Anastomosis device, pressure monitoring system and method

Abstract

The application relates to an anastomat, a pressure monitoring system and a method, the anastomat comprising a fiber type pressure sensing device and a nail bin; the upper surface of the nail bin is distributed with nail grooves, the fiber type pressure sensing device is arranged on at least one side of the upper surface of the nail bin along the length direction of the nail bin, the upper surface of the fiber type pressure sensing device is matched with the upper surface of the nail groove in height, and the fiber type pressure sensing device does not coincide with the area where the nail groove is located; the Bragg grating fiber in the fiber type pressure sensing device is deformed with the change of the clamping force of the anastomat. The pressure monitoring method of the application is applied to the anastomat, the wavelength change amount of the fiber type pressure sensing device is obtained; the strain amount of the Bragg grating fiber in the fiber type pressure sensing device is determined according to the wavelength change amount; and the change of the squeezing force in the clamping process of the anastomat is determined according to the strain amount. The application can realize real-time monitoring of the squeezing force of the anastomat.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an anastomat, a pressure monitoring system and method. BACKGROUND

[0002] In modern surgery, anastomosis is widely used due to its rapid suturing, simple operation and excellent suturing performance. However, in clinical use, the current anastomat often needs the experience of the doctor to select the height of the staple to adapt to different tissue thickness. This way of relying on the experience of the doctor to select the staple often brings some misjudgment, so that the suturing effect is not satisfactory.

[0003] In order to pursue the improvement of the suturing effect, intelligent detection technology is gradually applied to the anastomat, so that the anastomat can perceive the tissue thickness in real time and realize precise suturing. However, in addition to the tissue thickness, the size of the compression force also has a crucial influence on the suturing effect. When the compression force is too large, it is easy to cause tissue damage, and at the same time after the clamping force is unloaded, the rebound force of the tissue will also be larger, thereby causing the potential risk of secondary tissue damage. The current anastomat generally lacks a sensing device that can perceive the tissue compression force in real time, and cannot meet the demand of precise suturing of the anastomat. SUMMARY

[0004] In view of the above technical problems, the present application provides an anastomat, a pressure monitoring system and method, which can monitor the compression force of the anastomat in real time.

[0005] To solve the above technical problems, the present application provides an anastomat, which comprises a fiber type pressure sensing device and a cartridge, the upper surface of the cartridge is distributed with a staple groove, the fiber type pressure sensing device is arranged on at least one side of the upper surface of the cartridge along the length direction of the cartridge, the upper surface of the fiber type pressure sensing device is matched with the upper surface of the staple groove in height, and the fiber type pressure sensing device does not coincide with the area where the staple groove is located; the fiber type pressure sensing device comprises a Bragg grating fiber, and the Bragg grating fiber produces deformation with the change of the clamping force of the anastomat.

[0006] Among them, the fiber type pressure sensing device comprises a hard base and a plurality of Bragg grating fibers; the Bragg grating fibers and the hard base are arranged along the length direction of the cartridge, the Bragg grating fibers are partially embedded in the hard base along the length direction, and the unembedded part of the Bragg grating fibers is exposed to form a grating area.

[0007] The fiber type pressure sensing device includes a first Bragg grating fiber and a second Bragg grating fiber arranged in parallel on the same side of the nail cartridge.

[0008] The fiber type pressure sensing device includes a first part and a second part arranged on both sides of the upper surface of the nail cartridge along the length direction of the nail cartridge.

[0009] The anastomat applies a pressure monitoring method, which includes:

[0010] Obtaining the wavelength variation of the fiber type pressure sensing device;

[0011] Determining the strain of the Bragg grating fiber in the fiber type pressure sensing device according to the wavelength variation;

[0012] Determining the change of the squeezing force in the clamping process of the anastomat according to the strain

[0013] The fiber type pressure sensing device includes a first Bragg grating fiber and a second Bragg grating fiber, the first Bragg grating fiber includes a first grating region and a second grating region arranged adjacent along the length direction, and the second Bragg grating fiber includes a third grating region and a fourth grating region arranged adjacent along the length direction; the first grating region and the third grating region correspond in position and are consistent in strain to form a fifth grating region of the fiber type pressure sensing device; the second grating region and the fourth grating region correspond in position and are consistent in strain to form a sixth grating region of the fiber type pressure sensing device.

[0014] The wavelength variation of the fiber type pressure sensing device includes the wavelength variation of the first grating region, the wavelength variation of the second grating region, the wavelength variation of the third grating region, and the wavelength variation of the fourth grating region.

[0015] According to the wavelength variation, the strain of the Bragg grating fiber in the fiber type pressure sensing device is obtained, which includes:

[0016] According to the wavelength-strain relationship of the first grating region and the wavelength-strain relationship of the third grating region, the wavelength-strain relationship of the fifth grating region is determined, and the strain of the fifth grating region is determined according to the wavelength variation of the first grating region, the wavelength variation of the third grating region, and the wavelength-strain relationship of the fifth grating region.

[0017] The wavelength-strain relationship of the sixth grating region is obtained according to the wavelength-strain relationship of the second grating region and the wavelength-strain relationship of the fourth grating region, and the strain of the sixth grating region is determined according to the wavelength variation of the second grating region, the wavelength variation of the fourth grating region and the wavelength-strain relationship of the sixth grating region.

[0018] The wavelength-strain relationship of the sixth grating region is obtained according to the wavelength-strain relationship of the second grating region and the wavelength-strain relationship of the fourth grating region, and the strain of the sixth grating region is determined according to the wavelength variation of the second grating region, the wavelength variation of the fourth grating region and the wavelength-strain relationship of the sixth grating region.

[0019] The wavelength-strain relationship of the sixth grating region is obtained according to the wavelength-strain relationship of the second grating region and the wavelength-strain relationship of the fourth grating region, and the strain of the sixth grating region is determined according to the wavelength variation of the second grating region, the wavelength variation of the fourth grating region and the wavelength-strain relationship of the sixth grating region.

[0020] The wavelength-strain relationship of the sixth grating region is obtained according to the wavelength-strain relationship of the second grating region and the wavelength-strain relationship of the fourth grating region, and the strain of the sixth grating region is determined according to the wavelength variation of the second grating region, the wavelength variation of the fourth grating region and the wavelength-strain relationship of the sixth grating region.

[0021] The temperature influence term in the wavelength-strain relationship of the fifth grating region and the wavelength-strain relationship of the sixth grating region is removed respectively.

[0022] The wavelength-strain relationship of the sixth grating region is obtained according to the wavelength-strain relationship of the second grating region and the wavelength-strain relationship of the fourth grating region, and the strain of the sixth grating region is determined according to the wavelength variation of the second grating region, the wavelength variation of the fourth grating region and the wavelength-strain relationship of the sixth grating region.

[0023] The wavelength-strain relationship of the sixth grating region is obtained according to the wavelength-strain relationship of the second grating region and the wavelength-strain relationship of the fourth grating region, and the strain of the sixth grating region is determined according to the wavelength variation of the second grating region, the wavelength variation of the fourth grating region and the wavelength-strain relationship of the sixth grating region.

[0024] The pressure monitoring method further comprises:

[0025] The strain of each grating region is determined according to the strain of each grating region of the fiber type pressure sensing device.

[0026] According to the position of each grating region of the fiber type pressure sensing device in the nail cartridge, the pressure distribution cloud diagram of the nail cartridge is output.

[0027] The application also provides a pressure monitoring system, comprising an anastomat, a fiber grating demodulator and a signal processing device as described above,

[0028] The fiber type pressure sensing device receives the light source of the fiber grating demodulator and monitors the change of the optical signal in the clamping process of the anastomat.

[0029] The fiber grating demodulator is used to emit light source to the fiber type pressure sensing device, and receive the returned optical signal of the fiber type pressure sensing device.

[0030] The signal processing device is used for collecting and analyzing the optical signal to obtain the squeezing force in the clamping process of the anastomat.

[0031] The present application relates to an anastomat, comprising a fiber-optic pressure sensing device and a staple cartridge, the upper surface of the staple cartridge is distributed with staple slots, the fiber-optic pressure sensing device is arranged on at least one side of the upper surface of the staple cartridge along the length direction of the staple cartridge, the upper surface of the fiber-optic pressure sensing device is matched with the upper surface of the staple slot, and the fiber-optic pressure sensing device does not coincide with the area where the staple slot is located; the fiber-optic pressure sensing device comprises a Bragg grating fiber, and the Bragg grating fiber deforms with the change of the clamping force of the anastomat. The present application also relates to a pressure monitoring system, comprising an anastomat, a fiber-optic grating demodulator and a signal processing device, the fiber-optic pressure sensing device receives the light source emitted by the fiber-optic grating demodulator and monitors the change of the optical signal in the clamping process of the anastomat; the fiber-optic grating demodulator emits the light source to the fiber-optic pressure sensing device and receives the optical signal returned by the fiber-optic pressure sensing device; the signal processing device collects and analyzes the optical signal to obtain the squeezing force in the clamping process of the anastomat. The present application also relates to a pressure monitoring method applied to an anastomat, the wavelength change amount of the fiber-optic pressure sensing device is obtained; the strain amount of the Bragg grating fiber in the fiber-optic pressure sensing device is determined according to the wavelength change amount; and the change of the squeezing force in the clamping process of the anastomat is determined according to the strain amount. The present application can monitor the squeezing force of the anastomat in real time. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is one of the structural schematic diagrams of the staple cartridge of the anastomat according to the embodiment of the present application;

[0033] Figure 2 It is the second structural schematic diagram of the staple cartridge of the anastomat according to the embodiment of the present application;

[0034] Figure 3 It is one of the structural schematic diagrams of the fiber-optic pressure sensing device of the anastomat according to the embodiment of the present application;

[0035] Figure 4 It is the second structural schematic diagram of the fiber-optic pressure sensing device of the anastomat according to the embodiment of the present application;

[0036] Figure 5 It is the third structural schematic diagram of the fiber-optic pressure sensing device of the anastomat according to the embodiment of the present application;

[0037] Figure 6 It is the fourth structural schematic diagram of the fiber-optic pressure sensing device of the anastomat according to the embodiment of the present application;

[0038] Figure 7 It is the structural schematic diagram of the pressure monitoring system according to the embodiment of the present application;

[0039] Figure 8 This is a schematic flowchart illustrating a pressure monitoring method according to an embodiment of this application. Detailed Implementation

[0040] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification.

[0041] In the following description, reference is made to the accompanying drawings, which illustrate several embodiments of the present application. It should be understood that other embodiments may also be used, and changes in mechanical composition, structure, electrical and operational aspects may be made without departing from the spirit and scope of the present application. The following detailed description should not be considered limiting, and the terminology used herein is for describing particular embodiments only and is not intended to limit the present application.

[0042] Although the terms first, second, etc., are used in some instances to describe various elements herein, these elements should not be limited by these terms. These terms are only used to distinguish one element from another.

[0043] Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not preclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are to be interpreted inclusively, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition occur only when combinations of elements, functions, steps, or operations are inherently mutually exclusive in some way.

[0044] Please refer to Figures 1 to 3 This application provides a stapler, including a fiber optic pressure sensing device 201 and a staple cartridge 200. The upper surface of the staple cartridge 200 has staple grooves 202. The fiber optic pressure sensing device 201 is disposed on at least one side of the upper surface of the staple cartridge 200 along the length direction of the staple cartridge 200. The upper surface of the fiber optic pressure sensing device 201 is height-matched with the upper surface of the staple groove 202. The areas where the fiber optic pressure sensing device 201 and the staple groove 202 are located do not overlap. The fiber optic pressure sensing device 201 includes a Bragg grating fiber 102, which deforms with the clamping force of the stapler 100.

[0045] In the minimally invasive surgery, the optical fiber type pressure sensing device 201 is attached to the anastomat to perform the human tissue suturing operation. The optical fiber type pressure sensing device 201 can detect the force of the staple cartridge 200 of the anastomat during the operation. When the anastomat performs the anastomosis operation on the human tissue, the anastomat generates a squeezing force on the human tissue, which acts on the staple cartridge 200 and is detected by the optical fiber type pressure sensing device 201. The anastomat of the embodiment of the present application can monitor the squeezing force (i.e. the contact pressure of the staple cartridge 200 and the human tissue) in real time during the clamping process of the anastomat through the integration of the optical fiber type pressure sensing device 201 and the staple cartridge 200, and guide the doctor to select the height of the staple through the change of the squeezing force, and adjust the relevant action of the anastomat in real time, thereby improving the suturing effect of the anastomat.

[0046] Optionally, the optical fiber type pressure sensing device 201 is closely attached to the surface of the anastomat staple cartridge 200, and the thickness thereof is aligned with the upper surface of the staple groove 202 of the staple cartridge 200, or slightly lower or higher than the upper surface of the staple groove 202. For example, the height difference between the upper surface of the optical fiber type pressure sensing device 201 and the upper surface of the staple groove 202 is less than or equal to 0.5 mm. The overall thickness of the optical fiber type pressure sensing device 201 can be 0.2 mm to 3 mm to adapt to different types of staple cartridges 200. By integrating the optical fiber type pressure sensing device 201 on the surface of the anastomat staple cartridge 200, the direct measurement of the squeezing force of the anastomat on the human tissue during the suturing process is realized. In addition, the optical fiber type pressure sensing device 201 transmits information through light, avoids the transmission of current or voltage, has high biocompatibility, and has no problems such as electric leakage, and has extremely high safety. The optical fiber type pressure sensing device 201 is not affected by electromagnetic interference and can be used in an electromagnetic environment.

[0047] Optionally, the optical fiber type pressure sensing device 201 comprises a first part and a second part, and the first part and the second part are respectively arranged on both sides of the upper surface of the staple cartridge 200 along the length direction of the staple cartridge 200.

[0048] As shown in Figure 1 and Figure 2 , the optical fiber type pressure sensing device 201 is arranged on both sides of the surface of the anastomat staple cartridge 200 to avoid interference with the staple slot 202. The thickness of the optical fiber type pressure sensing device 201 can be adjusted according to the surface of different staple cartridges 200 to ensure that it does not affect the normal suturing operation.

[0049] As shown in Figure 3As shown, the fiber optic pressure sensing device 201 includes a rigid substrate 101 and a plurality of Bragg grating optical fibers 102; the Bragg grating optical fibers 102 and the rigid substrate 101 are arranged along the length direction of the staple cartridge 200, the Bragg grating optical fibers 102 are partially embedded in the rigid substrate 101 along the length direction, and the unembedded part of the Bragg grating optical fibers 102 is exposed to form a grating region 103.

[0050] It should be noted that the Bragg grating fiber 102 is an optical fiber with a uniform grating pitch, resulting in a very small reflected wavelength. The distance between the reflection points of the Bragg grating is always equal. This type of grating includes countless reflection points capable of reflecting specific wavelengths. Bragg gratings can be manufactured using methods such as masking, chemical etching, and femtosecond laser processing. The wavelength of the independently reflected light wave can be measured by connecting the Bragg grating fiber 102 to a fiber optic demodulator. Once the Bragg grating fiber 102 is subjected to stress or temperature changes, the grating pitch will change, and the wavelength of the reflected light wave will also change accordingly, reflecting different wavelengths. Thus, the wavelength change of the Bragg grating fiber 102 can be measured.

[0051] Specifically, the outer diameter of the Bragg grating fiber 102 can be 0.05mm to 1mm. The Bragg grating fiber 102 is distributed along the axial direction of the staple cartridge 200 and fixed to the rigid substrate 101 by adhesive bonding. In this embodiment, two Bragg grating fibers 102 are preferably used, each with multiple grating regions 103. Of course, in other embodiments, multiple Bragg grating fibers 102 can also be used, and the number of fibers is not limited. The rigid substrate 101 can also be made of hard metal, ceramic, glass, plastic, etc. It should be noted that the multiple grating regions 103 on the fiber optic pressure sensing device 201 can detect the compression force of human tissue at their corresponding positions, and the multiple grating regions 103 can obtain a compression force cloud map of the entire staple cartridge 200 plane. A single Bragg grating fiber 102 has multiple grating regions 103, which are fixed to a thinner part of the substrate 101, making the grating regions 103 more sensitive to the compression force. The preferred length of the grating region 103 is 3mm to 10mm, and the thickness of the substrate 101 can be 0.2mm to 3mm. Through the design of multiple grating regions 103, the pressing force of different parts of the staple cartridge 200 can be measured.

[0052] like Figure 4As shown in FIG. 1, the fiber type pressure sensing device 201 includes a first Bragg grating fiber 1021 and a second Bragg grating fiber 1022 which are located on the same side of the staple cartridge 200 and arranged in parallel. The first Bragg grating fiber 1021 and the second Bragg grating fiber 1022 each include a plurality of grating regions 103 arranged along the length direction. The plurality of grating regions 103 of the first Bragg grating fiber 1021 and the plurality of grating regions 103 of the second Bragg grating fiber 1022 correspond to each other in position.

[0053] As shown in FIG. 1, the fiber type pressure sensing device 201 includes a first Bragg grating fiber 1021 and a second Bragg grating fiber 1022 which are located on the same side of the staple cartridge 200 and arranged in parallel. The first Bragg grating fiber 1021 and the second Bragg grating fiber 1022 each include a plurality of grating regions 103 arranged along the length direction. The plurality of grating regions 103 of the first Bragg grating fiber 1021 and the plurality of grating regions 103 of the second Bragg grating fiber 1022 correspond to each other in position. Figure 5 and Figure 6 As shown in FIG. 1, the fiber type pressure sensing device 201 includes a first Bragg grating fiber 1021 and a second Bragg grating fiber 1022 which are located on the same side of the staple cartridge 200 and arranged in parallel. The first Bragg grating fiber 1021 and the second Bragg grating fiber 1022 each include a plurality of grating regions 103 arranged along the length direction. The plurality of grating regions 103 of the first Bragg grating fiber 1021 and the plurality of grating regions 103 of the second Bragg grating fiber 1022 correspond to each other in position.

[0054] Since the first grating region a1 and the third grating region a2 have the same strain amount, the wavelength variation amount of the first grating region a1 and the wavelength variation amount of the third grating region a2 can be averaged as the wavelength variation amount of the fifth grating region a. Similarly, the second grating region b1 and the fourth grating region b2 have the same strain amount, and the wavelength variation amount of the second grating region b1 and the wavelength variation amount of the fourth grating region b2 can be averaged as the wavelength variation amount of the sixth grating region b. In this way, the inherent acquisition noise of the fiber grating demodulator 300 can be reduced, and the measurement accuracy of the wavelength variation amount can be improved.

[0055] In addition, since the first grating region a1 and the second grating region b1 are arranged adjacent to each other, and the third grating region a2 and the fourth grating region b2 are arranged adjacent to each other, the grating region a and the grating region b can be considered to have the same temperature variation coefficient and to be subjected to the same temperature variation. Therefore, the temperature influence term in the wavelength variation amount of the fifth grating region a and the wavelength variation amount of the sixth grating region b can be removed through mathematical operation, and the calculation accuracy of the strain amount can be improved.

[0056] The anastomat of the embodiment of the present application comprises a fiber type pressure sensing device and a nail bin, the upper surface of the anastomat nail bin is distributed with nail grooves, the fiber type pressure sensing device of the anastomat is arranged on at least one side of the upper surface of the anastomat nail bin along the length direction of the anastomat nail bin, the upper surface of the fiber type pressure sensing device of the anastomat is matched with the upper surface of the anastomat nail groove in height, and the fiber type pressure sensing device of the anastomat does not coincide with the area where the anastomat nail groove is located; the fiber type pressure sensing device comprises a Bragg grating fiber, and the Bragg grating fiber produces deformation with the change of the clamping force of the anastomat. The anastomat of the embodiment of the present application can monitor the pressing force in real time during work.

[0057] Second embodiment

[0058] Please refer to Figure 7 The embodiment of the present application provides a pressure monitoring system, which comprises the anastomat 100, the fiber grating demodulator 300 and the signal processing device 400 as described in the first embodiment, the fiber type pressure sensing device 201 receives the light source of the fiber grating demodulator 300 and monitors the change of the optical signal in the clamping process of the anastomat 100; the fiber grating demodulator 300 is used for emitting the light source to the fiber type pressure sensing device 201, and receiving the optical signal returned by the fiber type pressure sensing device 201; the signal processing device 400 is used for collecting and analyzing the optical signal to obtain the pressing force in the clamping process of the anastomat 100.

[0059] Optionally, the anastomat further comprises a display device 500, which is used for displaying the pressing force in the clamping process of the anastomat 100 on the human tissue 600, and preferably displaying the pressing force at different positions of the anastomat 100 as a force distribution cloud diagram, so as to better prompt the distribution of the pressing force.

[0060] In the embodiment, the fiber grating demodulator 300 can adopt the SM155 fiber grating demodulator of the MOI (Micron Optics, micron optics) company in the United States, is connected with a plurality of fiber grating sensors through a fiber jumper, is used for emitting laser to the fiber grating sensor, receives the laser of specific wavelength returned by the three fiber grating sensors, converts the laser signal into a digital electrical signal, and demodulates the wavelength corresponding to each grating point. The signal processing device 400 collects optical signal data and performs force decoupling calculation. The signal processing device 400 can adopt a computer, which sends a detection command to the fiber grating demodulator 300 through a TCP / IP protocol, receives the wavelength change amount corresponding to each grating area sent by the fiber grating demodulator 300, analyzes and calculates the wavelength change amount, and obtains the stress information at the front end of the fiber type pressure sensing device 201 in real time. The display device 500 is connected with the signal processing device 400 through a connecting line, and is used for displaying the stress information of the fiber type pressure sensing device 201 in real time.

[0061] The pressure monitoring system of the embodiment of the application comprises an anastomat, a fiber grating demodulator and a signal processing device, the fiber type pressure sensing device receives the emission light source of the fiber grating demodulator and monitors the change of the optical signal in the clamping process of the anastomat; the fiber grating demodulator emits the light source to the fiber type pressure sensing device and receives the returned optical signal of the fiber type pressure sensing device; the signal processing device collects and analyzes the optical signal to obtain the pressing force in the clamping process of the anastomat. The pressure monitoring system of the embodiment of the application can monitor the pressing force of the anastomat in real time.

[0062] Third embodiment

[0063] As shown in the figure, the anastomat of the embodiment of the application applies the pressure monitoring method, which comprises: Figure 8

[0064] Step S11: acquiring the wavelength variation of the fiber type pressure sensing device;

[0065] Step S12: determining the strain of the Bragg grating fiber in the fiber type pressure sensing device according to the wavelength variation;

[0066] Step S13: determining the change of the pressing force in the clamping process of the anastomat according to the strain.

[0067] Optionally, in step S11, the wavelength variation of the fiber type pressure sensing device is acquired, comprising:

[0068] acquiring the detection wavelength of the returned optical signal of the fiber type pressure sensing device;

[0069] obtaining the wavelength variation according to the detection wavelength and the center wavelength of the Bragg grating fiber.

[0070] In the embodiment, first, the center wavelengths of each grating region of each Bragg grating fiber are acquired respectively. Then, the wavelength variation is acquired. The detection wavelengths of the multiple grating regions of the Bragg grating fiber are acquired, and the wavelength variation of the multiple grating regions of the Bragg grating fiber is obtained based on the center wavelengths and the detection wavelengths of each grating region of the Bragg grating fiber, as the wavelength variation of the fiber type pressure sensing device.

[0071] As shown in the figure, the anastomat of the embodiment of the application applies the pressure monitoring method, which comprises: Figure 5 and Figure 6 ​As shown, the fiber type pressure sensing device 201 includes a first Bragg grating fiber 1021 and a second Bragg grating fiber 1022, the first Bragg grating fiber 1021 includes a first grating area a1 and a second grating area b1 arranged adjacent along the length direction, and the second Bragg grating fiber 1022 includes a third grating area a2 and a fourth grating area b2 arranged adjacent along the length direction; the first grating area a1 and the third grating area a2 correspond in position and have the same strain amount to form a fifth grating area a of the fiber type pressure sensing device 201; the second grating area b1 and the fourth grating area b2 correspond in position and have the same strain amount to form a sixth grating area b of the fiber type pressure sensing device 201.

[0072] Since the first grating area a1 and the third grating area a2 have the same strain amount, the wavelength variation amount of the first grating area a1 and the wavelength variation amount of the third grating area a2 can be averaged as the wavelength variation amount of the fifth grating area a. Similarly, the second grating area b1 and the fourth grating area b2 have the same strain amount, and the wavelength variation amount of the second grating area b1 and the wavelength variation amount of the fourth grating area b2 can be averaged as the wavelength variation amount of the sixth grating area b. In this way, the inherent acquisition noise of the fiber grating demodulator 300 can be reduced, and the measurement accuracy of the wavelength variation amount can be improved.

[0073] In addition, since the first grating area a1 and the second grating area b1 are arranged adjacent, and the third grating area a2 and the fourth grating area b2 are arranged adjacent, the grating area a and the grating area b can be considered to have the same temperature variation coefficient and the same temperature variation. Therefore, the temperature influence term in the wavelength variation amount of the fifth grating area a and the wavelength variation amount of the sixth grating area b can be removed through mathematical operation, and the calculation accuracy of the strain amount can be improved.

[0074] Alternatively, the wavelength variation amount of the fiber type pressure sensing device includes the wavelength variation amount of the first grating area a1, the wavelength variation amount of the second grating area b1, the wavelength variation amount of the third grating area a2, and the wavelength variation amount of the fourth grating area b2. That is, each grating area of each Bragg grating fiber corresponds to a wavelength variation amount.

[0075] Alternatively, in step S12, the strain amount of the Bragg grating fiber in the fiber type pressure sensing device is obtained according to the wavelength variation amount, including:

[0076] According to the wavelength-strain amount relationship of the first grating area and the wavelength-strain amount relationship of the third grating area, the wavelength-strain amount relationship of the fifth grating area is determined, and the strain amount of the fifth grating area is determined according to the wavelength variation amount of the first grating area, the wavelength variation amount of the third grating area, and the wavelength-strain amount relationship of the fifth grating area;

[0077] The wavelength-strain relationship of the sixth grating region is obtained according to the wavelength-strain relationship of the second grating region and the wavelength-strain relationship of the fourth grating region, and the strain of the sixth grating region is determined according to the wavelength variation of the second grating region, the wavelength variation of the fourth grating region, and the wavelength-strain relationship of the sixth grating region.

[0078] In actual implementation, two adjacent grating regions are taken as an example. For a Bragg grating fiber, the relationship between the wavelength variation and the strain is as follows:

[0079] (1)

[0080] In formula (1), represents the wavelength variation of the reflected light wave peak, represents the local strain at the fiber grating attachment, represents the temperature variation, and are the corresponding strain coefficients and temperature coefficients, respectively, which can be calibrated through experimental tests.

[0081] As shown in Figure 4 and Figure 5 , since the fifth grating region a and the sixth grating region b have the same specifications and packaging, and the distance between the two adjacent grating regions is relatively close, it can be considered that the fifth grating region a and the sixth grating region b have the same temperature variation coefficient and the same temperature variation .

[0082] Under the action of the pressing force F1, the first grating region a1 and the third grating region a2 are subjected to the same strain, and the wavelength variation can be expressed as:

[0083] (2)

[0084] In formula (2), and respectively represent the wavelength variation of the first grating region a1 and the third grating region a2 under the action of the pressing force F1; and respectively represent the corresponding strain coefficients of the first grating region a1 and the third grating region a2; represents the local strain at the fifth grating region a.

[0085] In order to reduce the inherent acquisition noise of the fiber grating demodulator 300, the average of the wavelength variation of the fifth grating region a is taken to reduce the noise interference as much as possible. According to the wavelength-strain relationship of the first grating region a1 and the wavelength-strain relationship of the third grating region a2, the wavelength-strain relationship of the fifth grating region a is determined. The strain of the first grating region a1 and the third grating region a2 is consistent, and the average wavelength variation of the first grating region a1 and the third grating region a2 is expressed as:

[0086] (3)

[0087] In formula (3), represents the average wavelength variation of the first grating region a1 and the third grating region a2 (i.e. the wavelength variation of the fifth grating region a), , respectively represent the wavelength variation and the strain coefficient of the first grating region a1, , respectively represent the wavelength variation and the strain coefficient of the third grating region a2, represents the strain of the first grating region a1 or the third grating region a2 (i.e. the grating region a), represents the temperature coefficient, represents the temperature change.

[0088] Then, according to the wavelength variation of the first grating region a1, the wavelength variation of the third grating region a2 and the wavelength-strain relationship of the fifth grating region a, the strain of the fifth grating region a is determined. Since the wavelength variation of the first grating region a1 and the wavelength variation of the third grating region a2 are known, the strain of the fifth grating region a can be obtained according to the wavelength-strain relationship of the fifth grating region a.

[0089] Similarly, under the action of the pressing force F2, the second grating region b1 and the fourth grating region b2 are subjected to the same strain, and the wavelength variation can be expressed as:

[0090] (4)

[0091] In formula (4), and respectively represent the wavelength variation of the second grating region b1 and the fourth grating region b2 under the action of the pressing force F2; and respectively represent the corresponding strain coefficients of the second grating region b1 and the fourth grating region b2; represents the local strain at the grating region b.

[0092] Similarly, the wavelength-strain relationship of the sixth grating region b is obtained according to the wavelength-strain relationship of the second grating region b1 and the wavelength-strain relationship of the fourth grating region b2, and the corresponding relationship between the average wavelength change amount of the grating region b and the strain is obtained. The strain of the second grating region b1 and the fourth grating region b2 is consistent, and the average wavelength change amount of the second grating region b1 and the fourth grating region b2 is expressed as:

[0093] (5)

[0094] In formula (5), represents the average wavelength change amount of the second grating region b1 and the fourth grating region b2, , respectively represent the wavelength change amount and the strain coefficient of the second grating region b1, , respectively represent the wavelength change amount and the strain coefficient of the fourth grating region b2, represents the strain of the second grating region b1 or the fourth grating region b2.

[0095] Then, the strain of the sixth grating region b is determined according to the wavelength change amount of the second grating region b1, the wavelength change amount of the fourth grating region b2 and the wavelength-strain relationship of the sixth grating region b. Since the wavelength change amount of the second grating region b1 and the wavelength change amount of the fourth grating region b2 are known, the strain of the sixth grating region b can be obtained according to the wavelength-strain relationship of the sixth grating region b.

[0096] Optionally, in step S12, the strain of the Bragg grating fiber in the fiber type pressure sensing device is obtained according to the wavelength change amount, comprising:

[0097] determining the wavelength-strain relationship of the fifth grating region according to the wavelength-strain relationship of the first grating region and the wavelength-strain relationship of the third grating region;

[0098] obtaining the wavelength-strain relationship of the sixth grating region according to the wavelength-strain relationship of the second grating region and the wavelength-strain relationship of the fourth grating region;

[0099] respectively removing the temperature influence term in the wavelength-strain relationship of the fifth grating region and the wavelength-strain relationship of the sixth grating region;

[0100] determining the strain of the fifth grating region according to the wavelength change amount of the first grating region, the wavelength change amount of the third grating region and the wavelength-strain relationship of the fifth grating region after removing the temperature term;

[0101] determining the strain of the sixth grating region according to the wavelength change amount of the second grating region, the wavelength change amount of the fourth grating region and the wavelength-strain relationship of the sixth grating region after removing the temperature term.

[0102] In actual implementation, taking two adjacent grating regions as an example. For a Bragg grating fiber, the relationship between the variation of the reflected wavelength and the strain is as follows:

[0103] (1)’

[0104] In formula (1)’, represents the variation of the wavelength corresponding to the peak of the reflected light wave, represents the local strain at the attachment of the fiber grating, represents the temperature change, and are the corresponding strain coefficient and temperature coefficient respectively, which can be calibrated through experimental testing.

[0105] As shown in Figure 4 and Figure 5 , under the action of the pressing force F1, the first grating region a1 and the third grating region a2 undergo the same strain, and the wavelength change can be expressed as:

[0106] (2)’

[0107] In formula (2)’, and respectively represent the wavelength variation of the first grating region a1 and the third grating region a2 under the action of the pressing force F1; and respectively represent the corresponding strain coefficients of the first grating region a1 and the third grating region a2; represents the local strain at the fifth grating region a.

[0108] Similarly, under the action of the pressing force F2, the second grating region b1 (i.e., the second grating region) and the fourth grating region b2 (i.e., the fourth grating region) undergo the same strain, and the wavelength change can be expressed as:

[0109] (3)’

[0110] In formula (3)’, and respectively represent the wavelength variation of the second grating region b1 and the fourth grating region b2 under the action of the pressing force F2; and respectively represent the corresponding strain coefficients of the second grating region b1 and the fourth grating region b2; represents the local strain at the grating region b.

[0111] In order to reduce the inherent acquisition noise of the fiber grating demodulator 300, the average wavelength variation of the grating area a is taken to reduce the noise interference as much as possible. According to the wavelength-strain relationship of the first grating area a1 and the wavelength-strain relationship of the third grating area a2, the wavelength-strain relationship of the fifth grating area a is determined, the strain of the first grating area a1 and the third grating area a2 is consistent, and the average wavelength variation expression of the first grating area a1 and the third grating area a2 is:

[0112] (4)'

[0113] In formula (4)', the average wavelength variation of the first grating area a1 and the third grating area a2 is represented, , the wavelength variation and the strain coefficient of the first grating area a1 are represented respectively, , the wavelength variation and the strain coefficient of the third grating area a2 are represented respectively, the strain of the first grating area a1 or the third grating area a2 (i.e. the grating area a) is represented, the temperature coefficient is represented, the temperature change is represented.

[0114] Similarly, according to the wavelength-strain relationship of the second grating area b1 and the wavelength-strain relationship of the fourth grating area b2, the wavelength-strain relationship of the sixth grating area b is obtained, and the corresponding relationship between the average wavelength variation of the sixth grating area b and the strain is obtained. The strain of the second grating area b1 and the fourth grating area b2 is consistent, and the average wavelength variation expression of the second grating area b1 and the fourth grating area b2 is:

[0115] (5)'

[0116] In formula (5)', the average wavelength variation of the second grating area b1 and the fourth grating area b2 is represented, , the wavelength variation and the strain coefficient of the second grating area b1 are represented respectively, , the wavelength variation and the strain coefficient of the fourth grating area b2 are represented respectively, the strain of the second grating area b1 or the fourth grating area b2 (i.e. the sixth grating area b) is represented.

[0117] Optionally, in order to eliminate the influence of temperature change on the measurement accuracy, the application also provides a temperature compensation algorithm. Based on the wavelength variation of the multiple grating areas in the Bragg grating fiber, the wavelength variation caused by the external strain after eliminating the temperature strain is obtained.

[0118] First, the sum of formula (4)' and formula (5)' can be obtained as follows:

[0119] (6)

[0120] In the formula, represents the sum of the average wavelength variation of the grating area a and the grating area b.

[0121] Half of formula (4)' and formula (5)' are subtracted respectively to obtain the relationship expression between the wavelength variation and the strain after eliminating the temperature effect:

[0122] (7)

[0123] In formula (7), the temperature term is eliminated, indicating that the influence of temperature change on the measurement accuracy is eliminated by algorithm design. Based on the wavelength variation caused by external force only after eliminating the temperature strain, the strain at the attachment of the Bragg grating fiber is obtained by using the relationship expression between the strain and the wavelength of the Bragg grating fiber.

[0124] Optionally, in step S13, the pressing force applied at the attachment of the Bragg grating fiber is obtained based on the relationship expression between the strain and the pressing force.

[0125] Specifically, since the pressing forces F1 and F2 respectively have linear relationships with the strains , The linear relationship can be expressed as:

[0126] (8)

[0127] In formula (8), and respectively represent the linear coefficients between the pressing forces , and the strains , .

[0128] Therefore, combined with formulas (3-7), the pressing force can be expressed as:

[0129] (9)

[0130] In formula (9), K is a linear coefficient matrix, and 2x4 is a linear mapping matrix between the pressing forces , and the wavelength variations of each grating area , , , . Thus, the pressing forces , The wavelength variation amount of the grating area a and the grating area b can be derived.

[0131] Optionally, the pressure monitoring method of the embodiment of the application further comprises:

[0132] According to the strain amount of each grating area of the optical fiber type pressure sensing device, the pressing force of each grating area is determined.

[0133] According to the positions of each grating area of the optical fiber type pressure sensing device in the cartridge, a pressing force distribution cloud chart of the cartridge is output.

[0134] Illustratively, according to the strain amount of the fifth grating area a, the pressing force of the fifth grating area a on the corresponding position of the cartridge is determined; according to the strain amount of the sixth grating area b, the pressing force of the sixth grating area b on the corresponding position of the cartridge is determined; and according to the positions of each grating area of the optical fiber type pressure sensing device in the cartridge, a pressing force distribution cloud chart of the cartridge is output. In this embodiment, the plurality of grating areas on the optical fiber type pressure sensing device can detect the tissue pressing force of the corresponding position, and the plurality of grating areas can obtain the pressing force cloud chart of the entire cartridge plane. By displaying the pressing force at different positions of the anastomat as a force distribution cloud chart, the distribution of the pressing force can be better prompted.

[0135] The pressure monitoring method of the application is applied to the anastomat as described in the first embodiment, comprising: obtaining the wavelength variation amount of the optical fiber type pressure sensing device; determining the strain amount of the Bragg grating fiber in the optical fiber type pressure sensing device according to the wavelength variation amount; and determining the pressing force variation in the clamping process of the anastomat according to the strain amount. The embodiment of the application can monitor the pressing force in the working process of the anastomat in real time.

[0136] The above embodiments are only illustrative of the principles and effects of the application, and are not used to limit the application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical thought of the application should be covered by the claims of the application.

Claims

1. A stapler, characterized in that, The device includes a fiber optic pressure sensor and a staple cartridge. The upper surface of the staple cartridge has staple grooves. The fiber optic pressure sensor is disposed on at least one side of the upper surface of the staple cartridge along the length of the staple cartridge. The upper surface of the fiber optic pressure sensor is height-matched with the upper surface of the staple grooves, and the area where the fiber optic pressure sensor and the staple grooves are located does not overlap. The fiber optic pressure sensor includes a Bragg grating fiber, which deforms with the clamping force of the stapler. The fiber optic pressure sensing device includes a rigid substrate and a plurality of Bragg grating fibers; the Bragg grating fibers and the rigid substrate are arranged along the length direction of the staple cartridge, the Bragg grating fibers are partially embedded in the rigid substrate along the length direction, and the unembedded portions of the Bragg grating fibers are exposed to form a grating area; The fiber optic pressure sensing device includes a first Bragg grating fiber and a second Bragg grating fiber located on the same side of the staple cartridge and arranged in parallel; the first Bragg grating fiber and the second Bragg grating fiber each include a plurality of grating regions arranged along the length direction, and the positions of the plurality of grating regions of the first Bragg grating fiber and the plurality of grating regions of the second Bragg grating fiber correspond one-to-one.

2. The stapler according to claim 1, characterized in that, The fiber optic pressure sensing device includes a first part and a second part, which are respectively disposed on both sides of the upper surface of the staple cartridge along the length direction of the staple cartridge.

3. The stapler according to claim 1 or 2, characterized in that, The anastomosis device employs a pressure monitoring method, including: The wavelength change of the fiber optic pressure sensing device is obtained; The strain of the Bragg grating fiber in the fiber-optic pressure sensing device is determined based on the wavelength change. The change in pressing force during the clamping process of the anastomosis device is determined based on the strain.

4. The stapler according to claim 3, characterized in that, The fiber optic pressure sensing device includes a first Bragg grating fiber and a second Bragg grating fiber. The first Bragg grating fiber includes a first grating region and a second grating region arranged adjacent to each other along the length direction. The second Bragg grating fiber includes a third grating region and a fourth grating region arranged adjacent to each other along the length direction. The positions of the first grating region and the third grating region correspond and the strain is consistent to form a fifth grating region of the fiber optic pressure sensing device. The second grating region and the fourth grating region are positioned correspondingly and have the same strain, so as to form the sixth grating region of the fiber optic pressure sensing device; The wavelength change of the fiber optic pressure sensing device includes the wavelength change of the first grating region, the wavelength change of the second grating region, the wavelength change of the third grating region, and the wavelength change of the fourth grating region.

5. The stapler according to claim 4, characterized in that, The strain of the Bragg grating fiber in the fiber-optic pressure sensing device is determined based on the wavelength change, including: Based on the wavelength-strain relationship of the first grating region and the wavelength-strain relationship of the third grating region, the wavelength-strain relationship of the fifth grating region is determined, and the strain of the fifth grating region is determined based on the wavelength change of the first grating region, the wavelength change of the third grating region, and the wavelength-strain relationship of the fifth grating region. The wavelength-strain relationship of the sixth grating region is obtained based on the wavelength-strain relationship of the second grating region and the wavelength-strain relationship of the fourth grating region. The strain of the sixth grating region is determined based on the wavelength change of the second grating region, the wavelength change of the fourth grating region, and the wavelength-strain relationship of the sixth grating region.

6. The stapler according to claim 4, characterized in that, The strain of the Bragg grating fiber in the fiber-optic pressure sensing device is determined based on the wavelength change, including: The wavelength-strain relationship of the fifth grating region is determined based on the wavelength-strain relationship of the first grating region and the wavelength-strain relationship of the third grating region; The wavelength-strain relationship of the sixth grating region is obtained based on the wavelength-strain relationship of the second grating region and the wavelength-strain relationship of the fourth grating region; The temperature effect terms in the wavelength-strain relationship of the fifth grating region and the wavelength-strain relationship of the sixth grating region are removed respectively; The strain of the fifth grating region is determined based on the wavelength change of the first grating region, the wavelength change of the third grating region, and the wavelength-strain relationship of the fifth grating region after removing the temperature term; The strain of the sixth grating region is determined based on the wavelength change of the second grating region, the wavelength change of the fourth grating region, and the wavelength-strain relationship of the sixth grating region after removing the temperature term.

7. The stapler according to claim 5 or 6, characterized in that, The pressure monitoring method further includes: The pressing force of each grating region is determined based on the strain of each grating region of the fiber optic pressure sensing device. Based on the position of each grating area of ​​the fiber optic pressure sensing device in the staple cartridge, a pressure distribution cloud map of the staple cartridge is output.

8. A pressure monitoring system, characterized in that, Includes the stapler, fiber optic demodulator, and signal processing device as described in any one of claims 1 to 2. The fiber optic pressure sensing device receives the emitted light source from the fiber optic demodulator and monitors the changes in optical signal during the clamping process of the stapler. The fiber optic grating demodulator is used to emit a light source to the fiber optic pressure sensing device and to receive the optical signal returned by the fiber optic pressure sensing device. The signal processing device is used to collect and analyze the optical signal to obtain the squeezing force during the clamping process of the anastomosis device.

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