Powered anastomosis device, control system, and method

Abstract

The application provides an electric anastomat, a control system and a method. The anastomat comprises a cartridge mechanism, a firing mechanism which translates in the cartridge mechanism to staple and cut tissue, an electric mechanism which directly or indirectly drives the firing mechanism to translate, and a controller which controls the operation of the electric mechanism. The control system comprises a detection module which is configured to detect whether the firing mechanism is in an initial position, and when it is detected that the firing mechanism is not in the initial position, output a first state signal to the controller so that the controller does not respond to a request to operate the electric mechanism. The application detects whether the firing mechanism is in the initial position through the detection module, and sends the detection result to the controller which controls the operation of the electric mechanism through a state signal, thereby avoiding misfiring when the firing mechanism deviates from the initial position.

Description

TECHNICAL FIELD

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

[0002] In the prior art, an electric anastomat comprises an anastomat body, a cartridge mechanism connected to the distal end of the anastomat body, and a firing mechanism that can translate in the cartridge mechanism to drive the stapling and cutting of tissue. The cartridge mechanism comprises oppositely arranged cartridge assembly and anvil, and the opening between the cartridge assembly and the anvil is called the jaw of the anastomat. The anastomat body is provided with an electric mechanism that directly or indirectly drives the firing mechanism to translate, and a controller that controls the operation of the electric mechanism.

[0003] During surgery, the tissue is placed between the anvil of the anvil assembly and the cartridge of the cartridge assembly, the distance between the anvil and the cartridge is adjusted to gradually clamp the tissue, and then the controller drives the electric mechanism to work, the electric mechanism directly or indirectly drives the firing mechanism to move to the distal side, so that the anastomotic staples are formed on the anvil to anastomose the tissue and cut the tissue.

[0004] In the existing electric anastomat, the cartridge mechanism is detachably mounted on the anastomat body. Before the cartridge mechanism is mounted on the anastomat body, the firing mechanism is locked by a locking mechanism, and the anastomat cannot be fired, thereby avoiding misfiring before the cartridge mechanism is mounted. However, after the cartridge mechanism is mounted on the anastomat body, the firing mechanism can deviate from the initial position. If the firing mechanism is driven to move to the distal side by the electric mechanism at this time, it will cause the failure of the surgery. The existing electric anastomat structure does not have a device to prevent misfiring when the firing mechanism deviates from the initial position. SUMMARY

[0005] In view of the problems in the prior art, the purpose of the present application is to provide an electric anastomat, a control system and a method, which detects whether the firing mechanism is in the initial position by a detection module, and sends the detection result to the controller that controls the operation of the electric mechanism through a state signal, thereby avoiding misfiring when the firing mechanism deviates from the initial position.

[0006] The control system of the electric anastomat provided in the embodiments of the present application comprises:

[0007] a detection module configured to detect whether the firing mechanism is in the initial position, and output a first status signal to the controller to cause the controller to not respond to a request to operate the motor mechanism when it is detected that the firing mechanism is not in the initial position.

[0008] In some embodiments, the stapler further comprises a transmission mechanism connected between the firing mechanism and the motor mechanism, the transmission mechanism is driven by the motor mechanism to translate and drive the firing mechanism to translate, the detection module detects whether the firing mechanism is in the initial position by detecting whether the transmission mechanism is in a first position.

[0009] In some embodiments, the detection module is in a first engagement state with the transmission mechanism when the transmission mechanism is in the first position, and is in a second engagement state with the transmission mechanism when the transmission mechanism is displaced from the first position, wherein the detection module outputs a second status signal when the detection module is in the first engagement state with the transmission mechanism, and outputs the first status signal when the detection module is in the second engagement state with the transmission mechanism.

[0010] In some embodiments, the transmission mechanism comprises a first component, the first component is in contact with the detection module to form the first engagement state when the transmission mechanism is in the first position, and is out of contact with the detection module to form the second engagement state when the transmission mechanism is displaced from the first position.

[0011] In some embodiments, the stapler further comprises a closure mechanism for opening or closing a jaw of the stapler;

[0012] The detection module is further configured to detect whether the jaw is closed, and output the first status signal to the controller when it is detected that the jaw is not closed.

[0013] In some embodiments, the closure mechanism is driven to open or close the jaw of the stapler by the transmission mechanism, the closure mechanism is driven to close the jaw of the stapler when the transmission mechanism is displaced from the first position to a second position, and the detection module detects whether the jaw is closed by detecting whether the transmission mechanism is in the second position.

[0014] In some embodiments, the transmission mechanism further comprises a second component, the second component is in contact with the detection module to form the first engagement state when the transmission mechanism is displaced from the first position to the second position.

[0015] In some embodiments, the stapler further comprises:

[0016] An identification module is configured to output identification information when the cartridge mechanism is loaded into the stapler, wherein the identification information comprises a cartridge mechanism type indicating a type of the cartridge mechanism.

[0017] A plurality of travel modules are arranged in sequence at different positions along a moving direction of the transmission mechanism, and each of the travel modules corresponds to a type of the cartridge mechanism, and the travel module outputs a travel signal when the transmission mechanism moves to the position of the travel module.

[0018] In some embodiments, the transmission mechanism further comprises a third component, and the third component interferes with the travel module when the transmission mechanism moves to the position of the travel module, and the travel module outputs the travel signal.

[0019] In some embodiments, the control system further comprises an alarm module, and the controller controls the alarm module to output an alarm signal when the first state signal is acquired before the electric mechanism is controlled to work.

[0020] The embodiments of the present application further provide an electric stapler, and the stapler comprises the control system.

[0021] The embodiments of the present application further provide a control method of an electric stapler, and the stapler comprises a cartridge mechanism, a firing mechanism translating in the cartridge mechanism to staple and cut tissue, an electric mechanism directly or indirectly driving the firing mechanism to translate, and a controller controlling the electric mechanism to work, and the method comprises:

[0022] detecting whether the firing mechanism is in an initial position;

[0023] if the firing mechanism is not in the initial position, not responding to a request of making the electric mechanism work.

[0024] In some embodiments, the stapler further comprises a closure mechanism opening or closing a jaw of the stapler, and the closure mechanism is driven to open or close the jaw by the transmission mechanism translating, and the method further comprises:

[0025] when the firing mechanism is in the initial position, and when it is detected that the jaw is not closed, responding to a closure request to make the electric mechanism work to drive the transmission mechanism to translate, thereby driving the closure mechanism to close the jaw;

[0026] detecting whether the jaw is closed, and when it is detected that the jaw is closed, responding to a firing request to make the electric mechanism work to drive the transmission mechanism to continue translating, thereby driving the firing mechanism to translate in the cartridge mechanism to staple and cut tissue.

[0027] The electric anastomat, control system and method provided by the present application have the following advantages:

[0028] By using the present application, the detection module detects whether the firing mechanism is in the initial position, and sends the detection result to the controller controlling the operation of the electric mechanism through the state signal, so that the controller does not respond to the request to operate the electric mechanism. At this time, even if the operator accidentally presses the control switch to drive the firing, the controller will not drive the electric mechanism to work, and the firing mechanism will not move, avoiding misfiring when the firing mechanism deviates from the initial position. Only when the firing mechanism is in the initial position, the normal firing of the anastomat is allowed, ensuring the safety of the anastomat firing. BRIEF DESCRIPTION OF DRAWINGS

[0029] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments with reference to the attached drawings.

[0030] Figure 1 is a partial structure schematic diagram of an electric anastomat of an embodiment of the present application;

[0031] Figure 2 and Figure 3 is a partial structure schematic diagram of an electric anastomat of an embodiment of the present application, wherein the detection module is in contact with the first component;

[0032] Figure 4 is a structure schematic diagram of the detection module cooperating with the transmission mechanism of an embodiment of the present application;

[0033] Figure 5 is a partial structure schematic diagram of an electric anastomat of an embodiment of the present application, wherein the detection module is in contact with the second component;

[0034] Figure 6 is a partial structure schematic diagram of an electric anastomat of an embodiment of the present application, wherein the travel module is in contact with the third component;

[0035] Figure 7 is a schematic diagram of the travel module in contact with the third component of an embodiment of the present application;

[0036] Figure 8 is a flowchart of the control method of an electric anastomat of an embodiment of the present application;

[0037] Figure 9 is a flowchart of the control method of an electric anastomat of a specific example of the present application.

[0038] REFERENCE NUMERALS:

[0039] 1 transmission mechanism 41 closing control switch

[0040] 11 tooth surface 42 firing control switch

[0041] 21 first component 5 safety module

[0042] 22 second component 6 controller

[0043] 23 third component 91 electric mechanism

[0044] 31 detection module 911 motor

[0045] 32 travel module 912 first gear

[0046] 32a first travel module 92 second gear

[0047] 32b second travel module 93 housing

[0048] 32c third travel module 931 operation button

[0049] 33 circuit board 94 alarm module DETAILED DESCRIPTION

[0050] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, may, however, be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the specification. Any of the terms "or" as used herein may mean "and / or", except where expressly indicated otherwise. Although the terms "upper", "lower", "between", or the like can be used in this specification to describe different example features and elements of the application, these terms are used herein as an example of convenience only - e.g., based on the example's orientation on the drawings. Nothing in this specification should be construed as requiring a specific three dimensional orientation of structures as falling within the scope of the application. Although the terms "first" or "second" can be used herein to describe certain features, these terms are used only to distinguish one feature from another, and do not limit the number or order of these features.

[0051] The present application provides a control system of an electric anastomat and an electric anastomat comprising the control system. The anastomat further comprises a cartridge mechanism, a firing mechanism which translates in the cartridge mechanism to staple and cut tissue, an electric mechanism which directly or indirectly drives the firing mechanism to translate, and a controller which controls the electric mechanism to work. The control system comprises a detection module which is configured to detect whether the firing mechanism is in an initial position, and output a first status signal to the controller when it is detected that the firing mechanism is not in the initial position, so as to make the controller not respond to a request to make the electric mechanism work. Therefore, even if the operator accidentally presses the control switch to drive the firing at this time, the controller will not respond to the request, and the electric mechanism will not be driven to work, and the electric mechanism cannot drive the firing mechanism to move, so as to avoid misfiring when the firing mechanism deviates from the initial position, and only when it is ensured that the firing mechanism is in the initial position, the normal firing of the anastomat is allowed, and the safety of the firing of the anastomat is ensured.

[0052] The present application provides a control method of an electric anastomat, which is implemented by using the control system. The control method comprises: detecting whether the firing mechanism is in an initial position; and not responding to a request to make the electric mechanism work if the firing mechanism is not in the initial position. Therefore, when the firing mechanism deviates from the initial position, the electric mechanism cannot drive the firing mechanism to move, so as to avoid misfiring when the firing mechanism deviates from the initial position.

[0053] The implementation method of the control system of the electric anastomat, the electric anastomat comprising the same, and the control method of the electric anastomat in specific embodiments will be described below in combination with various drawings. However, it should be understood that the various drawings and embodiments are only examples, and do not limit the protection scope of the present application.

[0054] In an embodiment of the present application, the electric anastomat comprises an anastomat body, a cartridge mechanism connected to the distal end of the anastomat body, and a firing mechanism which can translate in the cartridge mechanism to drive staple and cut tissue. The cartridge mechanism comprises oppositely arranged cartridge assemblies and anvil, and the opening between the cartridge assemblies and the anvil is referred to as the jaw of the anastomat. In the initial state, the jaw of the anastomat is open. The anastomat further comprises a closure mechanism which can drive the jaw of the anastomat to close. After the cartridge mechanism is placed in the surgical position and the tissue is placed in the jaw, the closure mechanism is used to drive the jaw of the anastomat to close to clamp the tissue. The firing mechanism comprises a firing rod which extends along the axial direction of the anastomat, a cutter arranged at the distal end of the firing rod, and a firing block. When the firing mechanism moves in the axial direction of the anastomat towards the distal side, the firing block pushes the anastomosis staples in the cartridge assembly out of the anvil to be formed on the anvil, and the cutter cuts the tissue to complete the firing of the anastomat. After the firing of the anastomat is completed, when the firing mechanism moves in the axial direction of the anastomat towards the proximal side, the reset of the anastomat is realized.

[0055] In the present application, the distal side and the proximal side are relative to the operator, the side closer to the operator is the proximal side, and the side farther from the operator, i.e. the side closer to the surgical site, is the distal side. The direction along the axis of the anastomat is the axial direction, i.e. the direction from the distal side to the proximal side of the anastomat, or the direction from the proximal side to the distal side of the anastomat. Figure 1 The S1 direction in the above is the direction from the proximal side to the distal side of the anastomat, i.e. parallel to the axial direction. The translation of the firing mechanism refers to the movement of the firing mechanism along the axial direction of the anastomat.

[0056] Figures 1 to 3 It is a schematic view of the partial structure of the electric anastomat in an embodiment. The anastomat body includes a housing 93, the housing 93 is provided with an electric mechanism 91 and a transmission mechanism 1, the electric mechanism 91 drives the firing mechanism to move along the axial direction of the anastomat through the transmission mechanism 1, and the housing 93 of the anastomat body is also provided with a controller 6 for controlling the operation of the electric mechanism 91. In the initial state, the firing mechanism is in the initial position, and the transmission mechanism 1 is in the first position. When the electric mechanism 91 is started, the transmission mechanism 1 is driven to move from the first position to the distal side to the second position, the transmission mechanism 1 first drives the closure mechanism to drive the anastomat jaw to close, after the jaw is closed, the electric mechanism 91 drives the transmission mechanism 1 to continue to move from the second position to the distal side to the third position, the transmission mechanism 1 can drive the firing mechanism to fire the anastomat, and realize tissue suturing and cutting. When the electric mechanism 91 drives the transmission mechanism 1 to move from the third position to the proximal side, the transmission mechanism 1 drives the firing mechanism to reset.

[0057] In this embodiment, the electric drive mechanism 91 comprises a motor 911 and a first gear 912 connected to the output shaft of the motor 911. The transmission mechanism 1 is a transmission shaft extending along the axial direction of the anastomat, and one side of the transmission mechanism 1 is provided with a toothed surface 11. The first gear 912 is engaged with the toothed surface 11 of the transmission mechanism 1 through a second gear 92. When the motor 911 is started, the output shaft of the motor 911 rotates in a set direction, and the transmission mechanism 1 is driven to move along the axial direction of the anastomat through the first gear 912 and the second gear 92. The rotation direction of the motor 911 is controlled by the controller 6, and the transmission mechanism 1 is controlled to move towards the proximal side or the distal side. Only one embodiment of the electric drive mechanism 91 and the transmission mechanism 1 is given here. In other alternative embodiments, the transmission structure of the electric drive mechanism 91 and the transmission mechanism 1 can also adopt other structures. The electric drive mechanism 91 can comprise one or more first gears 912, one or more second gears 92 can be provided between the electric drive mechanism 91 and the transmission mechanism 1, and the electric drive mechanism 91 can also directly cooperate with the transmission mechanism 1 without the second gear 92. Alternatively, the electric drive mechanism 91 can also adopt a linear motor 911, which directly drives the transmission mechanism 1 to move along the axial direction without the engagement of the gear and the rack.

[0058] As Figure 1 and Figure 2As shown, one side of the housing 93 is provided with an operation button 931, and the inside of the housing 93 at a position corresponding to the operation button 931 is provided with the safety module 5, the closure control switch 41 and the firing control switch 42. The operator presses the position of the operation button 931 corresponding to the safety module 5 to trigger the safety module 5, and the safety module 5 outputs a safety release signal to the controller 6. The controller 6 is configured not to respond to the second request for operating the motor mechanism 91 when no safety release signal is received, i.e., the stapler cannot be fired at this time. When the position of the operation button 931 corresponding to the safety module 5 is pressed and the stapler closure is completed, the controller 6 can respond to the second request for operating the motor mechanism 91. The operator presses the position of the operation button 931 corresponding to the closure control switch 41 to send a first request for operating the motor mechanism 91 to the controller 6 when the closure control switch 41 is turned on. The operator presses the position of the operation button 931 corresponding to the firing control switch 42 to send a second request for operating the motor mechanism 91 to the controller 6 when the firing control switch 42 is turned on. When the controller 6 responds to the first request for operating the motor mechanism 91, it drives the motor mechanism 91 to rotate a first number of turns at a speed corresponding to the first request, drives the transmission mechanism 1 to move from the first position to the second position, and drives the closure mechanism to close the jaws. When the controller 6 responds to the second request for operating the motor mechanism 91, it drives the motor mechanism 91 to rotate a second number of turns at a speed corresponding to the second request, drives the transmission mechanism 1 to move from the second position to the third position, and drives the firing mechanism to fire the stapler. In other embodiments, the positions of the safety module 5, the closure control switch 41 and the firing control switch 42 can be interchanged, or the safety module 5, the closure control switch 41 and the firing control switch 42 can be implemented by two, three or more different operation buttons, and can be arranged at the same position or different positions.

[0059] In addition, as another embodiment, a safety button can be separately provided, and the state of the safety module 5 can be changed by operating the safety button to make the safety module 5 output a safety release signal, thereby changing the response state of the controller 6 to the second request for operating the motor mechanism 91. When the safety button is not pressed, the controller 6 does not respond to the second request for operating the motor mechanism 91. When the safety button is pressed and the stapler closure is completed, the controller 6 can respond to the second request for operating the motor mechanism 91.

[0060] Furthermore, a control system is provided inside the housing 93. The control system includes a detection module 31, configured to detect whether the firing mechanism is in its initial position, and when the firing mechanism is detected not to be in its initial position, output a first state signal to the controller 6, so that the controller 6 does not respond to requests to activate the electric mechanism 91. In this embodiment, the detection module 31 is located on one side of the transmission mechanism 1. Since the position of the transmission mechanism 1 is associated with the firing mechanism, the detection module 31 detects whether the firing mechanism is in its initial position by detecting whether the transmission mechanism 1 is in its first position. In the initial state, the electric mechanism 91 is allowed to continue to be activated in response to requests from the closing control switch 41 and the firing control switch 42, driving the closing and firing of the stapler. If the transmission mechanism 1 deviates from its first position, the controller 6 does not respond to requests to activate the electric mechanism 91, and therefore the stapler cannot be closed and fired. Therefore, even if the operator accidentally presses the drive closing control switch 41 and the firing control switch 42, the controller 6 will not respond to the request and will not drive the electric mechanism 91 to work. The electric mechanism 91 cannot drive the firing mechanism to move, thus avoiding accidental firing when the firing mechanism deviates from the initial position.

[0061] like Figures 2 to 4 As shown, in this embodiment, the detection module 31 can be a contact switch. When the detection module 31 is in contact with a component on the transmission mechanism 1, the detection module 31 and the transmission mechanism 1 are in a first engagement state. When the detection module 31 is not in contact with the transmission mechanism 1, the detection module 31 and the transmission mechanism 1 are in a second engagement state. When the detection module 31 and the transmission mechanism 1 are in the first engagement state, the detection module 31 outputs a second state signal. When the detection module 31 and the transmission mechanism 1 are in the second engagement state, the detection module 31 outputs a first state signal. After receiving the first state signal, the controller 6 does not respond to the requests from the closing control switch 41 and the firing control switch 42 to operate the electric mechanism 91.

[0062] like Figures 2 to 4As shown, the control system further includes a circuit board 33, with the detection module 31 disposed on the side of the circuit board 33 facing the transmission mechanism 1. The circuit board 33 is used to power the detection module 31 and to send a first status signal or a second status signal emitted by the detection module 31 to the controller 6. The control system also includes an alarm module 94, which includes a buzzer and / or an alarm light. The controller 6 is further configured to control the alarm module 94 to emit an alarm signal when it receives the first status signal in the initial state. The alarm signal includes, but is not limited to, an audible alarm signal and / or a visual alarm signal.

[0063] like Figures 2 to 4 As shown, the detection probe of the detection module 31 is positioned towards the transmission mechanism 1. The transmission mechanism 1 includes a first component 21 and a second component 22 positioned towards the detection module 31. The first component 21 is located at the distal end of the second component 22, and the distance between the first component 21 and the second component 22 is equal to the length of the first stroke of the transmission mechanism 1. In the initial state, when the transmission mechanism 1 is in the first position, the first component 21 of the transmission mechanism 1 abuts against the detection probe of the detection module 31, and the detection module 31 and the transmission mechanism 1 are in a first engagement state. The detection module 31 sends a second status signal to the controller 6. If, in the initial state, the transmission mechanism 1 deviates from the first position, the detection module 31 cannot abut against the first component 21, and the detection module 31 and the transmission mechanism 1 are in a second engagement state, the detection module 31 sends a first status signal to the controller 6, and the controller 6 stops responding to requests to operate the electric mechanism 91. At this time, even if the operator presses the operation button 931, causing the closing control switch 41 to be turned on and sending a first request to the controller 6, the controller 6 will not start the motor 911. Furthermore, if the controller 6 receives the first status signal in the initial state, it controls the alarm module 94 to issue an alarm signal, for example, by issuing a warning sound and / or a warning light, to remind the operator to adjust the initial positions of the firing mechanism and the transmission mechanism 1.

[0064] In this embodiment, the control system further includes an identification module. The identification module outputs identification information when it detects that the stapler cartridge mechanism is loaded into the stapler. Upon receiving the identification information, the controller 6 determines that the stapler cartridge mechanism has been loaded into the stapler. If the controller 6 does not receive the identification information, it determines that the stapler cartridge mechanism is not loaded into the stapler. In this case, the controller 6 does not respond to the first and second requests to activate the electric mechanism 91, and therefore cannot start the motor 911, thus preventing the firing mechanism from moving towards the distal end and avoiding accidental firing when the stapler cartridge mechanism is not loaded.

[0065] In the initial state, the controller 6 receives a second control signal and, upon receiving identification information, allows a response to the first request from the closing control switch 41. At this time, if the operator presses the operation button 931, causing the closing control switch 41 to activate and send a first request to the controller 6, the controller 6 controls the motor 911 to start and begin operation based on the first request. The motor 911 drives the transmission mechanism 1 to move a first stroke towards the distal end, and the transmission mechanism 1 moves to the second position. During the movement of the transmission mechanism 1 from the first position to the second position, the transmission mechanism 1 drives the closing mechanism to close the jaws. Before the jaws are fully closed, the first component 21 of the transmission mechanism 1 does not abut against the detection probe of the detection module 31. The detection module 31 and the transmission mechanism 1 are in a second cooperative state, and the detection module 31 sends a first status signal to the controller 6. Therefore, during the jaw closure process, the detection module 31 can also detect whether the jaws are fully closed, and if it detects that the jaws are not closed, it outputs the first status signal to the controller 6.

[0066] like Figure 5 As shown, after the transmission mechanism 1 moves to the second position, the jaws of the stapler are closed. At this time, the second component 22 of the transmission mechanism 1 abuts against the detection probe of the detection module 31, and the detection module 31 and the transmission mechanism 1 are in a first cooperative state. The detection module 31 sends a second status signal to the controller 6. After receiving the second status signal, the controller 6 determines that the jaws of the stapler are closed. Therefore, the detection module 31 can detect whether the jaws are closed by detecting whether the transmission mechanism 1 is in the second position. During the process of controlling the motor 911 to start and drive the closing mechanism to close the jaws through the transmission mechanism 1, the controller 6 determines that the jaws are not closed unless it receives the second status signal, and therefore does not respond to the second request issued by the firing control switch 42.

[0067] When the operator presses the operation button 931 corresponding to the position of the safety module 5 or presses the separately arranged safety button after the closure of the anastomat is completed, the safety module 5 is triggered to send a safety release signal to the controller.

[0068] After the controller 6 confirms that the closure of the anastomat is completed, if the controller 6 receives the safety release signal sent by the safety module 5, the controller 6 allows the second request to operate the electric mechanism 91. At this time, the operator presses the operation button 931, so that the firing control switch 42 is turned on, the firing control switch 42 sends a second request to the controller 6, the controller 6 controls the electric motor 911 to start and drive the transmission mechanism 1 to move a second stroke in the distal direction, the transmission mechanism 1 moves to the third position, and after the distal most anastomat staples are pushed out by the firing mechanism, the anastomat firing is completed. Figure 6 and Figure 7 The structure when the transmission mechanism 1 moves to the third position is shown.

[0069] In this embodiment, the identification information includes a cartridge mechanism category, which represents the category of the cartridge mechanism, and specifically, the cartridge length of the cartridge mechanism of different categories is different. Correspondingly, the length of the second stroke of the transmission mechanism 1 is different when the anastomat is fired. The control system further includes a plurality of stroke modules 32 arranged in different positions along the moving direction of the transmission mechanism 1, and each stroke module 32 corresponds to a cartridge mechanism category, and the stroke module 32 outputs a stroke signal when it detects that the transmission mechanism 1 moves to its position. Specifically, the transmission mechanism 1 further includes a third component 23 located on the proximal side of the second component 22, and the distance between the third component 23 and the second component 22 is equal to the length of the second stroke. When the transmission mechanism 1 moves to the position of the stroke module 32, the third component 23 abuts against the stroke module 32, and the stroke module 32 outputs the stroke signal. After the controller 6 receives the stroke signal, it is determined that the firing of the anastomat is completed. Therefore, the control system can detect whether the anastomat is fired by the stroke module 32. After it is determined that the anastomat is fired, the controller 6 can control the electric motor 911 to reverse, so that the transmission mechanism 1 drives the firing mechanism to move in the proximal direction to reset the anastomat.

[0070] As Figure 6 and Figure 7As shown, in this embodiment, three stroke modules 32 are exemplarily shown: a first stroke module 32a, a second stroke module 32b and a third stroke module 32c, which can also employ contact switches, are arranged on the side of the circuit board 33 facing the transmission mechanism 1. The three stroke modules 32 correspond to three different staple cartridge lengths respectively. For example, if the currently installed staple cartridge mechanism corresponds to the first stroke module 32a, when the transmission mechanism 1 reaches the third position after the completion of the firing of the stapler, the third component 23 abuts against the first stroke module 32a, the first stroke module 32a sends a stroke signal to the controller 6, and after receiving the stroke signal, the controller 6 controls the motor 911 to reverse, driving the transmission mechanism 1 to reset the firing mechanism.

[0071] As Figure 8 shown, the embodiment of the present application also provides a control method of the electric anastomat, which is realized by the electric anastomat described above, and the method comprises the following steps:

[0072] S100: detecting whether the firing mechanism is in the initial position;

[0073] Specifically, the detection of whether the firing mechanism is in the initial position can be realized by detecting whether the closure mechanism is in the first position by the detection module;

[0074] S200: if the firing mechanism is not in the initial position, the request to operate the electric mechanism is not responded.

[0075] If the firing mechanism is detected to be in the initial position in the initial state, the request to operate the electric mechanism is allowed to be responded.

[0076] Therefore, by adopting the control method, when the firing mechanism deviates from the initial position, the electric mechanism cannot drive the firing mechanism to move, thereby avoiding the misfiring when the firing mechanism deviates from the initial position.

[0077] In this embodiment, the anastomat further comprises a closure mechanism for opening or closing the jaw of the anastomat. As Figure 8 shown, the control method further comprises the following steps:

[0078] S300: when the firing mechanism is in the initial position, and when it is detected that the jaw is not closed, the electric mechanism is operated to drive the transmission mechanism to translate, thereby driving the closure mechanism to close the jaw, in response to the closure request;

[0079] In this embodiment, the closing request here is the first request of the closing control switch mentioned above. In response to the closing request, the electric mechanism is activated to drive the transmission mechanism to translate. This means that after the operator presses the operation button corresponding to the position of the closing control switch, the controller receives the first request issued by the closing control switch, starts the motor, and drives the transmission mechanism to move a first stroke in the distal direction, so that the transmission mechanism moves from the first position to the second position. The transmission mechanism drives the closing mechanism to realize the clamping of the stapler.

[0080] S400: Detect whether the jaws are closed;

[0081] In this embodiment, the detection module and the second component can cooperate to detect whether the jaws have closed completely. After receiving the second status signal, the controller can determine that the jaws have closed completely.

[0082] S500: When the jaws are detected to be closed, in response to the firing request, the electric mechanism is activated to drive the transmission mechanism to continue translating, thereby driving the firing mechanism to translate within the staple cartridge mechanism to staple and cut tissue.

[0083] In this embodiment, the firing request here is the second request issued by the firing control switch. In response to the firing request, the electric mechanism is activated to drive the transmission mechanism to continue translating. That is, when the operator presses the operation button corresponding to the position of the firing control switch, the firing control switch issues the second request, the controller starts the motor, the motor drives the transmission mechanism to continue moving towards the distal end, moving from the second position through a second stroke to a third stroke. The transmission mechanism then drives the firing mechanism to move towards the distal end to fire the stapler.

[0084] Below, taking the electric stapler control method of the above embodiment as an example, combined with... Figure 9 This paper will use a specific example to further illustrate the detailed implementation process of the control method of the electric stapler.

[0085] like Figure 9 As shown, in this specific example, the control method includes the following steps. Specifically, S110 and S120 are refinements of step S100 in this specific example; S210 and S220 are refinements of step S200 in this specific example; S310 and S320 are steps to identify whether a stapler cartridge mechanism is loaded; S330 is a refinement of step S300 in this specific example; S410 is a refinement of step S400 in this specific example; S510 is a step to wait for the safety to be released; S520 is a refinement of step S500 in this specific example; and S610 and S620 are steps to control the firing mechanism to reset after the stapler is fired.

[0086] In the initial state, detection of whether the firing mechanism is in the initial position is triggered, i.e. the detection module detects whether the transmission mechanism is in the first position.

[0087] S110: the controller acquires the state signal from the detection module;

[0088] S120: the controller determines the category of the received state signal;

[0089] If the controller receives the first state signal, it continues to step S210: the controller is set to be unresponsive to the request to operate the electric mechanism, and S220: the controller controls the alarm module to issue an alarm signal;

[0090] If the controller receives the second state signal, it determines that the transmission mechanism is in the first position, i.e. the firing mechanism is in the initial position, and continues to step S310: the controller determines whether the identification signal from the identification module is received;

[0091] If the identification signal is received, it continues to step S320: the controller acquires the category of the cartridge mechanism in the identification signal;

[0092] If the identification signal is not received, it waits for a certain period of time and then continues to step S310;

[0093] After step S320, it continues to step S330: the controller, in response to the first request (closure request) from the closure control switch when detecting that the jaw is not closed, controls the electric motor to operate, so that the electric motor drives the transmission mechanism to move a first stroke in the distal direction, so that the transmission mechanism drives the closure mechanism to close the jaw;

[0094] S410: the controller determines whether the second state signal from the detection module is detected;

[0095] If the controller receives the second state signal, it determines that the transmission mechanism moves to the second position, i.e. the jaw is closed in place, and continues to step S510;

[0096] If the controller does not receive the second state signal, it determines that the jaw has not been closed in place, and continues to wait for the second state signal to be received;

[0097] S510: the controller receives the safety release signal from the safety module;

[0098] S520: The controller controls the motor to operate, in response to a second request (firing request) from the firing control switch, to cause the transmission mechanism to move a second stroke in the distal direction;

[0099] S610: The controller receives the stroke signal of the stroke module corresponding to the cartridge mechanism category;

[0100] The controller determines that the transmission mechanism has moved to a third position, i.e., the anastomat has completed firing, and then proceeds to step S620: The controller controls the motor to reverse, causing the transmission mechanism to move in the proximal direction to drive the firing mechanism to reset, completing the reset of the anastomat.

[0101] The above is a further detailed description of the present application in combination with specific preferred embodiments, and cannot be deemed to limit the specific implementation of the present application to these descriptions. For those of ordinary skill in the art to which the present application belongs, without departing from the concept of the present application, a number of simple deductions or substitutions can be made, which should be considered to fall within the protection scope of the present application.

Claims

1. A control system for an electric powered stapler, said stapler comprising a cartridge mechanism, a firing mechanism translating in the cartridge mechanism to staple and sever tissue, an electric powered mechanism (91) directly or indirectly driving translation of said firing mechanism, and a controller (6) controlling operation of said electric powered mechanism (91), characterized in that, The control system comprises: a detection module (31) configured to detect whether the firing mechanism is in an initial position, and output a first state signal to the controller (6) when it is detected that the firing mechanism is not in the initial position, so that the controller (6) does not respond to a request to operate the electric drive mechanism (91); wherein the anastomat further comprises a transmission mechanism (1) connected between the firing mechanism and the electric drive mechanism (91), the transmission mechanism (1) being driven by the electric drive mechanism (91) to translate and drive the firing mechanism to translate, and the detection module (31) detects whether the firing mechanism is in the initial position by detecting whether the transmission mechanism (1) is in a first position; the anastomat further comprises a closure mechanism driven to open or close the jaws of the anastomat by the transmission mechanism (1) translating, and when the transmission mechanism (1) moves from the first position to a second position, the closure mechanism is driven to close the jaws of the anastomat, and the detection module (31) further detects whether the jaws are closed by detecting whether the transmission mechanism (1) is in the second position, and outputs the first state signal to the controller (6) when it is detected that the jaws are not closed.

2. The control system of claim 1, wherein, When the transmission mechanism (1) is in the first position, the detection module (31) and the transmission mechanism (1) are in a first cooperation state, and when the transmission mechanism (1) deviates from the first position, the detection module (31) and the transmission mechanism (1) are in a second cooperation state, wherein when the detection module (31) and the transmission mechanism (1) are in the first cooperation state, the detection module (31) outputs a second state signal, and when the detection module (31) and the transmission mechanism (1) are in the second cooperation state, the detection module (31) outputs the first state signal.

3. The control system of claim 2, wherein, The transmission mechanism (1) comprises a first component (21), and when the transmission mechanism (1) is in the first position, the first component (21) is in contact with the detection module (31) to form the first cooperation state, and when the transmission mechanism (1) deviates from the first position, the first component (21) is out of contact with the detection module (31) to form the second cooperation state.

4. The control system of claim 3, wherein, The transmission mechanism (1) further comprises a second component (22), and when the transmission mechanism (1) moves from the first position to the second position, the second component (22) is in contact with the detection module (31) to form the first cooperation state.

5. The control system of claim 2, wherein, Further comprising: an identification module for outputting identification information when it is identified that the staple cartridge mechanism is loaded into the anastomat, wherein the identification information comprises a staple cartridge mechanism category, which represents the category of the staple cartridge mechanism; A plurality of stroke modules (32) are arranged in sequence in different positions along the direction of movement of the transmission mechanism (1), and each stroke module (32) corresponds to a type of cartridge mechanism, and the stroke module (32) outputs a stroke signal when detecting that the transmission mechanism (1) moves to the position thereof.

6. The control system according to claim 5, characterized in that, The transmission mechanism (1) further comprises a third component (23), which is in contact with the stroke module (32) when the transmission mechanism (1) moves to the position of the stroke module (32), and the stroke module (32) outputs the stroke signal.

7. The control system of claim 2, wherein, Further comprising an alarm module (94), and the controller (6) controls the alarm module (94) to output an alarm signal when the first state signal is acquired before controlling the motor mechanism (91) to work.

8. An electrically powered anastomosis device, comprising: The anastomat further comprises the control system according to any one of claims 1 to 7.

9. A control method for an electric powered anastomat, the anastomat comprising a cartridge mechanism, a firing mechanism that translates in the cartridge mechanism to staple and sever tissue, an electric powered mechanism that directly or indirectly drives translation of the firing mechanism, a controller that controls operation of the electric powered mechanism, the method comprising: The anastomat further comprises a transmission mechanism (1) connected between the firing mechanism and the motor mechanism (91), and a closure mechanism for opening or closing the jaws of the anastomat, and the closure mechanism is driven to open or close the jaws by the translation of the transmission mechanism (1); the method comprises: detecting whether the firing mechanism is in the initial position by detecting whether the transmission mechanism (1) is in the first position; if the firing mechanism is not in the initial position, not responding to the request to make the motor mechanism work; when the firing mechanism is in the initial position, and when it is detected that the jaws are not closed, responding to the closure request to make the motor mechanism work to drive the transmission mechanism to translate, thereby driving the closure mechanism to close the jaws; detecting whether the jaws are closed, and when it is detected that the jaws are closed by detecting that the transmission mechanism (1) is in the second position, responding to the firing request to make the motor mechanism work to drive the transmission mechanism to continue to translate, thereby driving the firing mechanism to translate in the cartridge mechanism to staple and cut the tissue.

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