Control system capable of adjusting cutting speed, control method of control system and electric anastomat

Abstract

The invention discloses a control system capable of adjusting the cutting speed, a control method of the control system and an electric anastomat. The driving system is electrically connected with the power supply module; the moving assembly is connected with the driving system; the controller is electrically connected with the power supply module, and comprises a detection unit connected with the driving system and used for detecting current data of the driving system in real time; the data analysis unit is connected with the detection unit and is used for receiving the current data of the detection unit; the control unit is connected with the data analysis unit and the driving system, and the control unit is provided with a plurality of current threshold intervals; the data analysis unit compares the current data with a current threshold interval to obtain a comparison result, and the control unit is used for adjusting operation parameters of the driving system according to the comparison result, so that the cutting speed can be automatically reduced when thick tissue is cut, and the cutting and suturing effects are better.

Description

Technical Field

[0001] This invention relates to the field of electric stapler technology, specifically to a control system and control method for adjustable cutting speed, and an electric stapler. Background Technology

[0002] Existing hand-operated laparoscopic staplers require manual operation. Due to the instability of human operation, the cutting speed of the blade varies, easily leading to uneven tissue surfaces. Similarly, the speed at which the staples are pushed out also varies, easily causing problems such as poor staple alignment, which can easily affect the final surgical outcome. While existing electric laparoscopic staplers provide stable force, their fixed firing speed cannot be adjusted according to tissue thickness, thus affecting the tissue anastomosis and cutting results. Summary of the Invention

[0003] The purpose of this invention is to provide an adjustable cutting speed control system and its control method, as well as an electric stapler. The system controls the speed of the motor rotation by detecting the current value at the output of the drive system through a detection unit. The detection system feeds the signal back to the data analysis unit, which compares the received current value with the target current value preset by the control system to determine whether to reduce the motor speed. This achieves automatic reduction of the cutting speed when cutting thick tissue, resulting in better cutting and suturing effects.

[0004] According to the present invention, an adjustable cutting speed control system is connected to a target module, comprising: The detection unit connected to the target module is used to detect the current data of the target module in real time; A data analysis unit connected to the detection unit is used to receive current data from the detection unit; The control unit of the data analysis unit is provided with multiple current threshold ranges; The data analysis unit compares the current data with the current threshold range to obtain a comparison result, and the control unit adjusts the operating parameters of the target module according to the comparison result.

[0005] Furthermore, the target module includes a motion component connected to the detection unit and a drive system connected to the motion component.

[0006] Furthermore, the operating parameters include the operating speed of the drive system and / or the movement speed of the motion component.

[0007] Furthermore, the drive system includes a motor, and the motion components include a cutting blade and a pusher blade connected to the motor.

[0008] Furthermore, the control unit synchronously controls the cutting speed of the cutting blade and the ejection speed of the pusher blade by adjusting the motor speed.

[0009] The present invention also provides an electric stapler, including an electric stapler control system with adjustable cutting speed as described above.

[0010] The present invention also provides a control method for the electric stapler control system with adjustable cutting speed as described above, comprising the following steps: The detection unit monitors the output current of the drive system in real time. The data analysis unit calculates the current value within a set time period; The control unit compares the current value with a preset current threshold range; The control unit adjusts the operating speed of the drive system based on the current value falling within the current threshold range.

[0011] Furthermore, the operating speed of the drive system includes the cutting speed of the cutting blade and / or the ejection speed of the pusher blade. The beneficial effects of this invention are: The detection unit detects the current value at the output of the drive system to control the speed of the motor rotation. The detection system feeds the signal back to the data analysis unit. The data analysis unit compares the received current value with the target current threshold range preset by the control unit to see if the current value falls into the current threshold range and determines whether to reduce or increase the motor speed, thereby achieving automatic cutting speed when cutting tissue and making the cutting and suturing effect better. Attached Figure Description

[0012] Figure 1 This is a flowchart of the method described in this invention.

[0013] Figure 2 This is a logic block diagram of the method described in this invention. Detailed Implementation

[0014] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0015] This invention provides a control system with adjustable cutting speed, the control system being connected to a target module, including: The detection unit, connected to the target module, is used to detect the current data of the target module in real time. A data analysis unit connected to the detection unit is used to receive current data from the detection unit; The control unit of the data analysis unit has multiple current threshold ranges; The data analysis unit compares the current data with the current threshold range to obtain a comparison result, and the control unit adjusts the operating parameters of the target module according to the comparison result.

[0016] The target module includes a motion component connected to the detection unit and a drive system connected to the motion component.

[0017] Operating parameters include the operating speed of the drive system and / or the speed of motion of moving components.

[0018] The drive system includes a motor, and the moving components include a cutting blade and a pusher blade connected to the motor.

[0019] The control unit synchronously controls the cutting speed of the cutting blade and the ejection speed of the pusher blade by adjusting the motor speed.

[0020] The present invention also provides an electric stapler, including the above-described electric stapler control system with adjustable cutting speed.

[0021] The present invention also provides a control method for the electric stapler control system with adjustable cutting speed as described above, comprising the following steps: The detection unit monitors the output current of the drive system in real time. The data analysis unit calculates the average current over a set time period; The control unit compares the current value with a preset current threshold range; The control unit adjusts the operating speed of the drive system based on the current value falling within the current threshold range.

[0022] The operating speed of the drive system includes the cutting speed of the cutting blade and / or the ejection speed of the pusher.

[0023] It is worth noting that the multiple current threshold ranges of the present invention can be set according to actual conditions. For example, they can include three ranges: 0-1A, 1-2A, and 2-3A. The drive system and / or motion components are respectively set with corresponding operating speeds of 20mm / s, 10mm / s, and 5mm / s for the above three ranges. When the detection unit detects that the output current of the drive system is equal to 0 in real time, the drive system does not move. When the current value falls into the three ranges, the control unit controls the drive system to adjust to the corresponding operating speed. When the current value exceeds 3A, the control unit controls the drive system to stop directly.

[0024] Of course, there are multiple ways to select the threshold. The control unit can also be set with three current thresholds, namely 1.2 times, 1.5 times and 1.8 times the rated current. Similarly, the three different current thresholds can be used to set the drive system and / or motion components to three different operating speeds. The comparison method is the same as above.

[0025] It is worth noting that the power module can use a rechargeable lithium battery with a rated voltage of 7.2V and a capacity of 2500mAh, which can provide a stable power input for the system.

[0026] The power module is also equipped with overcharge protection, over-discharge protection, and short-circuit protection circuits to ensure system power safety.

[0027] The drive system includes a motor, which can be a DC brushless motor with a rated power of 19.3W and a maximum speed of 11,000rpm. The motor is connected to the motion component through a reduction mechanism with a reduction ratio of 1:346, which converts the high-speed rotation of the motor into a speed and torque suitable for the operation of the motion component.

[0028] The motion components include a cutting blade and a pusher blade connected to a motor. The cutting blade may be made of medical-grade stainless steel, and the pusher blade may be made of titanium alloy. The cutting blade and the pusher blade are connected to the motor through a transmission mechanism. The rotational motion of the motor is converted into the reciprocating cutting motion of the cutting blade and the linear pushing motion of the pusher blade through the transmission mechanism.

[0029] The detection unit includes a current sensor, which can be a Hall effect current sensor with a measurement range of 0-25A, an accuracy of ±1%, and a sampling frequency of 1kHz. The current sensor is installed on the motor power line to monitor the motor's operating current in real time.

[0030] The data analysis unit includes a microprocessor and a memory. The microprocessor can be the STM32F103RCT6 from STMicroelectronics, based on the ARM Cortex-M3 core, with a main frequency of 72MHz, equipped with 256KB FLASH program memory and 48KB RAM [1-4]. The 72 MHz CPU 32-bit RISC core is used to store programs and data. The data analysis unit receives the current data collected by the detection unit and calculates the average current within a set time (e.g., 100ms). The calculation method is as follows: collect 100 current data points within the set time, add the values ​​of these data points together and divide by the number of data points to obtain the average current.

[0031] The control unit includes a control chip and a drive circuit. The control chip can be a dedicated motor control chip with PWM output function, which can accurately control the motor speed. The drive circuit adopts an H-bridge drive circuit with a maximum drive current of 10A, which can provide sufficient drive capability for the motor. Based on the comparison results of the data analysis unit, the control unit adjusts the motor speed by adjusting the duty cycle of the PWM signal, thereby controlling the movement speed of the moving components.

[0032] Operating parameters include the operating speed of the drive system and the movement speed of the moving components. The operating speed of the drive system refers to the rotational speed of the motor, which can be adjusted within the range of 1000-11000 rpm. The movement speed of the moving components includes the cutting speed of the cutting blade and the ejection speed of the pusher blade. The cutting speed can be adjusted within the range of 5-20 mm / s, and the ejection speed can be adjusted within the range of 5-20 mm / s.

[0033] The drive system includes a motor, and the motion components include a cutting blade and a pusher blade connected to the motor. The motor is connected to the cutting blade and the pusher blade through a transmission mechanism, which converts the rotational motion of the motor into the reciprocating motion of the cutting blade and the linear motion of the pusher blade.

[0034] The control unit synchronously controls the cutting speed of the cutting blade and the ejection speed of the nail pusher by adjusting the motor speed. Since the cutting blade and the nail pusher are connected to the motor through the same transmission mechanism, adjusting the motor speed can simultaneously affect the movement speed of the cutting blade and the nail pusher. When the motor speed increases, the cutting speed of the cutting blade and the ejection speed of the nail pusher both increase; when the motor speed decreases, the cutting speed of the cutting blade and the ejection speed of the nail pusher both decrease. This synchronous control method ensures the coordination of cutting and nail pushing operations, improving the system's working efficiency and safety.

[0035] The electric stapler described in this invention is mainly used for tissue cutting and suturing operations in surgical procedures. The outer shell of the electric stapler can be made of medical-grade polycarbonate material, which has good biocompatibility and mechanical strength.

[0036] The main body of the electric stapler includes a handle and a working head. The handle contains a power module, a drive system, and a controller. The working head includes a cutting blade, a staple pusher, and a staple cartridge, which contains multiple rows of titanium alloy staples.

[0037] The operating interface of the electric stapler is located on the upper part of the handle, including a power switch, a firing switch, a retraction switch, and status indicator lights. The power switch controls the power supply to the entire system, while the firing switch controls the motor's forward rotation. The retraction switch controls the motor's reverse rotation. The status indicator lights include a power indicator, a working status indicator, and a warning indicator, used to display the current status of the system.

[0038] The working process of the electric stapler is as follows: First, place the working head of the electric stapler on the tissue site that needs to be cut and sutured; then, press the trigger button to start the drive system, which drives the cutting blade and the staple pusher to perform cutting and suturing operations; at the same time, the control system monitors the motor current in real time and adjusts the motor speed according to the current changes to ensure that the cutting and suturing operations are carried out smoothly; finally, after the operation is completed, release the trigger button and the system stops working.

[0039] In practical use, when the electric stapler cuts hard tissue, the motor load increases and the current rises. After the control system detects the increase in current, it automatically reduces the motor speed and the cutting force to avoid tissue damage and equipment overload. After the cutting is completed, the load decreases and the current drops, and the control system restores the motor to its initial speed to maintain working efficiency.

[0040] In practical applications, the control method provided by this invention can automatically adjust the cutting speed according to load changes. When cutting harder tissues, it can automatically reduce the speed to reduce the risk of tissue damage; when cutting softer tissues, it can automatically restore the speed to improve work efficiency. At the same time, through current monitoring and speed adjustment, it can also effectively prevent motor overload and overheating, and extend the service life of the equipment.

[0041] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A control system for adjustable cutting speed, said control system being connected with a target module, characterized in that, The application relates to a control system of an electric anastomat, comprising: a detection unit connected with the target module, used for detecting current data of the target module in real time; a data analysis unit connected with the detection unit, used for receiving the current data of the detection unit; a control unit connected with the data analysis unit, wherein the control unit is provided with a plurality of current threshold intervals; the data analysis unit compares the current data with the current threshold intervals to obtain a comparison result, and the control unit is used for adjusting operation parameters of the target module according to the comparison result.

2. The control system of claim 1, wherein, The target module comprises a motion assembly connected with the detection unit and a driving system connected with the motion assembly.

3. The control system of claim 2, wherein, The operation parameters comprise an operation speed of the driving system and / or a motion speed of the motion assembly.

4. The control system of claim 3, wherein, The driving system comprises a motor, and the motion assembly comprises a cutting knife connected with the motor and a push nail piece.

5. The control system of claim 4, wherein, The control unit synchronously controls a cutting speed of the cutting knife and a pushing-out speed of the push nail piece by adjusting a rotating speed of the motor.

6. An electrically powered anastomosis device, comprising: The application further relates to an electric anastomat control system with adjustable cutting speed.

7. The control method of the electric powered anastomat control system with adjustable cutting speed according to claim 5, characterized in that, The application relates to a control system of an electric anastomat, comprising the following steps: the detection unit detects output current of the driving system in real time; the data analysis unit calculates current values within a set time; the control unit compares the current values with preset current threshold intervals; the control unit adjusts the operation speed of the driving system according to the current threshold interval where the current value falls.

8. The method of claim 7, wherein, The operation speed of the driving system comprises a cutting speed of the cutting knife and / or a pushing-out speed of the push nail piece.

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