Cutting anastomat based on motor rotation control cutting stroke and control method thereof

Abstract

The application is a cutting anastomat based on motor rotation control cutting stroke and its control method, the main body of which is anastomat; the anastomat is divided into gun body assembly and several different specifications of cutting assembly; it also includes identification mechanism, micro control unit and other structures; the identification mechanism is installed on the gun body assembly; the motor module rotation speed monitoring mechanism is installed on the motor module; the identification mechanism and the motor module rotation speed monitoring mechanism are connected through the micro control unit. The anastomat control method includes the following steps: S1 install a specific model of cutting assembly and identify; S2 first stage excitation, cutting assembly closing; S3 second stage excitation, cutting knife completing cutting; S4 exiting anastomat. The advantages of the application are: confirming the cutting stroke according to the model of the loaded cutting assembly, controlling the cutting stroke according to the rotation speed monitoring mechanism, effectively avoiding the motor stall caused by the change of equipment load, making the cutting knife stroke calculation deviate, and leading to the phenomenon of incomplete firing or overfiring of the equipment.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to a cutting anastomosis device and its control method based on motor rotation control of the cutting stroke. Background Technology

[0002] A linear stapler is a medical device used for the transection, resection, and / or anastomosis of digestive tract or lung tissue during open or laparoscopic surgery. The motorized linear stapler consists of a body 2 and a cutting assembly 1. Figure 1 Before using the equipment, the cutting assembly needs to be installed. The cutting assembly is available in various specifications. Figure 2 Different models and specifications of cutting components have different sizes and cutting / anastomosis lengths (L). Before using the equipment for surgery, doctors need to select the appropriate components to install on the device. When different specifications of components are installed on the device, the operating time of the components that drive the cutting blade forward / backward, such as the motor and rack, will also need to be adjusted because the movement stroke of the cutting blade is inconsistent. Otherwise, if the cutting blade has reached the end point while the device is still running, it may cause damage to the device or even cause the device to make unexpected movements, resulting in a medical accident. Alternatively, if the cutting blade does not reach the end point and the device stops, the stapler will not fire completely.

[0003] In existing technology, after the cutting components are installed in the device body, the device will identify the model of the cutting blade. When the chip receives the firing command, the chip starts timing. Based on the stroke that the cutting blade needs to reach and in combination with the transmission relationship of the mechanism, the motor speed and motor running time are preset in the control program. It is assumed that when the motor runs at the preset speed and reaches the preset running time, the cutting blade completes the cutting stroke, the firing is completed, and the device stops running.

[0004] When the equipment is under heavy load, i.e. when cutting thick tissues, the resistance to the equipment's operation is high, which may cause the actual speed of the motor to be lower than the preset speed. In this case, the motor will run at the actual speed for the preset motor running time, resulting in the actual stroke not reaching the required cutting stroke. Controlling the cutting stroke in this way has hidden dangers and requires a more precise method to be updated. Summary of the Invention

[0005] The purpose of this invention is to provide a cutting anastomosis device and its control method based on motor rotation control of the cutting stroke, which improves surgical accuracy through specific control steps.

[0006] The present invention is achieved through the following technical solution: a cutting anastomosis device based on motor rotation control of cutting stroke, which includes an anastomosis device; the anastomosis device is divided into a gun body assembly 2 and several cutting components 1 of different specifications, the cutting components 1 and the gun body assembly 2 are detached and connected; wherein, the gun body assembly 2 drives the cutting components 1 to complete the cutting action by controlling its internal motor module and transmission mechanism;

[0007] Its features are:

[0008] It also includes an identification mechanism, a microcontroller unit, and a motor module speed monitoring mechanism;

[0009] The identification mechanism is installed on the gun body assembly 2 to identify the model of the cutting assembly 1;

[0010] The motor module speed monitoring mechanism is installed on the motor module to monitor the rotation speed of the motor module;

[0011] The identification mechanism and the motor module speed monitoring mechanism are connected through a microcontroller unit. The microcontroller unit receives the identification of the cutting component 1 model and controls the rotation speed of the motor module to control the cutting degree of the cutting component 1.

[0012] A control method for a cutting stapler based on motor rotation control of the cutting stroke, characterized in that:

[0013] It includes the following steps:

[0014] Step 1: Install the specific model of the cutting component 1 onto the gun body component 2. The identification mechanism identifies the model of the cutting component and feeds the information back to the microcontroller unit.

[0015] Step 2: Start the gun body assembly 2 for the first stage of excitation. The motor rotates to drive the cutting assembly 1 to close, and the motor stops after closing. The motor rotation must satisfy 2ΠR1×i×a=An.

[0016] R1 represents the pitch circle radius of the transmission gear 203, i is the transmission ratio of the gear system between the first gear 64 and the transmission gear 203, a is the number of rotations of the motor, and A is the stroke of the cutting blade in the cutting assembly 1 from the start of the cutting assembly 1 to the closing of the cutting assembly 1.

[0017] Step 3: Start the gun body assembly 2 for the second stage of excitation. The motor rotates to drive the cutting blade of the cutting assembly 1 to complete the cutting, and the motor stops after the cutting is completed; the motor rotation needs to satisfy 2ΠR1×i ×a=Ln;

[0018] R1 represents the pitch circle radius of the transmission gear 203, i is the transmission ratio of the gear system between the first gear 64 and the transmission gear 203, a is the number of rotations of the motor, and Ln is the cutting length of the cutting blade in the n-type cutting assembly 1.

[0019] Step 4: Remove the stapler.

[0020] Compared with previous technologies, the beneficial effects of the present invention are as follows:

[0021] 1. The Hall sensor detects the number of motor rotations in real time and calculates the stroke of the cutting blade / rack. This can effectively avoid motor stalling caused by equipment changes, which can lead to deviations in the calculation of the cutting blade / rack stroke and result in incomplete or excessive firing of the equipment.

[0022] 2. Calculating the cutting blade travel length by the actual number of rotations of the motor is more accurate. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the stapler structure;

[0024] Figure 2 A schematic diagram showing the arrangement of different types of cutting components;

[0025] Figure 3 This is a structural diagram of the gun body assembly;

[0026] Figure 4 This is a schematic diagram of the cutting component.

[0027] Figure 5 An exploded view of the cutting blade drive section;

[0028] Figure 6 This is a reference diagram showing the changing states of the cutting components;

[0029] Figure 7 This is an exploded view of the motor module;

[0030] Figure 8 This is a schematic diagram of the motor structure;

[0031] Figure 9 This is a disassembly and assembly diagram of the overall structure of the identification mechanism;

[0032] Figure 10 This is a disassembly and assembly diagram of the overall structure of the gun body components corresponding to the identification mechanism;

[0033] Figure 11 The illustration shows the effect of different models of cutting components for identification purposes;

[0034] Figure 12 This is an illustration of the identification mechanism without the cutting components.

[0035] Figure 13 An image showing the effect of using the No. 1 cutting component with the identification mechanism;

[0036] Figure 14An image showing the effect of using the No. 4 cutting component with the identification mechanism;

[0037] Figure 15 This is a flowchart of the control method of the present invention;

[0038] Labeling Explanation: 1 Cutting Assembly, 101 Attachment Magazine Assembly, 102 Attachment Seat, 103 Cutting Blade, 503 Connector, 105 Cylindrical Pin, 2 Gun Body Assembly, 201 Push Blade Rod, 202 Push Blade Rack, 203 Transmission Gear, 204 Motor Module, 205 Circuit Board, 206 Firing Button, 207 Return Button, 208 Sleeve, 209 Battery Pack Mounting Base, 2041 Output Gear, 2042 Gearbox, 2043 Motor, 61 Magnetic Ring, 62 Pin Seat, 63 Hall Sensor, 64 First Gear, 511 Sliding Contact Block, 512 Compression Spring, 513 Contact Switch, 514 Control Board, 521 Gun Barrel Outer Tube Assembly, 522 Identification Push Slider, 523 Matching Push Rod. Detailed Implementation

[0039] The present invention will now be described in detail with reference to the accompanying drawings:

[0040] like Figure 1-8 As shown: A cutting anastomosis device based on motor rotation control of cutting stroke, which includes an anastomosis device; the anastomosis device is divided into a gun body assembly 2 and several cutting components 1 of different specifications, the cutting components 1 and the gun body assembly 2 are detached and connected; wherein, the gun body assembly 2 drives the cutting components 1 to complete the cutting action by controlling its internal motor module and transmission mechanism;

[0041] It also includes an identification mechanism, a microcontroller unit, and a motor module speed monitoring mechanism;

[0042] The identification mechanism is installed on the gun body assembly 2 to identify the model of the cutting assembly 1;

[0043] The motor module speed monitoring mechanism is installed on the motor module to monitor the rotation speed of the motor module;

[0044] The identification mechanism and the motor module speed monitoring mechanism are connected through a microcontroller unit. The microcontroller unit receives the identification of the cutting component 1 model and controls the rotation speed of the motor module to control the cutting degree of the cutting component 1.

[0045] The gun assembly 2 and cutting assembly 1 of the stapler are both existing technologies. Specifically, the gun assembly 2 mainly includes a pusher rod 201, a pusher rack 202, a transmission gear 203, a motor module 204, a circuit board 205, a firing button 206, a return button 207, a sleeve 208, and a battery pack mounting base 209. The battery pack mounting base 209 provides power to the motor module 204. Pressing the firing button 206 controls the rotation of the motor module 204, driving the pusher rack 202 and pusher rod 201 forward, thereby controlling the cutting blade to move forward, achieving closure and cutting of the cutting assembly. Pressing the return button returns the cutting blade to its original position.

[0046] The cutting assembly 1 includes a staple cartridge assembly 101, a staple seat 102, a cutting blade 103, a connecting part 503, and a cylindrical pin 105. The cutting assembly is assembled onto the sleeve of the instrument body via a connector and connected to the pusher rod. The staple cartridge assembly can rotate around the cylindrical pin to open and close, used for clamping and releasing tissue. The cutting blade is installed inside the cutting assembly and can move along the length of the cutting assembly rod to achieve tissue transection.

[0047] The biggest difference here is the addition of a motor module speed monitoring and identification mechanism, which work together to control the stroke of the cutting blade.

[0048] The motor module includes an output gear 2041, a reduction gear 2042, and a motor 2043. The output gear is connected to the reduction gear 2042, and the reduction gear 2042 is connected to the motor 2043.

[0049] The motor module speed monitoring mechanism includes a magnetic ring 61 mounted on the motor tail shaft, a pin seat 62 and a Hall sensor 63 also mounted on the motor tail; the Hall sensor 63 is connected to the microcontroller unit and is used to monitor the number of motor rotations.

[0050] The motor head shaft is equipped with a first gear 64 that meshes with the gearbox 2042.

[0051] The motor module here mainly consists of an output gear, a gearbox, and a motor. The motor is reduced in speed by the gearbox, and the output gear drives the transmission gear to rotate. In turn, the transmission gear drives the rack and the cutting blade mounted on the rack to slide forward, thereby achieving the cutting of the tissue.

[0052] The first gear and the magnetic ring are fixed at both ends of the rotating shaft. When the motor rotates, the magnetic ring rotates with the rotating shaft. A Hall sensor is set next to the magnetic ring to output the number of rotations 'a' of the motor in cooperation with the magnetic ring.

[0053] The transmission mechanism includes a transmission gear 203, a pusher rack 202, and a pusher rod 201. The transmission gear 203 is installed on the gun body assembly 2 and meshes with the output gear 2041. The pusher rack 202 is movably installed in the gun body assembly 2 and meshes with the transmission gear 203 to achieve back-and-forth movement. The pusher rod 201 is connected to the front end of the pusher rack 202, and the front end of the pusher rod 201 is detachably connected to the cutting assembly 1.

[0054] Currently, there are many ways to identify the model of the cutting component 1. In addition to manual identification and input of the model, there is an automatic identification method disclosed in CN2018115342245.

[0055] In this invention, the following identification mechanism is used;

[0056] like Figure 9-14 As shown: The identification mechanism includes a connecting part 503 located at the tail of the cutting assembly 1 and a control board 514 with a contact switch 513 located inside the gun body assembly 2;

[0057] The lengths of the connecting parts 503 of any two cutting components 1 are different; the number of contacts on the contact switch 513 is not less than the number of models of the cutting components 1;

[0058] The gun body assembly 2 is also provided with a sliding contact block 511 that slides back and forth. The tail of the sliding contact block 511 is provided with a compression spring 512 so that the sliding contact block 511 always remains in the state of being disengaged from the contact switch 513.

[0059] When the cutting component 1 is installed on the gun body component 2, the connecting part 503 triggers the sliding contact block 511 to move backward, so that the sliding contact block 511 contacts the contact switch 513.

[0060] Among them, the stroke completed by the sliding contact block 511 triggered by different models of cutting components 1 is different; thus, the number of contacts between the sliding contact block 511 and the contacts in the contact switch 513 is different.

[0061] The core of the identification mechanism lies in the fact that the cutting component 1 is equipped with connecting parts 513 of different lengths according to its model and specifications. Simultaneously, a contact switch 513 is installed inside the gun body component 2, along with a sliding contact block 511 that contacts the contact switch 513. Because the length of the connecting parts 513 varies for different models of the cutting component 1, the degree to which the sliding contact block 511 slides differs, resulting in different numbers of contacts between the sliding contact block 511 and the contact switch 513. Ultimately, the model of the cutting component 1 is determined based on the number of contacts between the sliding contact block 511 and the contact switch 513.

[0062] Here, a slide groove can be considered to be set inside the gun body assembly, and the sliding contact block 511 can slide back and forth in the slide groove. The control board 514 is installed inside the gun body assembly 2.

[0063] It should be noted that the gun body assembly 2 here is divided into a gun barrel part at the front end and a gun body body. The gun barrel part includes a gun barrel outer tube assembly 521, a matching push rod 523 and an identification push slider 522.

[0064] The anastomosis push rod 523 is connected to the gun body, the identification push slider 522 is slidably installed on the anastomosis push rod 523, and the gun barrel outer tube assembly 521 is sleeved on the outer periphery of the anastomosis push rod 523 and the identification push slider 522;

[0065] When the cutting assembly 1 is installed at the front end of the gun barrel outer tube assembly 521, the cutting assembly 1 is connected to the matching push rod 523, so that the gun body 21 can control the cutting assembly 1; at the same time, the connecting part 513 of the cutting assembly 1 pushes the slider 522 through the push recognition, which drives the sliding contact block 511 to move backward.

[0066] In addition, during installation, the sliding contact block 511 is installed into the gun body assembly, and then the compression spring 512 is installed. Here, the sliding contact block 511 moves in the slide groove of the gun body assembly through the compression spring 512 to extend and translate. The initial state is the maximum ejected state (so that the sliding contact block always stays away from the contact switch). The contact switch 513 is fixed on the control board 514, and the control board 514 is then fixed in the gun body assembly.

[0067] The specific principle is as follows: After a specific type of cutting component 1 is pushed into the gun body assembly 2, the connecting part 513 in the cutting component 1 pushes the identification push slider 522 in the gun barrel assembly to move backward. The identification push slider 522 then pushes the sliding contact block 511 in the main body of the gun body to move backward. During the backward movement, the sliding contact block 511 touches the contact switch 513. Because the depth of the cutting component 1 inserted into the gun body assembly 2 is the exposed length of the connecting part 513, and the exposed length of the connecting part in different types of cutting components 1 is different, the translation distance of the connecting part 513 pushing the sliding contact block 511 is also different. As a result, the number of contacts pressed by the sliding contact block 511 on the contact switch 513 is also different. Finally, the identification of different length types of cutting components 1 is prepared based on the number of contacts on the contact switch 513.

[0068] like Figure 15 As shown: A control method for a cutting stapler based on motor rotation control of the cutting stroke.

[0069] It includes the following steps:

[0070] Step 1: Install the specific model of the cutting component 1 onto the gun body component 2. The identification mechanism identifies the model of the cutting component and feeds the information back to the microcontroller unit.

[0071] Step 2: Start the gun body assembly 2 for the first stage of excitation. The motor rotates to drive the cutting assembly 1 to close, and the motor stops after closing. The rotation of the motor must satisfy 2ΠR1×i×a=A.

[0072] R1 represents the pitch circle radius of the transmission gear 203, i is the transmission ratio of the gear system between the first gear 64 and the transmission gear 203, a is the number of rotations of the motor, and A is the stroke of the cutting blade in the cutting assembly 1 from the start of the cutting assembly 1 to the closing of the cutting assembly 1.

[0073] Step 3: Start the gun body assembly 2 for the second stage of excitation. The motor rotates to drive the cutting blade of the cutting assembly 1 to complete the cutting, and the motor stops after the cutting is completed; the motor rotation needs to satisfy 2ΠR1×i×a=Ln;

[0074] R1 represents the pitch circle radius of the transmission gear 203, i is the transmission ratio of the gear system between the first gear 64 and the transmission gear 203, a is the number of rotations of the motor, and Ln is the cutting length of the cutting blade in the n-type cutting assembly 1.

[0075] Step 4: Remove the stapler.

[0076] When installing the cutting blade assembly, detect the model of the cutting assembly installed on the equipment, set the motor rotation number 'a' to zero, press the firing button, start the motor, continuously monitor the value of the motor rotation number 'a', and when the formula in step 2 is met, the clamping state is reached and the motor stops.

[0077] When the firing button is detected to be pressed again, the motor starts and the value of the motor revolution 'a' is continuously monitored. When the formula in step 3 is met, the device is fully fired and the motor stops.

[0078] Specifically, when the firing button is pressed, the motor rotates forward, driving the transmission gear to rotate. The transmission gear then drives the rack to slide along the length of the rod. The push rod and the rack are relatively fixed in assembly. The sliding of the rack drives the push rod to slide. The push rod and the cutting blade are relatively fixed in assembly. The push rod drives the cutting blade to slide, thus completing the firing.

[0079] When the cutting blade is in the initial position, the cutting assembly is in the open state. Since the staple cartridge can rotate around the cylindrical pin, when the cutting blade moves forward a distance A, the cutting blade presses against the inclined surface of the staple cartridge. Under the action of the cutting blade, the staple cartridge rotates around the cylindrical pin to the closed state, that is, the clamping position of the cutting assembly. At this time, the cutting blade continues to move forward a distance Ln to complete the firing, where Ln is the cutting length of the nth cutting blade, for example, the length of the 1st cutting blade is L1.

[0080] To meet the accuracy requirements of the cutting blade stroke, the reduction gear ratio i must satisfy the following conditions:

[0081]

[0082] Where i is the transmission ratio of the gear system between the first gear 64 and the transmission gear 203, R1 represents the pitch circle radius of the transmission gear 203, and b represents the detection accuracy of the Hall sensor 63 for the number of motor revolutions.

[0083] Assuming the Hall sensor's detection accuracy for motor revolutions is b (unit: revolution; for example, an accuracy of 0.5 means the sensor outputs an electrical signal for half a revolution, and an accuracy of 1 means the sensor outputs an electrical signal for one revolution), under one unit of sensor accuracy, the corresponding rack travel distance is S = 2ΠR1×i×b. It is generally considered that the cutting stroke accuracy of the cutting assembly needs to be controlled within 0.5mm. Therefore, the forward distance of the cutting blade driven by the sensor within one accuracy range must be less than 0.5mm. Thus, we can conclude that: 2ΠR1×i×b < 0.5;

[0084] Obtained through transformation

[0085]

[0086] The principle of this invention is to detect the number of motor rotations in real time using a Hall sensor, and then calculate the stroke of the cutting blade / rack. This can effectively avoid the phenomenon of motor stalling caused by equipment changes, which would lead to deviations in the calculation of the cutting blade / rack stroke and result in incomplete or excessive firing of the equipment.

[0087] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cutting anastomat based on motor rotation control cutting stroke, comprising anastomat; the anastomat is divided into a gun body assembly (2) and a plurality of different specifications of cutting assembly (1), the cutting assembly (1) and the gun body assembly (2) are detachably connected; wherein, The gun body assembly (2) drives the cutting assembly (1) to complete the cutting action by controlling the motor module and transmission mechanism arranged therein. It is characterized in that: It also includes an identification mechanism, a micro control unit and a motor module rotating speed monitoring mechanism. The identification mechanism is installed on the gun body assembly (2) and used for identifying the model of the cutting assembly (1). The motor module rotating speed monitoring mechanism is installed on the motor module and used for monitoring the rotating speed of the motor module. The identification mechanism and the motor module rotating speed monitoring mechanism are connected through the micro control unit, and the rotating speed of the motor module is controlled by the micro control unit receiving the identification of the model of the cutting assembly (1) to control the cutting degree of the cutting assembly (1). Wherein, the gun body assembly (2) is started to perform the first stage excitation, the cutting assembly (1) is closed by the motor rotation, and the motor stops after being closed; wherein the motor rotation needs to meet 2Π R1×i×a=An; R1 represents the radius of the division circle of the transmission gear (203), i is the transmission ratio of the gear train between the first gear (64) and the transmission gear (203), a is the number of motor rotations, and A is the stroke of the cutting knife in the cutting assembly (1) before the cutting assembly (1) is closed. The gun body assembly (2) is started to perform the second stage excitation, the cutting knife of the cutting assembly (1) completes cutting by the motor rotation, and the motor stops after the cutting is completed; wherein the motor rotation needs to meet 2Π R1×i×a=Ln; R1 represents the radius of the division circle of the transmission gear (203), i is the transmission ratio of the gear train between the first gear (64) and the transmission gear (203), a is the number of motor rotations, and Ln is the cutting length of the cutting knife in the n type cutting assembly (1). The i needs to meet ； Wherein, i is the transmission ratio of the gear train between the first gear (64) and the transmission gear (203), R1 represents the radius of the division circle of the transmission gear (203), and b represents the detection accuracy of the motor number of turns by the Hall sensor (63).

2. The cutting stapler based on the motor rotation to control the cutting stroke according to claim 1, wherein: The motor module includes an output gear (2041), a reduction box (2042) and a motor (2043), the output gear (2041) is connected with the reduction box (2042), and the reduction box (2042) is connected with the motor (2043); The motor module rotating speed monitoring mechanism includes a magnetic ring (61) installed on the motor tail shaft, a needle holder (62) and a Hall sensor (63) also installed on the motor tail; the Hall sensor (63) is connected with the micro control unit, and the Hall sensor (63) is used for monitoring the number of motor rotations; The motor head shaft is provided with the first gear (64) matched with the reduction box (2042).

3. The cutting anastomosis stapler based on the motor rotation to control the cutting stroke according to claim 2, wherein: The transmission mechanism includes a transmission gear (203), a knife pushing rack (202) and a knife pushing rod (201); the transmission gear (203) is installed on the gun body assembly (2) and engaged with the output gear (2041), the knife pushing rack (202) is movably installed in the gun body assembly (2) and engaged with the transmission gear (203) to realize forward and backward movement; the knife pushing rod (201) is connected to the front end of the knife pushing rack (202) and the front end of the knife pushing rod (201) is connected with the cutting assembly (1).

4. The cutting stapler that controls cutting stroke based on motor rotation according to claim 1, characterized in that: The recognition mechanism comprises a connecting part (503) arranged at the tail of the cutting assembly (1) and a control panel (514) with a contact switch (513) arranged in the gun body assembly (2); The lengths of the connecting parts (503) of any two cutting assemblies (1) are different; and the number of contacts on the contact switch (513) is not less than the number of models of the cutting assemblies (1); The gun body assembly (2) is further provided with a sliding contact block (511) arranged to slide forward and backward, and the tail of the sliding contact block (511) is provided with a compression spring (512) so that the sliding contact block (511) always keeps in a state of being separated from the contact switch (513); When the cutting assembly (1) is installed in the gun body assembly (2), the connecting part (503) triggers the sliding contact block (511) to move backward, so that the sliding contact block (511) is in contact with the contact switch (513); The distances that the sliding contact blocks (511) of different models of the cutting assemblies (1) trigger the sliding contact block (511) to complete are different; and the numbers of contacts that the sliding contact block (511) is in contact with in the contact switch (513) are different.

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