Surgical instrument, its control method, instrument processing device and computer-readable storage medium

Abstract

The present invention relates to a surgical instrument, its control method, an instrument processing device, and a computer-readable storage medium, belonging to the medical field. The surgical instrument includes a working head, an end effector connected to the working head, a data acquisition unit disposed on or at one side of the end effector, and a control unit communicatively connected to the data acquisition unit. The data acquisition unit acquires tissue data of the surgical site, and a motor communicatively connected to the control unit is disposed in the working head. The control unit acquires the tissue data to determine the closing value of the end effector, and drives the motor to drive the end effector to operate according to the closing value of the end effector. The surgical instrument of the present application can pre-judge the end effector first to control the operation of the end effector, which helps to improve the surgical efficiency and the surgical effect.

Description

Technical Field

[0001] The present invention relates to a surgical instrument, a control method thereof, an instrument processing device, and a computer-readable storage medium, and belongs to the medical field. Background Art

[0002] In minimally invasive surgery, a clip applicator and a stapler are usually used in cooperation with a trocar to perform the surgery. In existing minimally invasive surgery, the selection of the models of the clip applicator and the stapler is usually determined manually. If a doctor accidentally picks up an inappropriate model, when the clip applicator and the stapler are inserted into the trocar, the doctor may not be able to detect it, thus increasing the surgical risk. To solve this problem, Chinese Patent Application No. CN103083054A discloses the following test system and method for testing a powered surgical instrument. The powered surgical instrument includes: a processor configured to control the operation of the powered surgical instrument; a memory configured to store a tissue compression program; a reloador configured to clamp tissue; a motor configured to control the reloador to apply a compression force to the tissue through the reloador; and at least one sensor configured to measure the current consumption on the motor. The processor executes a simulation program to measure the current consumption on the motor by calibrating the thickness emission, and the measured current consumption is used to adjust the tissue compression program. This disclosure measures the current consumption during nailing through a sensor, thereby realizing the detection of the surgical process to improve the safety of the surgery. However, this document can only realize the detection during the surgical process and determine the surgical effect, that is, the purpose of this disclosed patent is to determine a given fact and cannot improve the surgical effect. Summary of the Invention

[0003] The purpose of the present invention is to provide a surgical instrument that can achieve reverse control and is helpful to improve the surgical efficiency and surgical effect.

[0004] To achieve the above object, the present invention provides the following technical solution: A surgical instrument includes a working head, an end effector connected to the working head, a data acquisition unit provided on or at one side of the end effector, and a control unit communicatively connected to the data acquisition unit. The data acquisition unit acquires tissue data of the surgical site, and a motor communicatively connected to the control unit is provided in the working head. The control unit acquires the tissue data to determine the closing value of the end effector, and drives the motor to drive the end effector to operate according to the closing value of the end effector.

[0005] Further, the data acquisition unit is a camera, the tissue data is a tissue image of the surgical site captured by the camera, and the tissue image is used to display the thickness or diameter of the tissue.

[0006] Further, the data acquisition unit is a ranging sensor, and the tissue data is the tissue thickness or diameter of the surgically treated site measured by the ranging sensor.

[0007] Further, the data acquisition unit is a ranging sensor, and the tissue data is the distance value between the ranging sensor and the surgically treated site.

[0008] Further, the data acquisition unit is embedded in the end effector.

[0009] Further, the surgical instrument further includes a reminder unit communicatively connected to the control unit. The control unit determines whether the end effector closing value meets the closing condition of the end effector, and outputs the determination result through the reminder unit.

[0010] Further, the surgical instrument further includes a reminder unit communicatively connected to the control unit. The control unit determines the working mode according to the end effector closing value, and outputs the mode information corresponding to the working mode through the reminder unit.

[0011] Further, the mode information includes one or both of the type of the end effector and the type of the cartridge clip, or the working mode includes one or both of the type of the end effector and the type of the staple cartridge assembly.

[0012] Further, the surgical instrument further includes at least one displacement sensor and a reminder unit communicatively connected to the control unit. The displacement sensor collects displacement data when the end effector closes. The control unit obtains the actual closing execution route of the end effector according to the displacement data. The control unit determines whether the actual closing execution route conforms to a preset expected closing execution route, and outputs the determination result through the reminder unit.

[0013] Further, the surgical instrument further includes at least one displacement sensor communicatively connected to the control unit and a display unit communicatively connected to the control unit. The displacement sensor collects displacement data when the end effector closes. The control unit obtains the actual closing execution route of the end effector according to the displacement data. The control unit generates a simulated image according to the actual closing execution route, and displays it through the display unit.

[0014] Further, the surgical instrument further includes at least one first displacement sensor disposed on the end effector, at least one second displacement sensor disposed on the pull rod, and a reminder unit communicatively connected to the control unit. The first displacement sensor collects first displacement data when the end effector is closed, the second displacement sensor collects second displacement data when the pull rod moves, the control unit obtains the actual closing execution route of the end effector according to the first displacement data and the second displacement data, the control unit determines whether the actual closing execution route conforms to a preset expected closing execution route, and outputs the determination result through the reminder unit.

[0015] Further, the surgical instrument further includes at least one first displacement sensor disposed on the end effector, at least one second displacement sensor disposed on the pull rod, and a display unit communicatively connected to the control unit. The first displacement sensor collects first displacement data when the end effector is closed, the second displacement sensor collects second displacement data when the pull rod moves, the control unit obtains the actual closing execution route of the end effector according to the first displacement data and the second displacement data, the control unit generates a simulated image according to the actual closing execution route, and displays it through the display unit.

[0016] Further, the surgical instrument includes a display unit, and the display unit acquires and displays the image data collected by the camera.

[0017] Further, the display unit is integrated on the working head.

[0018] Further, the surgical instrument is a clip applier, and the closing value of the end effector is the closing value of the ligating clip, or the surgical instrument is a stapler, and the closing value of the end effector includes the closing value of the staple.

[0019] The present invention also provides a control method for a surgical instrument, including:

[0020] Acquiring tissue data of the surgical site collected by the data acquisition unit; determining the closing value of the end effector according to the tissue data;

[0021] Driving a motor to drive the end effector to operate according to the closing value of the end effector.

[0022] Further, the surgical instrument further includes a reminder unit, and the control method further includes:

[0023] Confirming whether the closing condition of the end effector is satisfied according to the closing value of the end effector;

[0024] Sending the determination result to the reminder unit.

[0025] Further, the surgical instrument further includes a reminder unit, and the control method further includes:

[0026] Determine the working mode according to the end effector closing value;

[0027] Send the working mode to the reminder unit to output mode information corresponding to the working mode.

[0028] Further, the mode information includes one or both of the type of end effector to be used and the type of cartridge clip, or the working mode includes one or both of the type of end effector to be used and the type of staple cartridge assembly.

[0029] Further, the surgical instrument further includes a displacement sensor and a reminder unit communicatively connected to the control unit, and the control method further includes:

[0030] Obtain the displacement data when the end effector is closed collected by the displacement sensor;

[0031] Determine the actual closing execution route of the end effector according to the displacement data;

[0032] Judge whether the actual closing execution route conforms to a preset expected closing execution route according to the actual closing execution route;

[0033] Send the determination result to the reminder unit.

[0034] Further, the surgical instrument further includes a displacement sensor and a display unit communicatively connected to the control unit, and the control method further includes:

[0035] Obtain the displacement data when the end effector is closed collected by the displacement sensor;

[0036] Determine the actual closing execution route of the end effector according to the displacement data;

[0037] Generate a simulation image according to the actual closing execution route;

[0038] Send the simulation image to the display unit for display.

[0039] Further, the surgical instrument further includes at least one first displacement sensor arranged on the end effector, at least one second displacement sensor arranged on the pull rod, and a reminder unit communicatively connected to the control unit, and the control method further includes:

[0040] Obtain the first displacement data when the end effector is closed collected by the first displacement sensor, and obtain the second displacement data when the pull rod moves collected by the second displacement sensor;

[0041] Obtain the actual closing execution route of the end effector according to the first displacement data and the second displacement data;

[0042] Judge whether the actual closing execution route conforms to a preset expected closing execution route according to the actual closing execution route;

[0043] Send the determination result to the reminder unit.

[0044] Further, the surgical instrument further includes at least one first displacement sensor arranged on the end effector, at least one second displacement sensor arranged on the pull rod, and a display unit communicatively connected to the control unit. The control method further includes:

[0045] Obtain the first displacement data when the end effector is closed collected by the first displacement sensor, and obtain the second displacement data when the pull rod moves collected by the second displacement sensor;

[0046] Obtain the actual closing execution route of the end effector according to the first displacement data and the second displacement data;

[0047] Generate a simulation image according to the actual closing execution route;

[0048] Send the simulation image to the display unit for display.

[0049] Further, the data acquisition unit is a camera, and the surgical instrument includes a display unit. The method further includes:

[0050] Obtain the image data collected by the camera;

[0051] Send the image data to the display unit for display.

[0052] This application also provides a surgical processing device, which includes a processor and a memory; a program is stored in the memory, and the program is loaded and executed by the processor to implement the control method of the above surgical instrument.

[0053] This application also provides a computer-readable storage medium, in which a program is stored, and the program is used to implement the control method of the above surgical instrument when executed by a processor.

[0054] The beneficial effects of the present invention are as follows: The surgical instrument of the present application first obtains the tissue data of the surgical site through the data acquisition unit, and then the control unit determines the closing value of the end effector according to the tissue data, thereby realizing reverse control, that is, by first obtaining the closing value of the end effector, and then the controller controls the output value of the motor through the closing value of the end effector, so as to realize the pre-judgment of the end effector first, and control the operation of the end effector, which helps to improve the surgical efficiency and the surgical effect.

[0055] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly and implement it in accordance with the content of the specification, the following takes the preferred embodiment of the present invention and combines the drawings to describe in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a schematic structural diagram of a clip applicator shown in an embodiment of the present invention;

[0057] Figure 2 is Figure 1 a cross-sectional view of a partial structure of the clip applicator shown;

[0058] Figure 3 It is a flowchart of a control method of a clip applicator shown in an embodiment of the present invention.

[0059]

DESCRIPTION OF THE REFERENCE NUMERALS

[0060] 10: Working head;

[0061] 20: End effector; 21: Clamp;

[0062] 30: Shaft assembly;

[0063] 40: Data acquisition unit, camera;

[0064] 50: Ligating clip;

[0065] 60: Reminder unit, display unit. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0066] The technical solution of the present invention will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0067] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and should not be construed as indicating or implying relative importance.

[0068] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0069] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0070] The clip applicator and stapler are used in minimally invasive surgery. The clip applicator is used to fix the ligating clip on the blood vessel to block the blood flow in the blood vessel. The blood flow in the blood vessel is blocked by the closure of the ligating clip, and the selection of the model (i.e., the size) of the ligating clip depends on the diameter of the blood vessel. The stapler is used to cut and suture tissues. The tissue is sutured through the closing effect of the staples, and the selection of the model of the staples depends on the thickness of the tissue at the surgical site. The surgical instrument of the present application includes a clip applicator and a stapler. The present application will be described in detail below taking the clip applicator as an example.

[0071] Please refer to Figure 1 and Figure 2, the surgical instrument includes a working head 10, an end effector 20 connected to the working head 10, a shaft assembly 30 connecting the working head 10 and the end effector 20, a data acquisition unit 40 provided on the end effector 20, and a control unit (not shown) communicatively connected to the data acquisition unit 40. A motor (not shown) communicatively connected to the control unit, a battery for supplying power to the motor, and a transmission assembly (not shown) for transmitting the output force of the motor to the shaft assembly 30 are provided in the working head 10. A magazine clip (not shown), an ejection assembly 31 connected to the transmission assembly to push the ligating clip in the magazine clip into the end effector 20, and a firing rod (not shown) connected to the transmission assembly to transmit the output force of the motor to the end effector 20 to close the end effector 20 to close the ligating clip are provided in the shaft assembly 30. In this embodiment, the structures of the working head 10, the shaft assembly 30, and the magazine clip adopt the prior art, so they will not be described in detail herein. The data acquisition unit 40 acquires tissue data of the surgical site (not shown), and the control unit acquires the tissue data to determine the closing value of the end effector 20, and drives the motor to drive the end effector 20 to operate according to the closing value of the end effector 20. In this embodiment, since the surgical instrument is a clip applicator, correspondingly, the closing value of its end effector 20 is the closing value of the ligating clip 50, the tissue is a blood vessel, and the tissue data is the diameter of the blood vessel.

[0072] Please refer to Figure 1 and Figure 2 , the data acquisition unit 40 is a camera, the tissue data is a tissue image of the surgical site captured by the camera 40, and the tissue image is used to display the diameter of the blood vessel. The camera 40 is embedded in the end effector 20. Specifically, the end effector 20 includes two clamping jaws 21 arranged oppositely and relatively movable. The two clamping jaws 21 are driven by a firing rod to open or close. When they are closed, the two clamping jaws 21 close the ligating clip 50 therebetween. The structures of the two clamping jaws 21 and the connection relationship between the two clamping jaws 21 and the firing rod are similar to those of the prior art. The difference is that a groove for accommodating the camera 40 is recessed in one clamping jaw 21. By embedding the camera 40 in the groove, the overall structure of the surgical instrument is made more compact and the overall volume is reduced. Of course, in other embodiments, there may be multiple cameras 40, which are arranged on the two clamping jaws 21 or on the same clamping jaw 21. In addition, the camera 40 may not be provided on the end effector 20. The camera 40 may be provided on one side of the end effector 20. In addition, the end effector 20 may be moved through a control rod to achieve shooting at different positions.

[0073] In addition to the camera 40 given in this embodiment, in other embodiments, the data acquisition unit 40 may also be a ranging sensor, and the organized data may be the diameter of the blood vessel measured by the ranging sensor, or the organized data may be the distance value between the ranging sensor and the blood vessel. It should be noted that if a ranging sensor is used, the number of ranging sensors is at least two, and the two ranging sensors are respectively arranged on the two clamps 21 or are arranged opposite to each other. When the ranging sensor measures the diameter of the blood vessel, the blood vessel needs to be placed between the two ranging sensors, and the working principle of the ranging sensor will not be described in detail here.

[0074] It is true that if the surgical instrument is a stapler, the structure of the stapler can adopt the existing technology, and the difference is that: the processing methods of the data acquisition unit and the control unit are added. At this time, the end effector closing value includes the closing value of the staple, the tissue is the tissue to be cut and sutured, and the tissue data is the thickness of the tissue. It should be noted that in the application of the stapler, the tissue data is obtained by the data acquisition unit after the clamp is closed. If the data acquisition unit is a camera, the position where the camera is arranged is the position where the thickness of the sutured tissue can be photographed. It can be embedded in the end effector or arranged on one side of the end effector. If the data acquisition unit is a ranging sensor, the number of ranging sensors is also two or more. Generally, the ranging sensor is embedded in the end effector, and the tissue data is the tissue thickness measured by the ranging sensor, or the tissue data is the distance value measured by the ranging sensor.

[0075] In this embodiment, the clip applicator further includes a reminder unit 60 communicatively connected to the control unit. The control unit determines whether the end effector 20 closing value meets the closing condition of the end effector 20 and outputs the determination result through the reminder unit 60. In addition, the control unit can also determine the working mode according to the end effector 20 closing value and output the mode information corresponding to the working mode through the reminder unit 60. In this embodiment, the mode information includes one or both of the type of the end effector 20 and the type of the cartridge clip. Generally, the mode information is the type of the end effector 20 and the type of the cartridge clip. The reminder unit 60 may be a display unit 60 or a playback unit, preferably the display unit 60, specifically a display screen. Through the display unit 60, the surgeon can see the type of the end effector 20 and the type of the cartridge clip required for this operation. At the same time, the display unit 60 displays whether the type of the currently installed end effector 20 and the type of the cartridge clip are appropriate, so as to avoid affecting the surgical effect due to inappropriate types of the end effector 20 and the cartridge clip used. It should be noted that if the surgical instrument is a stapler, its working mode includes one or both of the type of the end effector 20 and the type of the staple cartridge assembly.

[0076] To improve the user experience of the surgical operator and understand the formation process of the ligating clip 50 and the clip-forming effect of the ligating clip 50, the clip applicator further includes at least one displacement sensor (not shown) communicatively connected to the control unit. The displacement sensor collects displacement data when the end effector 20 closes. The control unit obtains the actual closing execution route of the end effector 20 based on the displacement data, determines whether the actual closing execution route conforms to a preset expected closing execution route, and outputs the determination result through the reminder unit 60. In this embodiment, since the reminder unit 60 uses a display screen, the control unit can also generate a simulation image based on the actual closing execution route and display it through the display unit 60. Of course, the reminder unit 60 may not display the simulation image but only display the determination result, and the determination result is the clip-forming effect of the ligating clip 50. The output of the clip-forming effect can be any one or more of text, color, display lamp, and sound. In this embodiment, since the data acquisition unit 40 uses a camera 40, in addition to displaying the simulation image, it is also possible to select to display the image actually captured by the camera 40. Specifically: the display unit 60 acquires and displays the image data collected by the camera 40. Specifically, the control unit acquires the image data collected by the camera 40 and transmits it to the display unit 60 for display by the display unit 60. The display unit 60 is specifically a display screen integrated on the working head 10.

[0077] It should be noted that when the surgical instrument is a stapler, if a displacement sensor is used, at least two displacement sensors need to be arranged. The distance between the two clampers is a parameter for forming the staple ejection distance and the closing effect. The movement of the pull rod determines the staple ejection time and sequence. Therefore, as long as the displacement data when the end effector (two clampers) closes and the displacement data when the pull rod moves are monitored and collected, the staple ejection effect can be obtained. Specifically: the displacement sensor includes at least one first displacement sensor arranged on the end effector and at least one second displacement sensor arranged on the pull rod. The first displacement sensor collects the first displacement data when the end effector closes, and the second displacement sensor collects the second displacement data when the pull rod moves. The control unit obtains the actual closing execution route of the end effector based on the first displacement data and the second displacement data.

[0078] Please refer to Figure 3 , which shows a flowchart of a control method for a surgical instrument provided by an embodiment of the present application. In this embodiment, this method is used for Figure 1 the clip applicator shown for example. Please see Figure 3 and in combination with Figure 1 and Figure 2 , the control method for a surgical instrument includes:

[0079] Step 101: Obtain the tissue data of the surgical site collected by the data acquisition unit 40; determine the closing value of the end effector 20 according to the tissue data.

[0080] Step 102: Drive the motor to drive the end effector 20 to operate according to the closing value of the end effector 20.

[0081] Step 103: Confirm whether the closing condition of the end effector 20 is met according to the closing value of the end effector 20.

[0082] Step 104: Send the determination result to the reminder unit 60.

[0083] The reminder unit 60 can be a display unit 60 or a playback unit. The control method can also determine the working mode according to the closing value of the end effector 20; send the working mode to the reminder unit 60 to output the mode information corresponding to the working mode. The mode information includes one or both of the type of the end effector 20 to be used and the type of the cartridge clip. It should be noted that in practical applications, the control method of the surgical instrument may only include Step 101 and Step 102.

[0084] Through the display unit 60, the surgeon can see the type of the end effector 20 and the type of the cartridge clip required for this surgery. At the same time, the display shows whether the type of the currently installed end effector 20 and the type of the cartridge clip are appropriate, so as to avoid the inappropriate type of the end effector 20 and the type of the cartridge clip from affecting the surgical effect. It should be noted that if the surgical instrument is a stapler, its working mode includes one or both of the type of the end effector 20 and the type of the staple cartridge assembly.

[0085] In order to improve the user experience of the surgeon, understand the formation process of the ligating clip 50 and the clamping effect of the ligating clip 50, the present application provides an implementation method. The control method further includes:

[0086] Obtain the displacement data when the end effector 20 is closed collected by the displacement sensor;

[0087] Determine the actual closing execution route of the end effector 20 according to the displacement data;

[0088] Judge whether the actual closing execution route conforms to the preset expected closing execution route;

[0089] Send the determination result to the reminder unit 60.

[0090] When the reminder unit 60 is the display unit 60, the present application can also provide another implementation method. The control method can further include:

[0091] Obtain the displacement data when the end effector 20 is closed collected by the displacement sensor;

[0092] Determine the actual closing execution route of the end effector 20 according to the displacement data;

[0093] Generate a simulation image according to the actual closing execution route;

[0094] Send the simulation image to the display unit 60 for display.

[0095] In practical applications, the control method of this surgical instrument can only implement one of the above two implementation methods, or can implement both at the same time. When both are implemented at the same time, the display unit 60 and the reminder unit 60 are one component. When the reminder unit 60 does not display the simulation image and only displays the determination result, the determination result is to display the clamping effect of the ligating clip 50, and the output of the clamping effect can be any one or more of text, color, display lamp, and sound. In this embodiment, since the data acquisition unit 40 uses a camera 40, in addition to displaying the simulation image, the image actually captured by the camera 40 can also be directly displayed. Specifically: the display unit 60 acquires the image data collected by the camera 40 and displays it. The control unit acquires the image data collected by the camera 40 and transmits it to the display unit 60, which is displayed by the display unit 60. The display unit 60 is a display screen integrated on the working head 10.

[0096] It should be noted that when the surgical instrument is a stapler, there are two ways to obtain the nail-out effect (the closing effect of the staples).

[0097] The first control method is:

[0098] Obtain the first displacement data when the end effector is closed collected by the first displacement sensor, and obtain the second displacement data when the pull rod moves collected by the second displacement sensor;

[0099] Obtain the actual closing execution route of the end effector according to the first displacement data and the second displacement data;

[0100] Judge whether the actual closing execution route conforms to the preset expected closing execution route according to the actual closing execution route;

[0101] Send the determination result to the reminder unit.

[0102] The second control method is:

[0103] Obtain the first displacement data when the end effector is closed collected by the first displacement sensor, and obtain the second displacement data when the pull rod moves collected by the second displacement sensor;

[0104] Obtain the actual closing execution route of the end effector according to the first displacement data and the second displacement data;

[0105] Judge whether it conforms to the preset expected closed execution route according to the actual closed execution route;

[0106] Send the determination result to the reminder unit.

[0107] Similarly, in practical applications, the above two control methods can exist simultaneously or only one of them can exist.

[0108] This embodiment also discloses a surgical treatment device, which includes a memory and a processor. At least one program instruction is stored in the memory, and the processor executes the control method of the above surgical instrument by loading and executing at least one program instruction.

[0109] This embodiment also discloses a computer storage medium, in which at least one program instruction is stored, and the at least one program instruction is loaded and executed by the processor to execute the control method of the above surgical instrument.

[0110] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0111] The above embodiments only represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A surgical instrument, characterized in that, It includes a working head, an end effector connected to the working head, a data acquisition unit disposed on or at one side of the end effector, and a control unit communicatively connected to the data acquisition unit. The data acquisition unit acquires tissue data of the surgical site to be performed. A motor communicatively connected to the control unit is disposed in the working head. The control unit acquires the tissue data to determine the closing value of the end effector, and drives the motor to drive the end effector to operate according to the closing value of the end effector; The surgical instrument further includes at least one displacement sensor and a reminder unit communicatively connected to the control unit. The displacement sensor acquires displacement data when the end effector closes. The control unit obtains the actual closing execution route of the end effector according to the displacement data. The control unit determines whether the actual closing execution route conforms to a preset desired closing execution route, and outputs the determination result through the reminder unit; or, The surgical instrument further includes at least one displacement sensor communicatively connected to the control unit and a display unit communicatively connected to the control unit. The displacement sensor acquires displacement data when the end effector closes. The control unit obtains the actual closing execution route of the end effector according to the displacement data. The control unit generates a simulated image according to the actual closing execution route and displays it through the display unit; or, The surgical instrument further includes at least one first displacement sensor disposed on the end effector, at least one second displacement sensor disposed on the pull rod, and a reminder unit communicatively connected to the control unit. The first displacement sensor acquires first displacement data when the end effector closes. The second displacement sensor acquires second displacement data when the pull rod moves. The control unit obtains the actual closing execution route of the end effector according to the first displacement data and the second displacement data. The control unit determines whether the actual closing execution route conforms to a preset desired closing execution route, and outputs the determination result through the reminder unit; or, The surgical instrument further includes at least one first displacement sensor disposed on the end effector, at least one second displacement sensor disposed on the pull rod, and a display unit communicatively connected to the control unit. The first displacement sensor acquires first displacement data when the end effector closes. The second displacement sensor acquires second displacement data when the pull rod moves. The control unit obtains the actual closing execution route of the end effector according to the first displacement data and the second displacement data. The control unit generates a simulated image according to the actual closing execution route and displays it through the display unit.

2. The surgical instrument according to claim 1, wherein, The data acquisition unit is a camera, and the tissue data is a tissue image of the surgical site taken by the camera. The tissue image is used to display the thickness or diameter of the tissue.

3. The surgical instrument according to claim 1, wherein, The data acquisition unit is a ranging sensor, and the tissue data is the tissue thickness or diameter measured by the ranging sensor of the surgical site to be performed.

4. The surgical instrument according to claim 1, wherein The data acquisition unit is a ranging sensor, and the tissue data is the distance value between the ranging sensor and the surgical site.

5. The surgical instrument according to claim 1, wherein, The data acquisition unit is embedded in the end effector.

6. The surgical instrument according to claim 1, wherein, The surgical instrument further includes a reminder unit communicatively connected to the control unit. The control unit determines whether the end effector closing value meets the closing condition of the end effector, and outputs the determination result through the reminder unit.

7. The surgical instrument according to claim 1, wherein, The surgical instrument further includes a reminder unit communicatively connected to the control unit. The control unit determines the working mode according to the end effector closing value, and outputs mode information corresponding to the working mode through the reminder unit.

8. The surgical instrument according to claim 7, wherein, The mode information includes one or both of the type of the end effector and the type of the cartridge clip, or the working mode includes one or both of the type of the end effector and the type of the staple cartridge assembly.

9. The surgical instrument according to claim 2, wherein The surgical instrument includes a display unit that acquires and displays the image data collected by the camera.

10. The surgical instrument according to claim 9, wherein, The display unit is integrated on the working head.

11. The surgical instrument according to claim 1, wherein, The surgical instrument is a clip applicator, and the end effector closing value is the closing value of the ligating clip, or the surgical instrument is a stapler, and the end effector closing value includes the closing value of the staple.

12. A surgical treatment device, characterized in that, The device includes a processor and a memory; a program is stored in the memory, and the program is loaded and executed by the processor to implement the control method of the surgical instrument as described in claim 1. The control method of the surgical instrument includes: Acquiring the tissue data of the surgical site collected by the data acquisition unit; determining the end effector closing value according to the tissue data; Driving a motor to drive the end effector to operate according to the end effector closing value; The surgical instrument further includes a displacement sensor and a reminder unit communicatively connected to the control unit. The control method further includes: Acquiring the displacement data when the end effector closes collected by the displacement sensor; Determining the actual closing execution route of the end effector according to the displacement data; Judging whether the actual closing execution route conforms to a preset expected closing execution route according to the actual closing execution route; Sending the determination result to the reminder unit; or The surgical instrument further includes a displacement sensor and a display unit communicatively connected to the control unit. The control method further includes: Acquiring the displacement data when the end effector closes collected by the displacement sensor; Determining the actual closing execution route of the end effector according to the displacement data; Generating a simulation image according to the actual closing execution route; Sending the simulation image to the display unit for display; or The surgical instrument further includes at least one first displacement sensor arranged on the end effector, at least one second displacement sensor arranged on the pull rod, and a reminder unit communicatively connected to the control unit. The control method further includes: Acquiring the first displacement data when the end effector closes collected by the first displacement sensor, and acquiring the second displacement data when the pull rod moves collected by the second displacement sensor; Obtain the actual closing execution route of the end effector based on the first displacement data and the second displacement data; Judge whether the actual closing execution route conforms to a preset expected closing execution route according to the actual closing execution route; Send the determination result to the reminder unit; or, The surgical instrument further includes at least one first displacement sensor arranged on the end effector, at least one second displacement sensor arranged on the pull rod, and a display unit communicatively connected to the control unit. The control method further includes: Obtain the first displacement data when the end effector closes collected by the first displacement sensor, and obtain the second displacement data when the pull rod moves collected by the second displacement sensor; Obtain the actual closing execution route of the end effector based on the first displacement data and the second displacement data; Generate a simulation image according to the actual closing execution route; Send the simulation image to the display unit for display.

13. The surgical treatment device according to claim 12, wherein, The surgical instrument further includes a reminder unit. The control method further includes: Confirm whether the closing condition of the end effector is satisfied according to the closing value of the end effector; Send the determination result to the reminder unit.

14. The surgical treatment device according to claim 12, characterized in that, The surgical instrument further includes a reminder unit. The control method further includes: Determine the working mode according to the closing value of the end effector; Send the working mode to the reminder unit to output mode information corresponding to the working mode.

15. The surgical treatment device according to claim 14, wherein, The mode information includes one or both of the type of end effector to be used and the type of cartridge clip, or the working mode includes one or both of the type of end effector to be used and the type of staple cartridge assembly.

16. The surgical treatment device according to claim 12, characterized in that, The data acquisition unit is a camera. The surgical instrument includes a display unit. The method further includes: Obtain the image data collected by the camera; Send the image data to the display unit for display.

17. A computer-readable storage medium, characterized in that, A program is stored in the storage medium. When the program is executed by a processor, it is used to implement the control method of the surgical instrument as claimed in claim 1. The control method of the surgical instrument includes: Obtain the tissue data of the surgical site collected by the data acquisition unit; determine the closing value of the end effector according to the tissue data; Drive the motor to drive the end effector to operate according to the closing value of the end effector; The surgical instrument further includes a displacement sensor and a reminder unit communicatively connected to the control unit. The control method further includes: Obtain the displacement data when the end effector closes collected by the displacement sensor; Determine the actual closing execution route of the end effector according to the displacement data; Judge whether the actual closing execution route conforms to a preset expected closing execution route according to the actual closing execution route; Send the determination result to the reminder unit; or, The surgical instrument further includes a displacement sensor and a display unit communicatively connected to the control unit. The control method further includes: Obtain the displacement data when the end effector closes collected by the displacement sensor; Determine the actual closing execution route of the end effector according to the displacement data; Generate a simulation image according to the actual closing execution route; Send the simulation image to the display unit for display; or, The surgical instrument further includes at least one first displacement sensor disposed on the end effector, at least one second displacement sensor disposed on the pull rod, and a reminder unit communicatively connected to the control unit. The control method further includes: Obtaining first displacement data when the end effector is closed, collected by the first displacement sensor, and obtaining second displacement data when the pull rod moves, collected by the second displacement sensor; Obtaining an actual closing execution route of the end effector based on the first displacement data and the second displacement data; Determining whether the actual closing execution route conforms to a preset expected closing execution route; Sending the determination result to the reminder unit; or, The surgical instrument further includes at least one first displacement sensor disposed on the end effector, at least one second displacement sensor disposed on the pull rod, and a display unit communicatively connected to the control unit. The control method further includes: Obtaining first displacement data when the end effector is closed, collected by the first displacement sensor, and obtaining second displacement data when the pull rod moves, collected by the second displacement sensor; Obtaining an actual closing execution route of the end effector based on the first displacement data and the second displacement data; Generating a simulated image based on the actual closing execution route; Sending the simulated image to the display unit for display.

18. The computer-readable storage medium according to claim 17, wherein The surgical instrument further includes a reminder unit. The control method further includes: Confirming whether the closing value of the end effector meets the closing condition of the end effector; Sending the determination result to the reminder unit.

19. The computer-readable storage medium according to claim 17, wherein The surgical instrument further includes a reminder unit. The control method further includes: Determining a working mode based on the closing value of the end effector; Sending the working mode to the reminder unit to output mode information corresponding to the working mode.

20. The computer-readable storage medium according to claim 19, wherein The mode information includes one or both of the type of end effector to be used and the type of cartridge clip, or the working mode includes one or both of the type of end effector to be used and the type of staple cartridge assembly.

21. The computer-readable storage medium according to claim 17, wherein The data acquisition unit is a camera. The surgical instrument includes a display unit. The method further includes: Obtaining image data collected by the camera; Sending the image data to the display unit for display.

Images