，17-控制部，1701-处理器，1702-电源管理单元，1703-存储器，18-绝缘片。
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
应予以注意的是，这里所使用的术语仅是为了描述具体实施例，而非意图限制根据本发明的示例性实施例。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式。此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、整体、步骤、操作、元件和/或组件，但不排除存在或附加一个或多个其他特征、整体、步骤、操作、元件、组件和/或它们的组合。
现在，将参照附图更详细地描述根据本发明的示例性实施例。然而，这些示例性实施例可以多种不同的形式来实施，并且不应当被解释为只限于这里所阐述的实施例。应当理解的是，提供这些实施例是为了使得本发明的公开彻底且完整，并且将这些示例性实施例的构思充分传达给本领域普通技术人员。
第一方面，如图1和图6所示，本发明实施例提供了一种吻合器，包括壳体2，壳体2内设有控制部17及用于提供动力的驱动部4，控制部17与驱动部4电连接；控制部17用于获取驱动部4的实时驱动电流值及跳变电流平均值；确定当前时刻的驱动电流值与上一时刻的驱动电流值的差值；将差值与跳变电流平均值相比较，如果差值大于跳变电流平均值，则控制驱动部4停止工作。
其中，壳体2整体呈管状，壳体2上有沿壳体2径向延伸形成的手柄壳，手柄壳一方面能够供操作人员方便握持；另一方面手柄壳形成的壳腔布置电机，有效地利用壳体2壳腔的空间，减小吻合器的体积。
在本实施例中，该吻合器的控制部17用于获取驱动部4的实时驱动电流值及跳变电流平均值(获取方式包括直接获取及换算获取)；然后确定当前时刻的驱动电流值与上一时刻的驱动电流值的差值；再将差值与跳变电流平均值相比较，如果差值大于跳变电流平均值，则控制驱动部4停止工作，这样就无需 操作者自行判断是否完成吻合动作后再对吻合器进行操作，从而提高了手术效率。
示例性的，假设当前时刻的驱动电流值为5A，上一时刻的驱动电流值为4.5A，跳变电流平均值为0.4A，这样当前驱动电流值与上一时刻的驱动电流值的差值为0.5A，差值大于跳变电流平均值，从而就可确定吻合动作完成，这样控制部17就控制驱动部4停止工作。
进一步地，为了便于操作者了解吻合器的工作状态，壳体2上还设有与控制部17电连接的指示灯3，在吻合动作完成后，控制部17控制指示灯3点亮，从而操作者能够通过指示灯3来确定吻合器是否完成吻合动作。
下面针对上述实施例中的跳变电流平均值的确定过程进行详细阐述。
具体地，控制部17还用于获取驱动部4的历史驱动电流值；确定相邻两个时刻的驱动电流值的差值；根据所有差值，确定跳变电流平均值。
其中，历史驱动电流值可以是吻合操作过程中的一段时间内的驱动电流值。在获取驱动部4的历史驱动电流值之后，确定相邻两个时刻的驱动电流值的差值，示例性的，假设第一时刻的驱动电流值为5A，第二时刻的驱动电流至为4.6A，第三时刻的驱动电流值为4.3A，则第一时刻与第二时刻的驱动电流差值为0.4A，第二时刻与第三时刻的驱动电流差值为0.3A，以此类推，从而得到所有相邻两个时刻的驱动电流值的差值。再得到所有差值之后，将所有差值进行平均值计算，最终确定了跳变电流平均值。
在另一些实施例中，控制部17还用于将实时驱动电流值与驱动电流阈值相比较，当实时驱动电流值大于或等于驱动电流阈值时，控制驱动部4停止工作。
在吻合器进行吻合动作的过程中，控制部17实时检测驱动部4的驱动电流，如果实时驱动电流值大于或等于驱动电流阈值，则控制驱动部4停止工作，从而避免驱动部4过流工作而导致驱动部4损坏的情况发生。其中，驱动电流阈值为驱动部4在正常工作下的最大电流值。
具体地，在上述实施例中，吻合器还包括传动部及击发杆；驱动部4通过传动部与击发杆的一端连接；控制部17与驱动部4电连接；控制部17用于当吻合器被激活时，控制驱动部4通过传动部带动击发杆进行复位校准动作。
其中，传动部可采用现有的传动结构，具体地，如图1所示，传动部包括齿条8及齿轮7，齿条8一端与击发杆相连，驱动部4为电机，电机的转轴与齿轮7同轴相连且齿轮7与齿条8啮合传动。传动部的具体工作原理为：电机的转动带动齿轮7的转动，从而带动齿条8进行直线往复运动，进而带动击发杆进行直线往复运动，这样通过电机能够驱动击发杆运动。
其中，电机的正向旋转方向为电机能够带动击发杆向远离电机的方向运动，即伸出动作的旋转方向，电机的方向旋转方向为电机能够带动击发杆向靠近电机的方向运动，即退回动作的旋转方向。
在吻合器被激活的情况下，控制部17控制传动部的旋转方向，从而带动传动部带动击发杆完成复位校准动作，以避免造成复位遮挡，从而使钉匣组件9的安装操作更加顺利；并且无需人工操作使得击发杆复位，给吻合器的使用带来了便利。
进一步地，如图2和图6所示所示，吻合器还包括装载开关及可拆卸的钉匣组件9；控制部17与装载开关电连接；当安装钉匣组件9时，钉匣组件9触发装载开关；控制部17用于记录装载开关的触发时间，并将触发时间与时间阈值相比较，如果触发时间大于或等于时间阈值，则确定钉匣组件9装载成功。
其中，钉匣组件9可采用现有的钉匣组件9，本实施例不做严格限定。
具体而言，钉匣组件9与击发杆之间为可拆卸连接，当钉匣组件9安装时，也就是钉匣组件9与击发杆连接，钉匣组件9能够通过推动部触发装载开关，控制部17记录装载开关的触发时间，并将触发时间与时间阈值相比较，如果触发时间大于或等于时间阈值，则确定钉匣组件9装载成功，从而实现自动识别钉匣组件9是否安装成功。进一步地，如果触发时间小于时间阈值，则控制部17可控制指示灯3点亮，从而提醒操作者检查钉匣组件9的安装状态。
在又一些实施例中，控制部17还用于将实时驱动电流值与预设的变速电流值相比较，当实时驱动电流值大于预设的变速电流值时，控制驱动部4通过传动部带动击发杆继续向远离驱动部4的方向移动，以增加钉匣组件9的闭合行程，并降低驱动部4的转速，以增加钉匣组件9的组织定位能力。
在吻合过程中，控制部17检测驱动电机的实时驱动电流值，当实时驱动电流值大于预设的变速电流值时，则表明吻合器所夹持的组织较厚，从而控制部17控制驱动部4通过传动部带动击发杆继续向远离驱动部4的方向移动，以增加钉匣组件9的闭合行程，从而达到厚组织依然能完整闭合夹持组织的目的，并降低驱动部4的转速，以增加钉匣组件9的组织定位能力，从而达到厚组织依然能够完成吻合的目的。其中，预设的变速电流值可由工作人员自行设置，本实施例不做严格限定。
在又一下实施例中，控制部17还用当拆除钉匣组件9时，控制驱动部4通过传动部带动击发杆进行复位校准动作。
在钉匣组件9拆除后，也就是钉匣组件9与击发杆分离，控制部17控制驱动部4通过传动部带动击发杆进行复位校准动作，从而便于吻合器的下次使用。
下面对上述实施例中的复位校准动作进行详细阐述。
具体地，如图1和图3所示，吻合器还包括设置在壳体2内的感应部；传动部上设有凸起11，感应部的感应区位于传动部上的凸起11的移动路径上，控制部17与感应部电连接；
控制部17用于当吻合器被激活或者拆除钉匣组件9时，控制驱动部4通过传动部带动击发杆向靠近驱动部4的方向移动，以使感应部第一次感应到凸起11；
当感应部第一次感应到凸起11时，控制驱动部4通过传动部带动击发杆向远离驱动部4的方向移动，以使凸起11脱离感应部的感应区域；
当脱离感应部的感应区域时，控制驱动部4通过传动部带动击发杆向靠近驱动部4的方向运动，以使感应部第二次感应到凸起11；
当感应部第二次感应到凸起11时，控制驱动部4停止工作。
其中，凸起11可设置在齿条8上，感应部可采用光电感应部件。凸起11位于感应部的感应区域，则可确定击发杆位于初始位置，而在本实施例中，在驱动部4带动齿条8退回动作，以使凸起11第一次位于感应区域时，驱动部4带动齿条8进行伸出-退回动作，直至使凸起11第二次位于感应区域，以避免对击发杆的零位遮挡，从而保证能够顺利的安装钉匣组件9。
在又一实施例中，吻合器还包括可拆卸的电源1以及设置在壳体2内部的电池电路板15，控制部17与电池电路板15电连接；控制部17用于当安装电源1时，采集电池电路板15上的电压，并判定电压是否为工作电压，如果电压为工作电压，则确定吻合器被激活。
其中，如图4所示，电源1包括电池102及设置电池102上的导通片101及信号导通片103，电路板上设有卡簧片16。在安装电源1后，电池102通过导通片101为各部件供电，电池电路板15通过卡簧片16与电池102连接，电池电路板15通过信号导通片103与各部件进行通信。
在本实施例中，控制部17通过采集电池电路板15的电压，并在确定电压为工作电压时，则可以确定电源1安装成功，从而确定吻合器处于激活状态，可供操作者使用，这样就能够实现自动识别电源1是否安装成功，从而便于操作者使用吻合器。同样地，在确定电源1安装成功后，控制部17还可以控制电源1将指示灯3点亮，从而使操作者能够直观的了解到电源1的安装情况。
进一步地，如图5所示，电源1还可以包括绝缘片18，在不使用吻合器的情况下，操作者可将绝缘片18塞入在卡簧片16与电池102之间，以起到隔离的作用，从而减小电池102电量的消耗。
在又一些实施例中，吻合器还包括与控制部17电连接的识别部6，钉匣组件9上还设有信息标识10；识别部6用于识别钉匣组件9上的信息标识10；控制部17用于如果识别失败，则控制吻合器处于停机状态，如果识别成功，则控制吻合器处于激活状态。
其中，识别部6可以为RFID读取器(Radio Frequency Identification，简称RFID)，RFID读取器能够读取电子标签数据，即RFID读取器。识别部6包括识别线圈，将识别部6设置壳体2外侧面或内侧面，根据实际使用条件，将识别部6设置在吻合器的适当位置，比如将识别部6设置在吻合器的后端部或顶部或侧部。
信息标识10可安装在钉匣组件9的前端、侧面或顶面，本实施例不做严格限定。信息标识10可以与钉匣组件9固定连接，也可是可拆卸连接，本实施例也不做严格限定。
在本实施例中，在信息标签被识别成功后，控制部17才能控制吻合器处于激活状态，从而使吻合器能够正常使用，这样可甄别钉匣组件9是否符合使用标准，以避免安装具有故障或者其他问题的钉匣组件9，从而提高手术的安全性。
进一步地，控制部17还用于记录识别部6的识别总次数及识别成功总次数，并获取识别总次数与识别成功总次数的预设对应关系；根据对应关系及识别总次数，确定预设的成功识别总次数；将识别成功总次数与预设的成功识别总次数相比较，如果识别成功总次数大于或等于预设的成功识别总次数，则控制吻合器处于停机状态。
其中，识别总次数与识别成功总次数的预设对应关系可以是比例关系，例如，识别总次数：识别成功总次数的预设对应关系＝2:1，当然也可以采用其他的对应关系，本实施例不做严格限定。
由于吻合器的主体(除去钉匣组件9的部分)可以多次使用，因此，识别部6可以识别多个不同的钉匣组件9。在本实施例中，基于识别总次数与识别成功总次数的预设对应关系，通过识别总次数限定预设的成功识别总次数，从而能够限定识别成功的总次数，在识别成功的总次数大于或等于预设的成功识别总次数的情况下，吻合器处于停机状态，也就是不能使用的状态，这样也就限制了吻合器主体的使用次数，从而能够避免吻合器主体的使用次数过多而导致吻合器易出现故障或者细菌超标的情况发生。
进一步地，识别部6获取钉匣组件9上的信息标识10的识别记录，如果识别记录为成功识别记录，则确定信息标识10识别失败。
在本实施例中，如果钉匣组件9被成功识别过，则表明该钉匣组件9可能 被使用过，在该种情况下，识别部6的识别结果仍是识别失败，以避免钉匣组件9重复被使用的情况发生。
另外，本申请的吻合器还包括确认开关14、击发开关及回退开关，当确认开关14闭合后，扳动扳机5，扳机5推动击发触发连杆12，击发触发连杆12触发击发开关，齿条8能够带动击发杆进行伸出动作。当上推扳机5时，扳机5推动回退触发连杆13，回退触发连杆13触发回退开关，齿条8能够带动击发杆进行回退动作，在齿条8的凸起11处于感应部的感应区域时，驱动部4停止运行，以终止击发操作，这样操作者也可以进行手动操作，以提高吻合器使用的灵活性。
在具体应用中，如图6所示，控制部17包括处理器1701(CPU)、电源管理单元1702(PWM)及存储器1703，处理器1701分别与指示灯3、驱动部4、扳机5及识别部6连接，从而具体传输接收输入指令及传输相应的控制信号，具体地控制过程可参见上述实施例的描述，在此不再赘述。其中，指示灯3及扳机5可采用PIO(可编程输入输出)的连接方式与处理器1701连接，以实现数据的传输。存储器1703用来存储传输数据。
电池管理单元1702通过电池电路板15与电池102连接，电池管理单元1702用于监管电池102的状态，以防止电池102过流或过压工作。
第二方面，本发明实施例提供了一种吻合器的控制方法，应用于上述的吻合器，包括：
步骤101：获取驱动部4的实时驱动电流值及跳变电流平均值。
步骤102：确定当前时刻的驱动电流值与上一时刻的驱动电流值的差值。
步骤103：将差值与跳变电流平均值相比较，如果差值大于跳变电流平均值，则控制驱动部4停止工作。
根据本发明实施例所提供的一种吻合器的控制方法，该方法获取驱动部4的实时驱动电流值及跳变电流平均值；然后确定当前时刻的驱动电流值与上一时刻的驱动电流值的差值；再将差值与跳变电流平均值相比较，如果差值大于跳变电流平均值，则控制驱动部4停止工作，这样就无需操作者自行判断是否完成吻合动作后再对吻合器进行操作，从而提高了手术效率。
进一步地，该方法还包括：
在回退触发连杆或击发触发连杆被触发的情况下，驱动部驱动击发杆回退或前进。
本发明已经通过上述实施例进行了说明，但应当理解的是，上述实施例只 是用于举例和说明的目的，而非意在将本发明限制于所描述的实施例范围内。此外本领域技术人员可以理解的是，本发明并不局限于上述实施例，根据本发明的教导还可以做出更多种的变型和修改，这些变型和修改均落在本发明所要求保护的范围以内。本发明的保护范围由附属的权利要求书及其等效范围所界定。

Claims (14)

  1. 一种吻合器，其特征在于，包括壳体，所述壳体内设有控制部及用于提供动力的驱动部，所述控制部与所述驱动部电连接；
    所述控制部用于获取所述驱动部的实时驱动电流值及跳变电流平均值；确定当前时刻的驱动电流值与上一时刻的驱动电流值的差值；将所述差值与跳变电流平均值相比较，如果所述差值大于所述跳变电流平均值，则控制所述驱动部停止工作。
  2. 根据权利要求1所述的吻合器，其特征在于，所述控制部还用于获取驱动部的历史驱动电流值；确定相邻两个时刻的驱动电流值的差值；根据所有差值，确定所述跳变电流平均值。
  3. 根据权利要求1所述的吻合器，其特征在于，所述控制部还用于将所述实时驱动电流值与驱动电流阈值相比较，当所述实时驱动电流值大于或等于驱动电流阈值时，控制所述驱动部停止工作。
  4. 根据权利要求1所述的吻合器，其特征在于，所述吻合器还包括传动部及击发杆；所述驱动部通过所述传动部与所述击发杆的一端连接；
    所述控制部用于当所述吻合器被激活时，控制所述驱动部通过所述传动部带动所述击发杆进行复位校准动作。
  5. 根据权利要求1所述的吻合器，其特征在于，所述吻合器还包括装载开关及可拆卸的钉匣组件；所述控制部与所述装载开关电连接；
    当安装所述钉匣组件时，所述钉匣组件触发所述装载开关；
    所述控制部用于记录所述装载开关的触发时间，并将所述触发时间与时间阈值相比较，如果所述触发时间大于或等于时间阈值，则确定所述钉匣组件装载成功。
  6. 根据权利要求5所述的吻合器，其特征在于，所述控制部还用于将所述实时驱动电流值与预设的变速电流值相比较，当所述实时驱动电流值大于预设的变速电流值时，控制所述驱动部通过所述传动部带动所述击发杆继续向远离驱动部的方向移动，以增加钉匣组件的闭合行程，并降低所述驱动部的转速，以增加钉匣组件的组织定位能力。
  7. 根据权利要求5所述的吻合器，其特征在于，所述控制部还用于当拆除所述钉匣组件时，控制所述驱动部通过所述传动部带动所述击发杆进行复位校准动作。
  8. 根据权利要求4或7所述的吻合器，其特征在于，所述吻合器还包括设置在所述壳体内的感应部；所述传动部上设有凸起，所述感应部的感应区位于所述传动部上的凸起的移动路径上，所述控制部与所述感应部电连接；
    所述控制部用于当所述吻合器被激活或者拆除钉匣组件时，控制所述驱动部通过传动部带动所述击发杆向靠近所述驱动部的方向移动，以使所述感应部第一次感应到所述凸起；
    当所述感应部第一次感应到所述凸起时，控制所述驱动部通过所述传动部带动所述击发杆向远离所述驱动部的方向移动，以使所述凸起脱离所述感应部的感应区域；
    当所述脱离所述感应部的感应区域时，控制所述驱动部通过所述传动部带动所述击发杆向靠近所述驱动部的方向运动，以使所述感应部第二次感应到所述凸起；
    当所述感应部第二次感应到所述凸起时，控制所述驱动部停止工作。
  9. 根据权利要求4所述的吻合器，其特征在于，所述吻合器还包括可拆卸的电源以及设置在所述壳体内部的电池电路板，所述控制部与所述电池电路板电连接；
    所述控制部用于当所述安装所述电源时，采集所述电池电路板上的电压，并判定所述电压是否为工作电压，如果所述电压为工作电压，则确定所述吻合器被激活。
  10. 根据权利要求5所述的吻合器，其特征在于，所述吻合器还包括与所述控制部电连接的识别部，所述钉匣组件上还设有信息标识；
    所述识别部用于识别所述钉匣组件上的信息标识；
    所述控制部用于如果识别失败，则控制所述吻合器处于停机状态，如果识别成功，则控制所述吻合器处于激活状态。
  11. 根据权利要求10所述的吻合器，其特征在于，所述控制部还用于记录所述识别部的识别总次数及识别成功总次数，并获取识别总次数与识别成功总次数的预设对应关系；根据所述对应关系及所述识别总次数，确定预设的成功识别总次数；将所述识别成功总次数与预设的成功识别总次数相比较，如果所述识别成功总次数大于或等于所述预设的成功识别总次数，则控制所述吻合器处于停机状态。
  12. 根据权利要求10所述的吻合器，其特征在于，所述识别部获取所述钉匣 组件上的信息标识的识别记录，如果所述识别记录为成功识别记录，则确定所述信息标识识别失败。
  13. 一种吻合器的控制方法，应用于权利要求1-12任一项所述的吻合器，其特征在于，包括：
    获取驱动部的实时驱动电流值及跳变电流平均值；
    确定当前时刻的驱动电流值与上一时刻的驱动电流值的差值；
    将所述差值与跳变电流平均值相比较，如果所述差值大于所述跳变电流平均值，则控制驱动部停止工作。
  14. 根据权利要求13的控制方法，其特征在于，所述方法还包括：
    在回退触发连杆或击发触发连杆被触发的情况下，驱动部驱动击发杆回退或前进。
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