Surgical instrument

Abstract

The present application provides a surgical instrument, comprising: a jaw assembly, the jaw assembly including a cartridge seat for mounting a cartridge assembly, the cartridge seat having a first position and a second position in front of the first position; a cutting knife assembly; a motor, drivingly connected to the cutting knife assembly to drive the cutting knife assembly to move; a control module, the control module being configured to: control the motor to operate with a first preset parameter value, and determine whether the cutting knife assembly exceeds the first position; if not, the control module controls the motor to operate so that the cutting knife assembly exceeds the first position and the second position; if so, the control module controls the motor to stop. The present application can identify the non-cartridge state, avoid firing the cutting knife in the empty cartridge state, thereby avoiding damage to the human body, and the whole machine has a simple structure and does not require a complex mechanical structure to be designed.

Description

[0001] This application claims the priority of the patent application titled "Surgical Instrument" with the application number 2021116508339, which was filed with the China National Intellectual Property Administration on December 30, 2021, and incorporates the entire content of the priority document into this application. Technical Field

[0002] This application relates to the technical field of medical devices, and particularly to a surgical instrument. More specifically, it relates to an electric surgical instrument that can automatically identify the state of an empty staple cartridge and has a self-protection function. Background Art

[0003] Surgical instruments, such as staplers, which are devices used in medicine to replace traditional manual suturing. Due to the development of modern technology and the improvement of manufacturing techniques, the staplers currently used clinically are more convenient to use, tight, and have appropriate tightness compared to traditional manual operations. In particular, they have the advantages of rapid suturing, simple operation, fewer side effects, and reduced surgical complications, and are highly favored and respected by clinical surgeons at home and abroad. Sometimes, they even enable tumor surgeries that were previously inoperable to remove the lesions, promoting the development of minimally invasive surgery.

[0004] An electric stapler includes a motor, a cutting knife assembly, a jaw assembly, and a staple cartridge assembly. During normal use, the staple cartridge assembly is installed in the jaw assembly, and the motor drives the cutting knife assembly to move forward to push the staples in the staple cartridge assembly out for anastomosing the target tissue, while the cutting knife assembly cuts the target tissue. However, when a used staple cartridge assembly is installed in the jaw assembly or no staple cartridge assembly is installed, the stapler is in an empty staple cartridge state, and the stapler should identify this situation to avoid the cutting knife assembly firing forward in such cases, avoid being unable to push the staples out for anastomosing the target tissue, and thus avoid cutting but not anastomosing the target tissue, which may cause damage to the human body and lead to medical accidents.

[0005] In the prior art, the stapler is provided with a mechanical structure for empty staple cartridge protection. When no staple cartridge assembly is installed or a used staple cartridge assembly is installed, the cutting knife assembly will be limited by this mechanical structure and prevented from moving forward when driven by the motor to fire forward; only when a new (unused) staple cartridge assembly is installed, the cutting knife assembly will not be limited by this mechanical mechanism and can move forward smoothly.

[0006] Therefore, in the prior art, it is necessary to set a mechanical structure to limit the cutting knife assembly in the empty staple cartridge state to identify the empty staple cartridge state and prevent misfiring in the empty staple cartridge state.

[0007] Summary of the Application

[0008] To solve the technical problems existing in the prior art, the present application provides a surgical instrument that can automatically identify the state of an empty staple cartridge and perform protection for the empty staple cartridge, avoiding firing the cutting knife in the state of an empty staple cartridge and thus avoiding damaging the human body, and the overall structure of the instrument is simple without the need to separately provide a mechanical structure for limiting.

[0009] To achieve the above object, the present application provides a surgical instrument, including: a jaw assembly, the jaw assembly including a staple cartridge seat for mounting a staple cartridge assembly and an anvil seat pivotally connected to the staple cartridge seat; the staple cartridge assembly including a pusher plate and a staple cartridge body, the pusher plate being received in the staple cartridge body; the unused staple cartridge assembly further including anastomosis staples received in the staple cartridge body, the pusher plate moving forward in the staple cartridge body to push out the anastomosis staples from the staple cartridge body; the staple cartridge seat having a first position and a second position in front of the first position, the first position being aligned with the rear end of the pusher plate of the unused staple cartridge assembly mounted in the staple cartridge seat, and the second position being aligned with the rear end of the proximal anastomosis staples of the unused staple cartridge assembly mounted in the staple cartridge seat; a cutting knife assembly; a motor, drivingly connected to the cutting knife assembly to drive the cutting knife assembly to move; a control module, the control module being configured to: control the motor to operate with a first preset parameter value to drive the cutting knife assembly to move forward; after the motor operates with the first preset parameter value to cause the cutting knife assembly to reach the first position, in response to the blocking of the pusher plate, the cutting knife assembly does not exceed the first position; determine whether the cutting knife assembly exceeds the first position; if not, the control module controls the motor to operate so that the cutting knife assembly exceeds the first position and then exceeds the second position; if so, the control module controls the motor to stop.

[0010] In one embodiment, the control module controls the motor to operate with a first preset parameter value and continues for a preset time to drive the cutting knife assembly to move forward, so that in the case of no blocking by the pusher plate, the cutting knife assembly exceeds the first position but does not exceed the second position.

[0011] In one embodiment, the control module includes: a detection unit, the detection unit being configured to obtain a detection signal representing the position information of the cutting knife assembly; a control unit, the control unit determining, according to the detection signal, whether the cutting knife assembly exceeds the first position within a preset time when the control unit controls the motor to operate with a first preset parameter value; if not, the control unit controls the motor to operate with a second preset parameter value so that the cutting knife assembly exceeds the first position and then exceeds the second position; if so, the control unit controls the motor to stop.

[0012] In one embodiment, the position information of the cutting knife assembly includes the displacement amount of the cutting knife assembly.

[0013] In one embodiment, the position information of the cutting knife assembly includes the position of the cutting knife assembly.

[0014] In one embodiment, the position information of the cutter assembly includes the number of turns of the motor rotation.

[0015] In one embodiment, the control module includes a detection unit and a control unit. The detection unit is configured to obtain a detection signal representing the state of the motor. During the control unit controls the motor to operate for a preset time with a first preset parameter value, the control unit determines whether the cutter assembly exceeds a first position according to the detection signal. If not, the control unit controls the motor to operate with a second preset parameter value so that the cutter assembly exceeds the first position and then exceeds a second position. If so, the control unit controls the motor to stop.

[0016] In one embodiment, the motor state includes at least one of the voltage, current, and rotational speed of the motor, or whether at least one of the voltage, current, and rotational speed of the motor undergoes a sudden change.

[0017] In one embodiment, the preset time is from 0.1 to 3 seconds.

[0018] In one embodiment, the preset time is 0.5 seconds.

[0019] In one embodiment, the control module includes a detection unit and a control unit. The detection unit is configured to obtain a first detection signal representing the position information of the cutter assembly and a second detection signal representing the state of the motor. The control unit controls the motor to operate with a first preset parameter value to drive the cutter assembly to move forward, and the control unit determines whether the cutter assembly exceeds a first position according to the first detection signal and the second detection signal. If not, the control unit controls the motor to operate with a second preset parameter value so that the cutter assembly exceeds the first position and then exceeds a second position. If so, the control unit controls the motor to stop.

[0020] In one embodiment, the position information of the cutter assembly includes the displacement of the cutter assembly.

[0021] In one embodiment, the position information of the cutter assembly includes the position of the cutter assembly.

[0022] In one embodiment, the position information of the cutter assembly includes the number of turns of the motor rotation.

[0023] In one embodiment, the motor state includes at least one of the voltage, current, and rotational speed of the motor, or whether at least one of the voltage, current, and rotational speed of the motor undergoes a sudden change.

[0024] In one embodiment, both the first preset parameter value and the second preset parameter value are duty cycles.

[0025] In one embodiment, the first preset parameter value is a duty cycle.

[0026] In one embodiment, the cartridge seat further has an initial position, which is aligned with the front end of the cutting knife assembly when not fired, and the initial position is behind the first position.

[0027] In one embodiment, the control module includes: a detection unit configured to obtain a detection signal representing the position information of the cutting knife assembly and / or the state of the motor; a control unit configured to generate a first control signal according to a first preset parameter value and send the first control signal to the motor drive unit; the control unit is electrically connected to the detection unit; a motor drive unit, electrically connected to the control unit, and after receiving the first control signal, the motor drive unit sends a second control signal to the switch unit; a switch unit, electrically connected to the motor drive unit, and after receiving the second control signal, the switch unit controls the motor to operate; the control unit further determines whether the cutting knife assembly exceeds the first position according to the detection signal, and controls the motor to operate or stop through the motor drive unit and the switch unit.

[0028] In one embodiment, according to the determination result of whether the cutting knife assembly exceeds the first position, the control unit generates a third control signal and sends the third control signal to the motor drive unit; the motor drive unit, after receiving the third control signal, the motor drive unit sends a fourth control signal to the switch unit; the switch unit, after receiving the fourth control signal, the switch unit controls the motor to operate or stop.

[0029] When the cutting knife assembly does not exceed the first position, the control unit generates a third control signal according to a second preset parameter value, the motor drive unit sends a fourth control signal to the switch unit after receiving the third control signal, and the switch unit controls the motor to operate to drive the cutting knife assembly and the pusher plate forward to exceed the first position and then exceed the second position.

[0030] When the cutting knife assembly exceeds the first position, the control unit generates a third control signal, the motor drive unit sends a fourth control signal to the switch unit after receiving the third control signal, and the switch unit controls the motor to stop.

[0031] In one embodiment, the surgical instrument further includes a transmission mechanism, and the motor is drivably connected to the cutting knife assembly through the transmission mechanism.

[0032] In one embodiment, the control unit determines whether the motor is stalled according to the detection signal representing the state of the motor to determine whether the cutting knife assembly exceeds the first position.

[0033] In one embodiment, it is determined by the control unit according to the first detection signal that the cutting knife assembly exceeds the first position, and the control unit controls the motor to stop so that the cutting knife assembly does not exceed the second position.

[0034] In one embodiment, the cutter assembly does not exceed the first position, which is determined by the control unit according to the second detection signal, and the control unit controls the operation of the motor with a second preset parameter value so that the cutter assembly exceeds the first position and then exceeds the second position.

[0035] Beneficial effects:

[0036] The surgical instrument provided by the present application controls the operation of the motor with a first preset parameter value, identifies the empty staple cartridge state by determining whether the cutter assembly exceeds the first position A, and controls the motor to stop when in the empty staple cartridge state, so as to avoid damage to the human body caused by the cutter assembly in the empty staple cartridge state.

[0037] Compared with the prior art, the present application can identify the empty staple cartridge state and perform empty staple cartridge protection without setting a mechanical structure for limiting in the stapler, and the whole machine has a simple structure and high operation reliability. Description of the drawings

[0038] Figure 1 is the external structure schematic diagram of the electric stapler of the present application;

[0039] Figure 2 is the internal structure schematic diagram of the electric stapler of the present application;

[0040] Figure 3 is the schematic diagram of the transmission mechanism of the electric stapler of the present application;

[0041] Figure 4 is the structural schematic diagram of the transmission mechanism and the cutter assembly of the electric stapler of the present application;

[0042] Figure 5 is Figure 4 the partial enlarged view of;

[0043] Figure 6 is Figure 4 another partial enlarged view of;

[0044] Figure 7 is the schematic diagram of the transmission mechanism of the electric stapler of the present application;

[0045] Figure 8 is the schematic diagram of the second gear structure of the present application;

[0046] Figure 9 is the schematic diagram of the staple cartridge assembly structure of the present application;

[0047] Figure 10 is the schematic diagram of the end effector structure of the present application;

[0048] Figure 11 is the schematic diagram of the control module of the present application;

[0049] Figure 12 Schematic diagrams of the first position, second position, and initial position of the cartridge seat of the present application, where an unused cartridge assembly is installed in the cartridge seat;

[0050] Figure 13 Schematic diagrams of the first position, second position, and initial position of the cartridge seat of the present application, where a used cartridge assembly is installed in the cartridge seat;

[0051] Figure 14 Schematic diagrams of the first position, second position, and initial position of the cartridge seat of the present application, where no cartridge assembly is installed in the cartridge seat;

[0052] Figure 15 Schematic diagram of the motor and a detection element in the present application;

[0053] Figure 16 Schematic diagram of the pusher plate and the cartridge body;

[0054] Figure 17 is Figure 16 partial enlarged view of

[0055] Reference numerals:

[0056] 100, stapler; 10, operating assembly; 11, transmission mechanism; 20, rod body assembly; 21, mandrel; 22, sleeve; 23, first end; 24, second end; 30, end effector; 31, cartridge seat; 32, anvil; 40, cutter assembly; 41, cutter; 42, pusher; 50, control module; 51, pusher plate; 52, staple; 53, knife groove; 60, trigger; 61, first button; 65, first travel switch; 66, second travel switch; 70, motor; 71, cartridge body; 80, end effector drive device; 81, retaining ring assembly; 82, first gear assembly; 83, connecting member; 84, retaining ring; 90, cutter assembly drive device; 91, rack; 92, second gear assembly; 93, third gear assembly; 95, second gear; 951, first toothed portion; 952, toothless portion; 953, toothless portion; 954, second toothed portion; 97, third gear; 98, fourth gear; 73, fifth gear; 511, cam; 512, cam; 514, cam; 515, cam; 513, guide portion; 531, groove portion; 532, groove portion; 533, groove portion; 534, groove portion; 535, first acting portion; 536, second acting portion; 321, first detection element; 322, second detection element; 323, third detection element; 312, rotating shaft. Detailed implementation manners

[0057] The technical solution of the present application will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present application and not to limit the scope. After reading the present application, various equivalent modifications made by those skilled in the art fall within the scope defined by the present application.

[0058] In the present application, unless otherwise clearly specified and defined, terms such as "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a movable connection, or integrated; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components such as abutment. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. It should be noted that when there are limiting terms before "connected" and "coupled", they have the meanings limited by the corresponding limiting terms, only excluding the obvious cases that need to be excluded, and not excluding other possible cases. For example, "detachable connection" refers to a detachable connection, excluding fixed connection and integration, but movable connection, direct connection, indirect connection through an intermediate medium, etc. are not excluded. It should be noted that when an element is said to be "disposed on" another element, it can be directly disposed on the other element or indirectly disposed on the other element through an intermediate component. Connection refers to mechanical connection. Electrical connection or electric connection means to transmit signals or electrical energy through wire connection or wireless connection.

[0059] The following will be combined with Figures 1 to 15 to explain and illustrate the electrosurgical instrument and its control method according to the embodiments of the present application. It should be noted that for the convenience of description, in the embodiments of the present application, the same reference numerals represent the same components. For the sake of brevity, in different embodiments, the detailed description of the same components is omitted, and the descriptions of the same components can be referred to and cited with each other. In the following content, an electric stapler is taken as an example to illustrate the surgical instrument and its control method.

[0060] As used herein, the terms "front", "distal" and "rear", "proximal" are relative to the user operating the electric stapler. The terms "rear", "proximal" refer to the direction relatively close to the user, and the terms "front", "distal" refer to the direction relatively far from the user. Specifically, the operating handle is located at the rear end or proximal end of the electric stapler, and the end effector is located at the front end or distal end of the electric stapler. The terms "upper" and "lower" are referenced based on the relative positions of the anvil and the cartridge holder. Specifically, the anvil is "upper" and the cartridge holder is "lower". It should be understood that these orientations such as "upper", "lower", "front", "rear", "distal", "proximal" are defined for the convenience of description. However, the electric stapler can be used in many directions and positions, so these terms expressing relative position relationships are not restrictive and absolute.

[0061] The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the embodiments of the present application.

[0062] As Figures 1 to 15 shown, a surgical instrument according to the present application is specifically an electric stapler 100, which includes an operating assembly 10, a shaft assembly 20 extending from the operating assembly 10 in the longitudinal direction, and an end effector 30 provided at one end of the shaft assembly 20. The end effector 30 includes a jaw assembly and a staple cartridge assembly. The jaw assembly includes a staple cartridge base 31 and an anvil 32 pivotally connected to the staple cartridge base 31. The staple cartridge assembly is detachably installed in the staple cartridge base 31, and the anvil 32 can selectively move between an open position and a closed position. The operating assembly 10 includes a body (not shown) and a transmission mechanism 11 installed on the body. The transmission mechanism 11 includes an end effector drive device 80 and a cutter assembly drive device 90. The end effector drive device 80 is used to drive the end effector to open and close the end effector, and the cutter assembly drive device 90 is used to drive the cutter assembly 40 to move forward (firing) and backward (retracting). The shaft assembly 20 includes a mandrel 21 and a sleeve 22 sleeved on the mandrel 21. One end of the mandrel 21 is connected to the rack of the cutter assembly drive device 90, and the other end is located inside the sleeve 22. The sleeve 22 includes a first end 23 connected to the end effector drive device 80 and a second end 24 connected to the anvil 32 of the end effector 30. Moving the sleeve 22 backward causes the anvil 32 to pivot upward to open the end effector 30, and moving the sleeve 22 forward causes the anvil 32 to pivot downward to close the end effector 30. Refer to Figure 2 and Figure 10 , the anvil 32 is rotatably connected to the second end 24 of the sleeve 22, that is, the anvil 32 is connected to the second end 24 of the sleeve 22 and the anvil 32 is rotatable relative to the second end 24 of the sleeve 22. It should be noted that the anvil 32 is rotatably connected to the second end 24 of the sleeve 22 so that the sleeve 22 moves back and forth to drive the anvil 32 to pivot, which is prior art and will not be elaborated here.

[0063] As Figure 4 shown, the stapler 100 further includes a cutter assembly 40. The cutter assembly 40 includes a cutter 41 provided inside the end effector and a pusher 42 connected to the cutter 41. A part of the pusher 42 is located inside the sleeve 22 and is connected to the other end of the mandrel 21, and the other part of the pusher 42 extends into the end effector 30 and is connected to the cutter 41.

[0064] As Figure 1 , Figure 2As shown, the stapler 100 further includes a trigger 60, a control module 50, and a motor 70. The trigger 60 and the motor 70 are both electrically connected to the control module 50.

[0065] As Figure 2 shown, the trigger 60 includes a first button 61, and the first button 61 is electrically connected to the control module 50. The operator (clinician) presses and holds the first button 61. After the control module 50 receives the signal sent by pressing the first button 61, it instructs the motor 70 to operate. The motor 70 drives the cutting blade assembly driving device 90 to operate, and the cutting blade assembly driving device 90 drives the cutting blade assembly 40 to move forward from the initial position C to achieve firing. When the cutting blade assembly 40 moves forward in place, that is, reaches the firing position, the control module 50 instructs the motor 70 to continue operating (retracting the blade). The motor 70 drives the cutting blade assembly driving device 90 to operate, and the cutting blade assembly driving device 90 drives the cutting blade assembly 40 to move backward until the cutting blade assembly 40 returns to the initial position C.

[0066] As Figure 3 shown, the transmission mechanism 11 includes an end effector driving device 80, a cutting blade assembly driving device 90, and a fifth gear 73. The fifth gear 73 is fixed to the rotating shaft of the motor 70. The fifth gear 73 is a driving gear, and the fifth gear 73 is always connected to the motor 70 and driven by the motor 70 to rotate. The end effector driving device 80 is used to drive the end effector 30 to open and close, and the cutting blade assembly driving device 90 is used to drive the cutting blade assembly 40 to move forward and backward. The motor 70 drives the fifth gear 73 to rotate in a first direction or a second direction, where the first direction is opposite to the second direction. Both the end effector driving device 80 and the cutting blade assembly driving device 90 are engaged with the fifth gear 73. The rotation of the fifth gear 73 can cause the end effector driving device 80 or the cutting blade assembly driving device 90 to operate. When the end effector driving device 80 operates, the end effector driving device 80 drives the sleeve 22 to move forward and backward, so that the anvil 32 pivots to close and open the end effector 30; when the cutting blade assembly driving device 90 operates, the cutting blade assembly driving device 90 drives the mandrel 21 to move forward and backward, so that the cutting blade assembly 40 moves forward and backward.

[0067] The end effector driving device 80 includes a retaining ring assembly 81 and a first gear assembly 82. The retaining ring assembly 81 includes a connecting member 83 and a retaining ring 84, and the retaining ring 84 is provided at one end of the connecting member 83. The first end 23 of the sleeve 22 is connected to the retaining ring 84, and the second end 24 of the sleeve 22 is movably connected to the staple cartridge 32. When the motor 70 drives the fifth gear 73 to rotate in the first direction, the fifth gear 73 drives the first gear assembly 82 to rotate, the first gear assembly 82 drives the retaining ring assembly 81 to move forward, the retaining ring assembly 81 drives the sleeve 22 to move forward, and the second end 24 of the sleeve 22 drives the staple cartridge 32 to rotate downward to achieve closing; when the motor 70 drives the fifth gear 73 to rotate in the second direction, the fifth gear 73 drives the first gear assembly 82 to rotate, the first gear assembly 82 drives the retaining ring assembly 81 to move backward, the retaining ring assembly 81 drives the sleeve 22 to move backward, and the second end 24 of the sleeve 22 drives the staple cartridge 32 to rotate upward to achieve opening.

[0068] The cutter assembly driving device 90 includes a rack 91, a second gear assembly 92 and a third gear assembly 93. The second gear assembly 92 includes a second gear 95, and the second gear 95 meshes with the fifth gear 73; the second gear 95 includes a first toothed portion 951 and a toothless portion 952 arranged adjacent to each other in the circumferential direction, and there are a first junction and a second junction between the first toothed portion 951 and the toothless portion 952. The toothless portion 952 includes a toothless portion 953 and a second toothed portion 954 arranged adjacent to each other in the vertical direction. The second gear 95 is always in mesh with the fifth gear 73 through the first toothed portion 951 and the second toothed portion 954. The third gear assembly 93 includes a third gear 97 and a fourth gear 98, the third gear 97 and the fourth gear 98 are integrally formed, the diameters of the third gear 97 and the fourth gear 98 are different, and the third gear 97 is used to mesh with a part of the first toothed portion 951 of the second gear 95 that is parallel to the toothless portion 953, and the fourth gear 98 meshes with the rack 91. The diameter of the fourth gear 98 is larger than the diameter of the third gear 97. The first toothed portion 951, the toothless portion 952, and the first gear assembly 82 enable the end effector driving device 80 and the cutter assembly driving device 90 to be alternatively driven, thereby enabling the end effector 30 and the cutter assembly 40 to be alternatively driven. The cutter assembly driving device 90 further includes a first travel switch 65 and a second travel switch 66 that are respectively electrically connected to the control unit.

[0069] When the end effector is closed, the clinician presses and holds the first button 61. The control unit receives the signal sent by pressing the first button 61 and analyzes and processes the signal. The control unit sends an operation instruction to the motor 70 according to the analyzed and processed signal. The motor 70 drives the fifth gear 73 to rotate in the first direction. The fifth gear 73 drives the second gear 95 to rotate in the second direction. The contact position between the second gear 95 and the third gear 97 rotates from the toothless part 953 of the second gear 95 to the part of the first toothed part 951 parallel to the toothless part 953. The first toothed part 951 of the second gear 95 meshes with the third gear 97 and drives the third gear 97 to rotate in the first direction. Since the third gear 97 and the fourth gear 98 are integrally formed, the fourth gear 98 also rotates in the first direction. The fourth gear 98 drives the rack 91 to move forward. The rack 91 drives the mandrel 21 to move forward. The mandrel 21 drives the push knife member 42 to move forward. The push knife member 42 drives the cutting knife 41 to move forward to achieve firing.

[0070] When the rack 91 advances to the end position, the first travel switch 65 is triggered and sends a signal to the control unit. The control unit controls the motor 70 to stop rotating. The doctor releases the first button 61. The control unit receives the signal sent by releasing the first button 61 and sends an operation instruction to the motor 70. The motor 70 drives the fifth gear 73 to rotate in the second direction. The fifth gear 73 drives the second gear 95 to rotate in the first direction. The first toothed part 951 of the second gear 95 drives the third gear 97 to rotate in the second direction. Since the third gear 97 and the fourth gear 98 are integrally formed, the fourth gear 98 also rotates in the second direction. The fourth gear 98 drives the rack 91 to move backward. The rack 91 drives the mandrel 21 to move backward. The mandrel 21 drives the push knife member 42 to move backward. The push knife member 42 drives the cutting knife 41 to move backward, thereby realizing retracting the knife until the second travel switch 66 is triggered. After the second travel switch 66 is triggered, it sends a signal to the control unit. The control unit controls the motor 70 to stop. At this time, the cutting knife assembly 40 retracts to the initial position C. Therefore, the presence of the second travel switch 66 enables the cutting knife assembly 40 to be in the initial position C before firing. And, at the time of leaving the factory, the cutting knife assembly 40 is set to be in the initial position C. The second travel switch 66 can be replaced by an optical sensor to achieve the same function.

[0071] It should be noted that the structures of the transmission mechanism 11, the end effector driving device 80, and the cutting knife assembly driving device 90 are for exemplary illustration. The empty staple cartridge recognition method and the empty staple cartridge protection method in the present application are not limited to the above content and can also be applied to surgical instruments including transmission mechanisms and cutting knife assembly driving devices with other structures.

[0072] The surgical instrument further includes a power supply module (not marked in the figure), and the power supply module provides electrical energy for the operation of the motor 70.

[0073] The staple cartridge assembly includes a staple pusher plate 51 and a staple cartridge body 71, wherein the staple pusher plate 51 is accommodated in the staple cartridge body 71. The unused staple cartridge assembly further includes staples accommodated in the staple cartridge body 71, wherein the staple pusher plate 51 can move forward in the staple cartridge body 71 to push the staples out of the staple cartridge body to achieve tissue anastomosis.

[0074] Figure 9 This is a schematic diagram of the combined installation of the nail pusher plate, nail magazine body and cutting knife assembly of the present application; Figure 10 It is a schematic diagram of the structural relationship between the nail magazine assembly of the present application and the nail magazine seat and nail anvil of the jaw assembly.

[0075] like Figure 9 and Figure 10 As shown, the staple cartridge assembly includes a staple cartridge body 71, staples, a staple driver (not shown) that supports the staples 52, and a staple pusher plate 51 that drives the staple driver. The staple cartridge body 71 is provided with a knife groove 53 that provides a movement path for the cutting knife assembly 40. The staples in a used staple cartridge assembly have already been pushed out of the staple cartridge body 71, and therefore, the used staple cartridge assembly does not contain any staples.

[0076] The staple cartridge body 71 is provided with a plurality of through-holes extending vertically therethrough, forming staple cavities. When the staple cartridge assembly is not in use, the staple cavities contain staples 52, which are supported by the staple drivers. In this case, the staple pusher plate 51 is located at the rear end of the staple cartridge body 71. At least a portion of the staple driver is disposed within the staple cavity, which restricts the staple driver and the staples 52 supported therein to vertical movement relative to the staple cartridge body 71.

[0077] The staple cartridge body 71 is provided with a knife slot 53 extending from proximal to distal, allowing the cutter assembly 40 to move. Thus, the cutter assembly 40 cuts tissue during its proximal to distal movement within the knife slot 53 and pushes out staples housed in the staple cartridge assembly to staple the tissue. The distal to proximal movement of the cutter assembly 40 within the knife slot 53 allows the cutter assembly 40 to retract the knife.

[0078] Under the premise that the jaw assembly is closed, the cutting knife assembly 40 is driven by the cutting knife assembly driving device 90 to move forward, pushing the nail pushing plate 51 to move from the rear end of the nail magazine body 71 to the front end of the nail magazine body 71. During the movement, the nail pushing plate 51 pushes the nail driver to move upward in the nail cavity, thereby moving the anastomosis staple 52 upward, piercing the patient's tissue and matching the incision formed by the tissue cutting, until the anastomosis staple 52 is out of the nail cavity.

[0079] During the cutting and anastomosis process, when the pushing blade member 42 moves forward, it can drive the cutting blade 41 to move forward to cut tissue. The cutting blade assembly 40 abuts against and pushes the staple pushing plate 51 forward. The staple pushing plate 51 pushes the staple driver to move upward in the staple cavity, thereby pushing the anastomosis staples 52 of the staple cartridge assembly out of the staples to anastomose tissue. Specifically, the cutting blade 41 abuts against and pushes the staple pushing plate 51 forward. The cutting blade assembly 40 reaching a certain position means that the cutting blade 41 is located at, reaches, or exceeds a certain position. For convenience, in this application, the above content is described as the cutting blade assembly 40 abutting against and pushing the staple pushing plate 51, and as the cutting blade assembly 40 being located at, reaching, or exceeding a certain position. The process of the cutting blade assembly 40 moving forward is the "firing" process. When the pushing blade member 42 moves backward, it can drive the cutting blade assembly 40 including the cutting blade 41 to move backward until the cutting blade assembly 40 returns to the initial position C. This process is the "retracting of the blade". As Figure 16 shown, the staple pushing plate 51 includes four cams 511, 512, 514, and 515 and a guiding portion 513 located between the cams 512 and 514. The staple cartridge body 71 includes four groove portions 531, 532, 533, and 534. The guiding portion 513 of the staple pushing plate 51 slides back and forth in the blade groove 53. The four cams of the staple pushing plate 51 slide in the four groove portions of the staple cartridge body 71 one by one to achieve forward and backward movement. Moreover, the cooperation between the guiding portion 513 and the blade groove 53 and the cooperation between the cams and the groove portions achieve the guidance for the forward and backward sliding of the staple pushing plate 51. There are frictional forces between the guiding portion 513 and the blade groove 53, between the cams and the groove portions, and there is also a frictional force between the bottom of the staple pushing plate 51 and the bottom of the staple cartridge body 71. When the cutting blade assembly 40 moves backward, it disengages from the staple pushing plate 51 and thus does not drive the staple pushing plate 51 to move backward. Therefore, after firing is completed, the staple pushing plate 51 is pushed to the front end of the staple cartridge assembly. And, due to the frictional force between the staple pushing plate 51 and the staple cartridge body 71, the staple pushing plate 51 will be held at the front end of the staple cartridge assembly. It should be noted that the staple pushing plate is an essential component of the staple cartridge assembly, and the frictional force between the staple pushing plate and the staple cartridge body is also an inevitable requirement for realizing the function of the staple cartridge assembly. Therefore, this application does not additionally provide a mechanical structure to identify the state of an empty staple cartridge. However, it is difficult to conceive of using the difference in the position of the staple pushing plate and the frictional force between the staple pushing plate and the staple cartridge body to identify the state of an empty staple cartridge.

[0080] The frictional force between the staple pushing plate 51 and the staple cartridge body 71 includes the frictional forces between the guiding portion 513 and the blade groove 53, between the cams and the groove portions, and between the bottom of the staple pushing plate 51 and the bottom of the staple cartridge body 71, and also includes the frictional force between the first acting portion 535 and the second acting portion 536 provided on the staple cartridge assembly. As Figure 17As shown, the first acting part 535 is arranged on the side wall of the knife groove 53 of the staple cartridge assembly, and the second acting part 536 cooperating with the first acting part 535 is arranged on the side wall of the guiding part 513. In the initial position, that is, when the staple pushing plate 51 does not move distally, the first acting part 535 contacts the second acting part 536 to position the staple pushing plate 51, and increases the frictional force generated between the staple pushing plate 51 and the staple cartridge body 71 to prevent the staple pushing plate 51 from leaving the initial position under undesirable circumstances. Preferably, the first acting part 535 includes a convex part, and the second acting part 536 includes a concave part, and the convex part can enter the concave part, thereby increasing the frictional force of the staple cartridge body 71 on the staple pushing plate 51. It should be noted here that as Figure 16 and Figure 17 shown, the first acting part 535 and the second acting part 536 belong to the original structure of the staple cartridge assembly.

[0081] Next, the control principle of the electric stapler will be described in conjunction with Figure 11 description.

[0082] As Figure 11 shown, to control the operation of the motor 70, the electric stapler 100 further includes a trigger 60 and a control module 50, and both the trigger 60 and the control module 50 are electrically connected to the power module.

[0083] Figure 11 is a schematic diagram of the control circuit of the electric stapler according to an embodiment of the present application. As Figure 11 shown, the control module 50 includes a detection unit, a control unit, a motor driving unit and a switch unit. The trigger 60 is electrically connected to the detection unit of the control module 50. Inside the control module 50, the detection unit is electrically connected to the control unit, the control unit is electrically connected to the motor driving unit, and the motor driving unit is electrically connected to the switch unit.

[0084] The control module 50 controls the operation of the motor with preset parameter values. The preset parameter values are, for example, duty ratios, and the duty ratios control the operation of the motor through PWM signals. The present application takes the parameter value as the duty ratio as an example to illustrate the technical solution, but the present application is not limited to the case where the parameter value is only the duty ratio.

[0085] Within the control module 50, when the control unit controls the operation of the motor 70, the control unit generates a low-voltage PWM signal according to the preset parameter values including the duty cycle and transmits it to the motor drive unit. The motor drive unit converts the input low-voltage PWM signal into a high-voltage PWM signal available for the switching unit and outputs it to the switching unit, thereby controlling the on / off of the switching unit. The power supply module (not shown in the figure) of the stapler 100 is connected to the motor 70 through the switching unit. The on / off frequency of the switching unit determines whether the power supply module supplies power to or cuts off power from the motor 70, and determines the operating state of the motor 70 (such as starting, stopping, rotational speed, and rotation direction of the motor 70).

[0086] The specific implementation of the switching unit of the control module 50 can adopt, for example, 4 Mos switches that form an H-bridge. The on / off of the Mos switches of the H-bridge determines whether the power supply module supplies power to or cuts off power from the motor 70. Moreover, the design of the H-bridge enables the control module to control the H-bridge to achieve forward or reverse rotation of the motor 70. It should be noted that the above H-bridge control and the forward and reverse rotation control of the motor 70 are both prior arts and will not be elaborated here.

[0087] The specific implementation of the motor drive unit of the control module 50 can adopt, for example, a Mos drive chip.

[0088] The specific implementation of the control unit of the control module 50 can adopt, for example, a microcontroller chip (MCU). The control module controls the voltage provided by the power supply module to the motor by controlling the duty cycle of the PWM signal, thereby controlling the magnitude of the driving force output by the motor 70.

[0089] The detection unit of the control module 50 is used to detect the state of the trigger 60 and then outputs a detection result signal to the control unit to control the operation of the motor 70.

[0090] The trigger 60 includes a first button 61 manually triggered by the user operation to control the start and stop of the motor 70, thereby driving the cutting knife assembly to advance or stop advancing, that is, to control the stapler 100 to perform "firing" or "stop firing" through the first button 61. The user operation of the first button 61 includes pressing the first button 61, which can trigger the first button 61. The first button 61 inputs an electrical signal to the control unit through the detection unit. When the electrical signal is a firing signal, the motor 70 starts and drives the cutting knife assembly to advance; when the user presses and holds the first button 61, the motor 70 drives the cutting knife assembly to complete firing and then automatically drives the cutting knife assembly to retract the knife; when the electrical signal is a stop signal, the motor 70 stops and the cutting knife assembly stops moving.

[0091] In this application, preferably, the first button 61 is a normally open switch, and the control module 50 controls the operating state of the motor 70 to be "start" or "stop" according to the triggering state of the first button 61. The triggering state includes triggered and untriggered. When triggered, the normally open switch changes to a closed state, generating a first signal. The control unit of the control module 50 obtains the first signal through the detection unit and controls the motor 70 to start. Continuously obtaining the first signal indicates that the switch is continuously triggered, and the first signal is a firing signal. When not triggered, the normally open switch is in an open state, generating a second signal. The control unit of the control module 50 obtains the second signal through the detection unit and controls the motor 70 to stop, that is, the second signal is a stop signal. For example, through circuit design, the first signal can be a low-level signal, and the second signal can be a high-level signal.

[0092] The first embodiment

[0093] Figures 12 to 14 In the embodiments of this application, the electric stapler 100 shows schematic diagrams of the first position A and the second position B on the staple cartridge seat and the position of the pusher plate 51 in three cases: when an unused staple cartridge assembly is installed, when a used staple cartridge assembly is installed, and when no staple cartridge assembly is installed.

[0094] As Figures 12 to 14 shown, the staple cartridge seat 31 has an initial position C and a first position A. When the cutting knife assembly 40 advances, it moves forward, and when the cutting knife assembly 40 retracts, it moves backward.

[0095] The initial position C is the position where the front end of the cutting knife assembly 40 corresponds to the staple cartridge seat 31 when not fired, and the initial position C is located on the staple cartridge seat 31. This initial position C is the starting point for the cutting knife assembly 40 to move forward and the ending point for it to move backward. In other words, the initial position C is the starting point for the cutting knife assembly 40 to advance and the ending point for it to retract. As Figure 12 shown, the initial position C is located on the right side (i.e., the rear) of the first position A of the staple cartridge seat 31.

[0096] The staple cartridge seat 31 has a first position A, which is aligned with the rear end of the pusher plate 51 of the staple cartridge assembly installed on the staple cartridge seat 31 and not used. The first position A is in front of the initial position (i.e., Figure 12 the left side shown).

[0097] In addition, for ease of description, when the rear end of the pusher plate 51 is aligned with the first position A, we say that the pusher plate 51 is located at the first position A. Similarly, in the following text, when the rear end of the pusher plate 51 is aligned with the second position B, we say that the pusher plate 51 is located at the second position B.

[0098] As Figure 12As shown, when a new staple cartridge assembly (i.e., an unused staple cartridge assembly) is installed in the stapler 100, the pusher plate 51 is located at the first position A. After starting firing, when the cutter assembly 40 moves forward to the first position A, it abuts against the rear end of the pusher plate 51 at the first position A. If the driving force provided by the motor 70 to the cutter assembly 40 through the transmission mechanism is large enough at this time, and the thrust applied by the cutter assembly 40 on the pusher plate 51 is large enough, then the cutter assembly 40 pushes the pusher plate 51 located at the first position A to continue moving forward, and the cutter assembly 40 exceeds the first position A; if the driving force provided by the motor 70 to the cutter assembly 40 is insufficient at this time, then the thrust applied by the cutter assembly 40 on the pusher plate 51 is insufficient, then the cutter assembly 40 cannot push the pusher plate 51 to continue moving forward, and the pusher plate 51 restricts the cutter assembly 40 at the first position A, that is, the cutter assembly 40 is blocked at the first position A by the pusher plate 51, and at the same time, the motor 70 stalls. It should be noted that whether the driving force of the motor is large enough to push the pusher plate or small enough not to push the pusher plate, after the motor 70 is started, the motor 70 can drive the cutter assembly 40 to move forward until it reaches the first position A. Due to the frictional force between the pusher plate 51 and the staple cartridge body 71, when the driving force is insufficient, the cutter assembly 40 cannot push the pusher plate 51 forward. The motor 70 is controlled to operate with a first preset parameter value, so that the driving force provided by the motor 70 to the cutter assembly 40 through the transmission mechanism cannot push the pusher plate 51. Preferably, the first preset parameter value is a duty ratio of 17%.

[0099] As described above, since the pusher plate 51 originally located at the rear end of the staple cartridge body 71 moves forward when the new staple cartridge assembly is used, therefore, the pusher plate 51 of the used staple cartridge assembly is no longer located at the first position A at the rear end of the staple cartridge body 71, but in front of the first position A.

[0100] As Figure 13 shown, when a used staple cartridge assembly is mistakenly installed in the stapler 100, since the pusher plate 51 is already in front of the first position A, therefore when starting firing, regardless of whether the driving force provided by the motor 70 can push the pusher plate 51, in the absence of the restrictive effect of the pusher plate 51, the cutter assembly 40 will move forward to the first position A and can smoothly exceed the first position A. "Exceed" means the action of exceeding a certain position.

[0101] As Figure 14 shown, when no staple cartridge assembly is installed in the stapler 100, there is no pusher plate 51 at the first position A and in front of the first position A, and thus there is no restrictive effect of the pusher plate 51. In this case, when starting firing, regardless of whether the driving force provided by the motor 70 can push the pusher plate 51, the cutter assembly 40 can also exceed the first position A.

[0102] The stapler 100 with a new staple cartridge assembly installed is in a non-empty staple cartridge state, and the stapler 100 without a staple cartridge assembly installed or with a used staple cartridge assembly installed is in an empty staple cartridge state.

[0103] As can be seen from the above, the significant difference in the mechanical structure of the stapler 100 between the empty staple cartridge state and the non-empty staple cartridge state is reflected in whether the pusher plate 51 is located at the first position A. When the motor 70 provides driving force to the cutting knife assembly 40, the pusher plate 51 causes the stapler 100 to have a difference in the motion state during the "firing" process between the empty staple cartridge state and the non-empty staple cartridge state: in the empty staple cartridge state, the cutting knife assembly 40 is not blocked by the pusher plate 51, so its motion state does not change; in Figure 12 the non-empty staple cartridge state shown, the cutting knife assembly 40 changes its motion state due to being blocked by the pusher plate 51. Specifically, it is blocked by the pusher plate 51 at the first position A and decelerates to 0, and stops at the first position A, or moves backward from the first position A after being blocked and decelerated by the pusher plate 51 at the first position A.

[0104] It can be understood that the unchanged motion state means that the cutting knife assembly exceeds the first position A, and the changed motion state means that the cutting knife assembly does not exceed the first position A.

[0105] It should be noted that "the cutting knife assembly exceeds the first position A within a preset time" means that there is a situation where the cutting knife assembly exceeds the first position A at a certain moment within the preset time, which can be understood as the number of times of exceeding the first position A is at least 1 time, rather than meaning that the cutting knife assembly is in front of the first position A throughout the length of the preset time; correspondingly, "the cutting knife assembly does not exceed the first position A within a preset time" means that the cutting knife assembly does not exceed the first position A at any moment during the entire length of the preset time, which can be understood as the number of times of exceeding the first position A is 0 times, and it is a complementary situation to "the cutting knife assembly exceeds the first position A within a preset time". Similarly, "the cutting knife assembly exceeds the first position A" means that there is a situation where the cutting knife assembly exceeds the first position A, which can be understood as the number of times of exceeding the first position A is at least 1 time, rather than meaning that the cutting knife assembly is finally in front of the first position A; correspondingly, "the cutting knife assembly does not exceed the first position A" means that the cutting knife assembly does not exceed the first position A, which can be understood as the number of times of exceeding the first position A is 0 times, and it is a complementary situation to "the cutting knife assembly exceeds the first position A". The cutting knife assembly 40 exceeding the first position A means that at least a part of the cutting knife assembly 40 exceeds the first position A.

[0106] Therefore, the empty staple cartridge state or the non-empty staple cartridge state of the stapler 100 can be identified based on the difference in the motion state of the cutting knife assembly.

[0107] The staple cartridge seat 31 also has a second position B. The second position B is in front of the first position A. The second position B is aligned with the rear end of the staple in the proximal end of the staple cartridge assembly that is installed on the staple cartridge seat 31 and not used. As Figure 12 shown, in the non-empty staple cartridge state, the second position B is aligned with the rear end of the staple 52 at the proximal end.

[0108] Similarly, "the cutting knife assembly does not exceed the second position B" means that the cutting knife assembly does not exceed the second position B, which can be understood as the number of times exceeding the second position B is 0 times.

[0109] The staple cartridge assembly contains a plurality of staples 52 arranged along the length direction (i.e., the front-rear direction). The staple 52 at the proximal end refers to the staple at the most proximal end among the plurality of staples. Thus, after the cutting knife assembly 40 exceeds the second position B, it can push the staple 52 out of the staple to anastomose and cut the tissue, and before exceeding the second position B, it will not push the staple 52 and will not cut the human tissue.

[0110] In this application, the area between the first position A and the second position B is set as the safety area. In the empty staple cartridge state or the non-empty staple cartridge state, the control module controls the motor to continuously operate for a preset time with the first preset parameter value. During the preset time, the cutting knife assembly 40 does not exceed the second position B.

[0111] "During the preset time, the cutting knife assembly 40 does not (has not) exceeded the second position B" means that the cutting knife assembly has not exceeded the first position B throughout the length of the preset time, that is, the cutting knife assembly will not be in front of the safety area, so that the human tissue will not be cut during the preset time.

[0112] Specifically, the above control module 50 can identify whether the cutting knife assembly 40 is blocked by the pusher plate 51 after reaching the first position A and its motion state changes. If so, the surgical instrument is in the non-empty staple cartridge state, then the control module 50 controls the motor 70 to operate so that the cutting knife assembly exceeds the first position A and then exceeds the second position B; if not, the surgical instrument is in the empty staple cartridge state, then the control module 50 controls the motor 70 to stop.

[0113] Therefore, the electric stapler 100 can utilize the difference in the motion state of the cutting knife caused by the difference in the position of the pusher plate in the empty staple cartridge state and the non-empty staple cartridge state, and adopt a method in which the control module 50 executes computer software to identify whether the stapler 100 is in the empty staple cartridge state and perform empty staple cartridge protection.

[0114] Specifically, the method in which the above control module 50 executes computer software is as follows:

[0115] S1: The control module 50 controls the motor 70 to operate for a preset time with the first preset parameter value; specifically, it includes the following steps:

[0116] S12: The control module 50 controls the motor 70 to operate with a first preset parameter value to drive the cutting knife assembly 40 to move forward;

[0117] S13: After a preset time T, it is judged whether the cutting knife assembly 40 exceeds the first position A.

[0118] In the above method, when the stapler 100 is in the empty staple cartridge state, the cutting knife assembly 40 exceeds the first position A without being blocked by the pusher plate 51; while when the stapler 100 is in the non-empty staple cartridge state, the pusher plate 51 restricts the cutting knife assembly 40 from exceeding the first position A.

[0119] Specifically, in the empty staple cartridge state, the control module 50 controls the motor 70 to operate with a first preset parameter value for a continuous preset time T. At any moment within the preset time T, the movement of the cutting knife assembly 40 will not be blocked at the first position A, and the cutting knife assembly 40 will exceed the first position A at a certain moment t within the preset time T; in the non-empty staple cartridge state, the control module 50 controls the motor 70 to operate with the same first preset parameter value for a continuous preset time T. The cutting knife assembly 40 reaches the first position A at a certain moment t' within the preset time T. However, due to the blockage of the pusher plate 51 at the first position A, the cutting knife assembly 40 will not exceed the first position A throughout the preset time T. That is, in the non-empty staple cartridge state, the cutting knife assembly 40 will reach the first position A but will not exceed the first position A.

[0120] Controlling the motor to operate with a first preset parameter value and the software control method of lasting for a preset time T utilize the significant differences in the mechanical structures of the stapler itself in the empty staple cartridge state and the non-empty staple cartridge state (whether the pusher plate 51 is at the first position A), making the firing movement processes (movement states) in the empty staple cartridge state and the non-empty staple cartridge state significantly different: in the empty staple cartridge state, the cutting knife assembly 40 exceeds the first position A within the preset time T; in the non-empty staple cartridge state, it does not exceed the first position A within the preset time T. In the prior art, a special mechanical mechanism (such as the blocking mechanism in CN101224118B) needs to be set in the staple cartridge seat of the stapler to make the firing movement different between the empty staple cartridge state and the non-empty staple cartridge state. That is, the cutting knife assembly in the empty staple cartridge state is blocked at the mechanical mechanism of the staple cartridge seat, resulting in an increase in the motor current. The staple cartridge state can be identified by sensing the current flowing through the motor. However, the present application utilizes the original mechanical mechanism of the stapler itself to make the firing movement different between the empty staple cartridge state and the non-empty staple cartridge state. Compared with the existing design, the method of the present application does not require additional mechanical structure design and is simple.

[0121] When driving the motor 70 with the above-mentioned first preset parameter value, the cutting knife assembly 40 can be driven to move forward, and the cutting knife assembly 40 outputs a relatively small thrust that is not sufficient to push the staple pusher 51, so that the stapler 100 has a significant difference in the motion state between the empty cartridge state and the non-empty cartridge state: whether the cutting knife assembly 40 exceeds the first position A.

[0122] As Figure 11 , the control module 50 further includes a detection unit. The detection unit is used to obtain a detection signal characterizing the position information of the cutting knife assembly 40 or a detection signal of the motor state. The control unit determines whether the cutting knife assembly 40 exceeds the first position A when the control module 50 controls the motor to run at the first preset parameter value for a preset time T, so as to identify whether the motion state change caused by the cutting knife assembly 40 being blocked by the staple pusher 51 occurs. If not, that is, within the preset time T, the cutting knife assembly 40 exceeds the first position A and the motion state of the cutting knife assembly 40 is not affected by the staple pusher 51 and does not change, the control module 50 controls the motor 70 to stop; if so, that is, within the preset time T, the cutting knife assembly 40 does not exceed the first position A and the motion state of the cutting knife assembly 40 is blocked by the staple pusher 51 and changes, the control module 50 controls the motor to run at the second preset parameter value so that the cutting knife assembly overcomes the block of the staple pusher and exceeds the first position, and then exceeds the second position.

[0123] When it is determined that the electric stapler 100 is in the non-empty cartridge state, the motor 70 runs at the second preset parameter value, so that the cutting knife assembly 40 can push the staple pusher 51 and pass through the safety area to fire normally and cut and anastomose the human tissue in front of the safety area. The parameters of the first preset parameter value and the second preset parameter value may include the duty cycle. Of course, the parameters of the preset parameter value may also be other types of parameters, which are not specifically limited in this application.

[0124] The second preset parameter value enables the motor 70 to provide sufficient driving force to drive the cutting assembly to push the staple pusher forward beyond the first position A. The parameter value for driving the motor 70 includes a critical parameter value. When the parameter value is greater than or equal to the critical parameter value, the motor can drive the cutting knife assembly to push the staple pusher forward. When the parameter value is less than the critical value, the motor cannot drive the cutting knife assembly to push the staple pusher forward. Therefore, the second preset parameter value is greater than or equal to the critical parameter value that can push the staple pusher forward. In a preferred embodiment, the second preset parameter value is 100% duty cycle, and the motor provides the maximum driving force to the cutting knife assembly.

[0125] The detection signal output by the detection unit in the control module 50 can reflect the difference in the motion state between the empty cartridge state and the non-empty cartridge state. Therefore, this application uses software to identify the empty cartridge state and the non-empty cartridge state.

[0126] Based on the detection signal, it can be determined whether the stapler 100 is in the state of an empty staple cartridge or a non-empty staple cartridge. If it is identified that it is in the state of an empty staple cartridge, but the motor 70 does not stop and continues to fire, the cutting knife assembly 40 will cut the tissue, resulting in a major surgical error; if it is identified that it is in the state of a non-empty staple cartridge, but the motor 70 still runs at the first preset parameter value, it will always be limited to the first position A, and the stapler 100 cannot be used normally. Therefore, the application also uses software to stop the machine in the state of an empty staple cartridge and ensure normal operation in the state of a non-empty staple cartridge: according to the above detection signal, when it is identified that it is in the state of an empty staple cartridge, the motor 70 is controlled to stop, so as to prevent the cutting knife assembly 40 from cutting the tissue and avoid surgical accidents; when it is identified that it is in the state of a non-empty staple cartridge, the second preset parameter value is used to control the motor to make the cutting knife assembly 40 exceed the first position A and then exceed the second position B, so that it can be fired normally and ensure the normal operation of the stapler 100. Software, preset parameter values, etc. are stored in the control unit, and the software is run by the control unit. Further, the electric stapler 100 further includes a timing module, and the timing module stores a preset time T. The timing module is electrically connected to the control module 50. When the first button 61 is triggered, the cutting knife assembly 40 starts to fire, the control module 50 controls the timing module to start timing, when the timing reaches the preset time T, the timing module sends a signal indicating the end of timing to the control module, the timing module is turned off, and the timing is cleared.

[0127] As can be seen from the above, the present application utilizes the relationship between the position of the pusher plate 51 in the state of an empty staple cartridge (including in front of the first position A in the used staple cartridge assembly and without the pusher plate when the staple cartridge assembly is not installed) and the first position A, and adopts a reasonable method to realize the protection of the empty staple cartridge. The method includes the following elements:

[0128] First, confirm that there are significant differences in the motion states of the empty staple cartridge state and the non-empty staple cartridge state during the firing motion;

[0129] Second, identify the empty staple cartridge state and the non-empty staple cartridge state;

[0130] Third, stop the machine in the state of an empty staple cartridge and ensure normal operation in the state of a non-empty staple cartridge.

[0131] This pure software method for protecting the empty staple cartridge does not require designing a mechanical structure in the stapler 100 and corresponding mechanical structures in the staple cartridge assembly, and the overall structure of the machine is simple and the operation reliability is high.

[0132] It can be understood that the time length of the above-mentioned "preset time T" is the duration of the motor 70 in the working state, and does not include the duration of the motor 70 in the off (stopped) state. For example, when the user causes the motor 70 to stop working due to misoperation, the timing of the preset time T is stopped until the user restarts the motor 70, and then the timing continues until the total time of the motor 70 in the working state reaches the length of the preset time T.

[0133] In addition, the motor 70 can rotate forward and backward. Among them, the forward rotation of the motor drives the cutting knife assembly to move forward, and the reverse rotation of the motor drives the cutting knife assembly to move backward. Within the preset time T, the motor keeps rotating forward. If the motor rotates backward, the timing of the preset time T is stopped until the motor rotates forward and then the timing continues. Since the cutting knife assembly 40 can move forward or backward. Therefore, in the state of an empty staple cartridge, within the preset time T, after the cutting knife assembly 40 exceeds the first position A, it can remain in front of the first position A, or move backward from the position in front of the first position A to be behind the first position A when the preset time T is reached. The above two situations both belong to "the cutting knife assembly exceeds the first position A without being blocked by the pusher plate" or "the cutting knife assembly exceeds the first position A within the preset time"; in the state of a non-empty staple cartridge, within the preset time T, after the cutting knife assembly 40 reaches the first position A, it always remains at the first position A, or moves backward from the first position A to be behind the first position A. The above two situations both belong to "the pusher plate restricts the cutting knife assembly from exceeding the first position A" or "the cutting knife assembly does not exceed the first position A within the preset time".

[0134] It can be understood that the length of the preset time T should not be too long or too short. If the set time is too long, the stapler 100 takes a long time to judge the states of the empty staple cartridge and the non-empty staple cartridge, and the stapler 100 has no action for a long time. The user (such as a doctor) may think that the stapler 100 has a malfunction; if the preset time T is too short, it is difficult to ensure that the motor 70 can drive the cutting knife assembly 40 to reach the first position A within the preset time T when running at the first preset parameter value and reach between the first position A and the second position B in the state of an empty staple cartridge, resulting in the inability to identify the staple cartridge state and thus unable to implement the technical solution of the present application.

[0135] In a preferred embodiment, the length of the preset time T is 0.5S (seconds). That is, the time for the electric stapler 100 to recognize the empty staple cartridge state is 0.5S. Setting the preset time to 0.5S will, on the one hand, not lead the doctor to misunderstand that the stapler 100 has a malfunction, and on the other hand, it can ensure that the motor 70 can drive the cutting knife assembly 40 to reach the first position A under the first preset parameter value to judge the empty staple cartridge state and the non-empty staple cartridge state. Based on 0.5S, the length of the preset time T can be appropriately shortened or extended, for example, in the range of 0.1 second to 3 seconds, so as to meet the above criteria for measuring the length of the preset time.

[0136] It should be noted that the first preset parameter value can be a fixed value or a variable value. Whether it is a fixed value or a variable value, it needs to meet the following requirements: when the motor runs at the first preset parameter value, it can drive the cutting knife assembly to move forward but cannot push the staple pushing plate located at the first position A through the cutting knife assembly; the first preset parameter value and the preset time T work together to make the cutting knife assembly have a certain stroke, and the above-mentioned certain stroke is reflected as between the first position A and the second position B in the empty staple cartridge state.

[0137] In a specific embodiment, the distance between the first position A and the second position B is 4 - 10mm. On the one hand, this distance ensures that in the empty staple cartridge state, the cutting knife assembly 40 has a certain movement stroke after exceeding the first position A, so as to make a difference in the firing movement process between the cutting knife assembly 40 and the non-empty staple cartridge state; on the other hand, after the first preset parameter value is determined, this distance is the basis for determining the preset time T, ensuring that the cutting knife assembly 40 will not exceed the safety area within the preset time length in the empty staple cartridge state when driven by the motor running at the first preset parameter value.

[0138] Compared with the non-empty staple cartridge state, there are significant differences in the firing movement process of the above-mentioned stapler 100 in the empty staple cartridge state: whether the cutting knife assembly 40 exceeds the first position A, the most direct reaction lies in the position information of the cutting knife assembly 40. In other words, by detecting the position information of the cutting knife assembly 40, it can be judged whether the cutting knife assembly exceeds the first position A.

[0139] The detection unit includes a position information detection element, and the position information detection element is used to detect the position information of the cutting knife assembly 40. The detection unit transmits the detection signal recording the position information to the control unit. The position information of the cutting knife assembly 40 includes but is not limited to: displacement amount, position, and number of motor rotation turns.

[0140] In one embodiment, the displacement amount is a physical quantity reflecting the position information of the cutting tool assembly. The displacement amount at a certain moment t refers to the distance from the initial position C of the cutting tool assembly 40 to the position where the cutting tool assembly 40 is located at this moment t. The position information detection element is used to detect the displacement amount of the cutting tool assembly. During the preset time, the cutting tool assembly is moving in real time, so the displacement amount of the cutting tool assembly changes in real time. However, as long as it is detected and judged that the displacement amount is greater than the preset displacement threshold, it indicates that the cutting tool assembly 40 has exceeded the first position A, and it can be judged that it is an empty nail magazine state; otherwise, the displacement amount is always less than or equal to the preset value, indicating that the cutting tool assembly 40 has not exceeded the first position A, and it can be judged that it is a non-empty nail magazine state.

[0141] Therefore, when the displacement amount of the cutting tool assembly 40 is greater than the preset displacement threshold within the preset time T, the cutting tool assembly 40 has exceeded the first position A; otherwise, the cutting tool assembly 40 has not exceeded the first position A.

[0142] The preset displacement threshold is preferably the distance from the initial position C of the nail magazine seat to the first position A. The displacement amount refers to the net positive displacement amount in the forward direction, that is, the value obtained by subtracting the sum of the moving distances in the backward direction from the sum of the moving distances in the forward direction.

[0143] Specifically, the displacement amount of the cutting tool assembly 40 can be calculated based on the number of turns of the motor rotation in combination with the transmission ratio of the transmission mechanism. In addition, the displacement amount of the cutting tool assembly 40 can also be obtained by using other conventional technical means in the art such as photoelectric sensors and gratings, which will not be elaborated here.

[0144] In another embodiment, the position information detection element is used to detect the specific position of the cutting tool assembly and output a detection signal to the control unit. For example, when the cutting tool assembly is located at the first position A, the position information detection element sends a first detection signal to the control unit of the control module 50; when the cutting tool assembly is not located at the first position A, the position information detection element sends a second detection signal to the control unit of the control module 50; when the signal received by the control unit during the preset time T when the motor rotates forward changes from the first detection signal to the second detection signal, it means that the cutting tool assembly has exceeded the first position within the preset time; otherwise, the cutting tool assembly 40 has not exceeded the first position within the preset time.

[0145] Thus, the first detection signal and the second detection signal reflect the position information of the cutter assembly 40. Among them, the first detection signal indicates that the cutter assembly is at the first position A, and the second detection signal indicates that the cutter assembly 40 is not at the first position A, including in front of the first position A or behind the first position A. During the preset time, when the cutter assembly 40 moves forward beyond the first position A and when the cutter assembly moves backward and then beyond the first position A, a change from the first detection signal to the second detection signal will occur. The forward rotation of the motor 70 corresponds to the forward movement of the cutter assembly 40, and the reverse rotation of the motor 70 corresponds to the backward movement of the cutter assembly 40. Therefore, by combining the change of the detection signal with the rotation direction of the motor 70, it can be used to determine whether the cutter assembly 40 has exceeded the first position A. The method shown in Figure 15 can be used to determine the forward or reverse rotation of the motor 70. Specifically, the motor 70 includes a rotating shaft 312, and the detection unit includes a first detection element 321, a second detection element 322, and a third detection element 323. When the rotating shaft 312 rotates, a plurality of first detection elements 321 rotate together with the rotating shaft 312. The second detection element 322 and the third detection element 323 are arranged at intervals and can be inductively coupled with the first detection element 321. When the first detection element 321 rotates, the second detection element 322 and the third detection element 323 can be respectively inductively coupled with the first detection element 321, and the sensed signals are sent to the control unit. There is a sequence for the inductive coupling between the first detection element 321 and the second detection element 322 and between the first detection element 321 and the third detection element 323. In this way, based on the sequence of the inductive coupling between the second detection element 322 and the third detection element 323 and the first detection element 321, the rotation direction of the rotating shaft 312, whether it is forward or reverse, can be determined. It should be noted that other technical means in the art can also be used to determine the forward or reverse rotation of the motor, which will not be elaborated here.

[0146] Within the preset time T, the cutter assembly 40 is in real-time motion, so the detection signal changes in real-time. However, as long as it is sensed that a change from the first detection signal to the second detection signal occurs when the motor 70 rotates forward, it indicates that the cutter assembly 40 has exceeded the first position A, and it can be determined that it is an empty nail magazine state; otherwise, if other forms of signal changes occur, it indicates that the cutter assembly has not exceeded the first position A, and it can be determined that it is a non-empty nail magazine state. For example, when the motor rotates forward, after sensing the first detection signal, the second detection signal is not sensed within the preset time.

[0147] Specifically, the detection unit includes a first position detection element, which is arranged on the rack of the cutting tool assembly driving device 90. The cutting tool assembly driving device 90 can drive the cutting tool assembly 40 and the first position detection element to move synchronously. The first position detection element is arranged on the rack of the cutting tool assembly driving device 90, which has the same effect as that arranged on the cutting tool assembly 40 and can detect the position of the cutting tool assembly. The rack drives the cutting tool assembly 40 to move forward and backward, and at the same time drives the first position detection element to move forward and backward. When the cutting tool assembly 40 reaches the first position A, the first position detection element sends a first detection signal to the control unit. The first position detection element is not triggered when the cutting tool assembly 40 exceeds the first position A or does not reach the first position A. At this time, the first position detection element sends a second detection signal to the control unit. In this embodiment, the first position detection element is the trigger structure of a photoelectric sensor or a travel switch, and the component cooperating with the first position detection element is the trigger structure (such as a shrapnel) cooperating with the travel switch or a photoelectric sensor. The position of the photoelectric sensor or the position of the trigger structure of the travel switch corresponds to the first position A, and the position of the trigger structure of the photoelectric sensor and the position of the travel switch correspond to the position of the cutting tool assembly. Preferably, the photoelectric sensor includes a light emitting part and a light receiving part, and its trigger structure can be the blackened part of the rack. The blackened part can reflect the light emitted by the light emitting part to the light receiving part. After the light receiving part receives the light, it sends a first detection signal. The non-blackened part of the rack does not reflect light, and the light will not be reflected when the rack does not reach the photoelectric sensor. When the light receiving part does not receive the light, it sends a second detection signal.

[0148] It should be noted that the method of judging the forward or reverse rotation of the motor 70 as described above can be adopted, and details are not described here.

[0149] In another embodiment, the position information detection element is used to detect the number of turns of the motor rotation and send a detection signal to the control unit. When the number of turns of the motor rotation is greater than the threshold within the preset time T, it is judged that within the preset time T, the cutting tool exceeds the first position A. Otherwise, it is judged that within the preset time T, the cutting tool does not exceed the first position A. The number of turns of the motor rotation is the number of turns of the rotation of the rotating shaft 312.

[0150] As described above, the movement of the cutting tool assembly 40 is synchronized with the rotation of the motor 70. Therefore, the number of rotations of the motor reflects the position information of the cutting tool assembly 40. The number of rotations is the net positive number of rotations. The positive number of rotations refers to the number of rotations of the motor driving the cutting tool assembly 40 forward. If the motor 70 rotates in the reverse direction and generates a reverse number of rotations, that is, the motor 70 drives the cutting tool assembly 40 backward, then the value obtained by subtracting the reverse number of rotations from the positive number of rotations from the start of timing to a certain moment is the net positive number of rotations at that moment. During the preset time T, the cutting tool assembly 40 moves in real time, so the number of rotations of the motor 70 changes in real time. However, as long as it is detected and judged that the number of rotations of the motor is greater than the threshold value, it indicates that the cutting tool assembly 40 has exceeded the first position A, and it can be judged as an empty staple cartridge state; otherwise, the number of rotations of the motor is always less than or equal to the threshold value, indicating that the cutting tool assembly 40 has not exceeded the first position A, and it can be judged as a non-empty staple cartridge state.

[0151] The surgical instrument has a first preset number of rotations. The first preset number of rotations is the number of rotations of the motor required for the cutting tool assembly 40 to move from the initial position C to the first position A. Preferably, the threshold value is equal to the first preset number of rotations. Further, the surgical instrument also has a second preset number of rotations. The second preset number of rotations is the number of rotations of the motor 70 when operating at a first preset parameter value for a preset time in the empty staple cartridge state. The starting point of the preset time is when the cutting tool assembly is at the initial position C. When the number of rotations of the motor reaches the second preset number of rotations in the empty staple cartridge state, the cutting tool assembly 40 is located between the first position A and the second position B. The position reached by the cutting tool assembly 40 with the second preset number of rotations is farther than the position reached by the cutting tool assembly 40 with the first preset number of rotations, and the second preset number of rotations is greater than the first preset number of rotations.

[0152] The following will introduce the acquisition process of the set threshold value in combination with a specific application scenario:

[0153] Let the number of rotations of the motor 70 corresponding to an output linear stroke of 1 mm be X. Then, (X / reduction ratio) * 2π * gear radius = 1 mm. When the gear radius is 8 mm and the reduction ratio is 500, X is calculated to be 9.95 rotations, and its value is taken as 10 rotations. The gear in the formula is the gear meshing with the rack. Therefore, when the motor rotates 10 rotations, the corresponding output linear stroke is 1 mm. For example, the distance from the initial position C to the first position A is 4 mm. The motor 70 needs to rotate 40 rotations for the cutting tool assembly 40 to reach the first position A. Then, the first preset number of rotations is 40 rotations. Thus, in the non-empty staple cartridge state, the number of rotations of the motor is less than or equal to 40 rotations.

[0154] When the staple cartridge assembly is not installed or an already used staple cartridge assembly is installed, that is, when the electric stapler 100 is in the state of an empty staple cartridge, when the operation duration of the motor 70 reaches 0.5S with the first preset parameter value, optionally, within the preset time, the maximum number of rotation turns of the motor 70 is 50 turns. Then the second preset number of rotation turns is 50 turns. 0.5S is the preset time.

[0155] In this embodiment, when the first preset number of rotation turns is 40 turns and the second preset number of rotation turns is 50 turns, preferably, the threshold value is 40 turns. When the number of rotation turns of the motor is greater than 40 turns within the preset time, the cutting knife assembly 40 exceeds the first position A, so that the empty staple cartridge state of the electric stapler 100 can be recognized; when the number of rotation turns of the motor is always less than or equal to 40 turns within the preset time, the cutting knife assembly 40 does not exceed the first position A, so that the non-empty staple cartridge state of the electric stapler 100 can be recognized.

[0156] It should be noted that the staple cartridge identification method in this application is applicable to different types of surgical instruments. The above-mentioned surgical instruments all utilize a jaw assembly, a cutting knife assembly, a staple cartridge assembly, etc. to realize the cutting and anastomosis functions. For different types of surgical instruments, the maximum number of rotation turns required for the cutting knife assembly to move from the initial position C to the first position A is different, or the first preset number of rotation turns determined based on the preset time and the first preset parameter value is different. Correspondingly, the threshold value can be adjusted accordingly.

[0157] In order to detect the number of rotation turns of the motor, in one embodiment, the detection element of the detection unit is a Hall encoder, as Figure 15 shown, specifically including: a Hall sensor (the second detection element 322); a plurality of magnets (the first detection element 321), and the plurality of magnets are arranged around the rotating shaft 312 of the motor 70. When the magnet rotates with the rotating shaft 312 of the motor 70, the Hall sensor senses the magnet and outputs a pulse signal. The pulse signal is used as a detection signal, and the control unit determines the number of rotation turns of the motor based on the number of pulse signals and the rotation direction of the motor determined based on the Hall sensor (the second detection element 322, the third detection element 323). The determination method of the motor rotation direction is as described in the previous content.

[0158] Specifically, when the rotating shaft 312 of the motor 70 rotates, every time a magnet passes by, the Hall sensor outputs a pulse signal, and this pulse signal is used as a detection signal. For example, when there are 10 magnets, the output of 10 pulse signals indicates that the rotating shaft 312 has rotated one circle. Correspondingly, the control unit of the control module 50 receives the detection signal in real time and counts, and determines the number of rotation turns of the motor based on the number of detection signals. Every 10 detection signals indicate that the number of rotation turns of the motor is one circle.

[0159] Further, when the control module 50 detects that the number of rotations of the motor is greater than the threshold within a preset time, it determines that the staple cartridge is empty and controls the motor to stop. Similarly, when the control module 50 detects that the number of rotations of the motor is always not greater than the threshold within a preset time, it determines that the staple cartridge is not empty.

[0160] In some possible implementation manners, the detection element in the detection unit of the control module 50 is an optoelectronic encoder, which includes an optoelectronic sensor and multiple gratings. The optoelectronic sensor can emit detection light in an infrared manner, and the multiple gratings are distributed around the rotating shaft 312 of the motor 70; when the rotating shaft 312 rotates, it drives the gratings to rotate, and the optoelectronic sensor outputs a pulse signal after sensing the gratings. The principle of the control module 50 to determine the number of rotations of the motor based on this pulse signal is the same as that of the Hall sensor above and will not be elaborated here. Of course, the detection element can also be other ways capable of determining the number of rotations of the motor.

[0161] Second Embodiment

[0162] There are significant differences in the firing movement process between the above stapler 100 in the empty staple cartridge state and the non-empty staple cartridge state: whether the cutter assembly 40 exceeds the first position A is not only reflected in the position information of the cutter assembly, but also reflected in the motor state. Therefore, the state of the stapler, that is, in the empty staple cartridge state or in the non-empty staple cartridge state, can be judged by identifying the state of the motor 70 (the state of the motor 70, that is, the motor state) instead of the position information of the cutter assembly. The motor 70 is driven to run for a preset time with a first preset parameter value. In the non-empty staple cartridge state, the cutter assembly 40 is blocked by the pusher plate 51 at the first position A, so the motor 70 is blocked at the first position A, resulting in an increase in the current of the motor 70, a decrease in the rotational speed of the motor 70 or even a decrease to 0, and a decrease in the voltage across the two ends of the motor 70. In the empty staple cartridge state, the cutter assembly is not blocked by the pusher plate 51 at the first position A, so the motor 70 will not be blocked, and the current, rotational speed, and voltage of the motor will not change during the operation of the motor 70.

[0163] Therefore, the empty staple cartridge state and the non-empty staple cartridge state can be identified by the motor state, and the motor state includes the current of the motor 70, the rotational speed of the motor 70, and the voltage of the motor 70.

[0164] In one implementation manner, the detection signal is the working current of the motor 70. When the working current within the preset time T is always less than the current preset value, the cutter assembly 40 exceeds the first position A within the preset time. Otherwise, the cutter assembly 40 does not exceed the first position A within the preset time. The motor state detection element collects the voltage of the sampling resistor connected in series in the power supply circuit of the motor 70 as the detection signal and sends it to the control unit. The control unit can obtain the working current of the motor 70 according to the detection signal and the resistance value of the sampling resistor.

[0165] In one embodiment, the detection signal is the voltage of the motor 70; when the voltage is always greater than the preset voltage threshold within the preset time T, the cutting tool assembly 40 exceeds the first position within the preset time, otherwise, the cutting tool assembly 40 does not exceed the first position A within the preset time. The motor state detection element collects the voltage of the sampling resistor connected in series in the power supply circuit of the motor 70 as the detection signal and sends it to the control unit.

[0166] In one embodiment, the detection signal is the rotational speed of the motor 70. When the rotational speed is always greater than the preset rotational speed value within the preset time T, the cutting tool exceeds the first position A within the preset time, otherwise, the cutting tool assembly 40 does not exceed the first position A within the preset time. The motor state detection element includes a stationary Hall sensor and a magnet disposed on the rotating shaft of the motor 70. The rotation of the rotating shaft drives the magnet to rotate accordingly. When the magnet passes by the Hall sensor, it causes a change in the level of the Hall sensor. The changed level is used as the detection signal and sent to the control unit, and the control unit can obtain the rotational speed of the motor 70.

[0167] It should be noted that in other embodiments, the control module 50 can also calculate the stage difference, slope, multi-order derivative, etc. of the above physical quantities using current, rotational speed, or voltage to determine whether there is a sudden change in current, rotational speed, or voltage. When there is no sudden change within the preset time T, the cutting tool assembly exceeds the first position A within the preset time T, otherwise, the cutting tool assembly 40 does not exceed the first position A within the preset time T.

[0168] Specifically, for example, the slope of the current: The detection unit detects the current, and the control unit calculates the current slope. When the current slope is greater than the preset value, it reflects the sudden change in current caused by jamming.

[0169] It should be noted that the detection of the specific values of current, voltage, and rotational speed can be a continuous process or a multi-point detection with a relatively short interval time. The detection unit detects current, voltage, and rotational speed, and the control unit compares the detected values with the preset values, or determines whether there is a sudden change based on the detected values. The specific detection methods of current, voltage, and rotational speed are conventional technical means in the art and will not be elaborated here.

[0170] The judgment logic for whether the above physical quantities have sudden changes is a conventional technical means for those skilled in the art and will not be elaborated here.

[0171] In the above implementation manner, if the current detected within the preset time is always less than the preset value or no current mutation is detected, and the detected voltage or rotational speed is always greater than the preset value or no voltage or rotational speed mutation is detected, it indicates that the cutting knife assembly has exceeded the first position A, that is, the empty staple cartridge state; if the current detected within the preset time is greater than the preset value or a current mutation occurs, and the detected voltage or rotational speed is less than the preset value or a voltage or rotational speed mutation occurs, it indicates that the cutting knife assembly has not exceeded the first position A, that is, the non-empty staple cartridge state.

[0172] In one implementation manner, the detection signals may include at least two of the following physical quantities: motor current, motor rotational speed, and motor voltage. Correspondingly, the detection unit includes detection elements capable of detecting the above different detection signals. The control module determines whether the motor operates at a first preset parameter value and whether the cutting knife assembly exceeds the first position A within the preset time according to at least two detection signals, and performs empty staple cartridge protection with double or multiple insurances.

[0173] Therefore, the electric stapler 100 can utilize the difference in the cutting knife motion state caused by the difference in the position of the pusher plate in the empty staple cartridge state and the non-empty staple cartridge state, and adopt a method in which the control module 50 executes computer software to identify whether the stapler 100 is in the empty staple cartridge state and perform empty staple cartridge protection.

[0174] Specifically, in this embodiment, the method by which the control module 50 executes computer software is as follows:

[0175] S1: The control module 50 controls the motor 70 to operate for a preset time at a first preset parameter value; specifically, it includes the following steps:

[0176] S12: The control module 50 controls the motor 70 to operate at a first preset parameter value to drive the cutting knife assembly 40 to move forward;

[0177] S13: After a preset time T, it is judged whether the cutting knife assembly 40 has exceeded the first position A.

[0178] Third Embodiment

[0179] The principle of identifying the state of an empty staple cartridge in this embodiment is basically the same as that in the first embodiment. That is, the motor 70 is driven by a first preset parameter value to push the cutting knife assembly 40 forward, and the cutting knife assembly 40 outputs a relatively small thrust that is not sufficient to push the staple pusher plate, so that there are significant differences in the motion state of the stapler between the empty staple cartridge state and the non-empty staple cartridge state: whether the cutting knife assembly 40 exceeds the first position A. The difference from the first embodiment is that this embodiment comprehensively adopts the following technical means: detecting the position information of the cutting knife assembly and making a judgment and identification, and detecting the motor state and making a judgment and identification. Specifically, the position information of the cutting knife assembly includes the displacement of the cutting knife assembly, the position of the cutting knife assembly 40, and the number of turns of the motor rotation. The motor state includes the current of the motor, the rotation speed of the motor, and the voltage of the motor. By detecting the position information of the cutting knife assembly, the empty staple cartridge state can be identified, and by detecting the motor state, the non-empty staple cartridge state can be identified. Thus, this embodiment can not set a "preset time".

[0180] Taking the position of the cutting knife assembly 40 as the specific position information of the cutting knife assembly and the current of the motor 70 as the specific motor state as an example:

[0181] The control module 50 controls the motor 70 to operate with a first preset parameter value to drive the cutting knife assembly 40 to move forward, so that the cutting knife assembly 40 exceeds the first position A without being blocked by the staple pusher plate 51. When the rear end of the staple pusher plate 51 is at the first position A, the staple pusher plate 51 restricts the cutting knife assembly 40 from exceeding the first position A.

[0182] The detection unit includes a position information detection element. The position information detection element includes a first position detection element for detecting the position information of the cutting knife assembly 40 and outputting a detection signal. When the cutting knife assembly 40 is at the first position A, the first position detection element sends a first detection signal to the control unit. When the cutting knife assembly 40 is not at the first position A, the first position detection element sends a second detection signal to the control unit.

[0183] When the signal received by the control unit changes from the first detection signal to the second detection signal during the forward rotation of the motor, the control module identifies that the cutting knife assembly 40 has not been blocked by the staple pusher plate 51 and its motion state has not changed after reaching the first position A and before reaching the second position B, that is, the cutting knife assembly 40 exceeds the first position A. Then, similar to the first embodiment, the control module 50 controls the motor to stop.

[0184] Alternatively, the position information detection component includes a second position detection component. When the cutting knife assembly 40 is between the first position A and the second position B, the second position detection component sends a third detection signal to the control unit. When the control unit receives the third detection signal, the control unit recognizes that the cutting knife assembly 40 has not been blocked by the staple pushing plate 51 and its motion state has not changed after reaching the first position A and before reaching the second position B, that is, the cutting knife assembly 40 has exceeded the first position A. Then, similar to the first embodiment, the control module 50 controls the motor to stop. At this time, the stapler is in the empty staple cartridge state.

[0185] The detection unit further includes a motor detection component for detecting the state of the motor. After detecting the motor state, the motor detection component sends a motor detection signal to the control unit. When the control unit receives the motor detection signal, it determines that the motor is jammed by recognizing that the motor state has changed, and then determines that the motion state of the cutting knife assembly 40 has changed. At this time, the stapler is in the non-empty staple cartridge state. Similar to the first embodiment, the control module 50 controls the motor 70 to operate with a second preset parameter value so that the cutting knife assembly 40 exceeds the first position A and continues to exceed the second position B for normal firing. The change in the motor state includes the following situations: the current of the motor 70 is greater than or equal to the preset current value, the rotation speed of the motor 70 is less than or equal to the preset rotation speed value, the voltage of the motor 70 is less than or equal to the preset voltage value, or there is a sudden change in the current, voltage, or rotation speed. For example, the motor detection component detects the rotation speed of the motor 70. When the control unit recognizes that the rotation speed of the motor 70 is less than or equal to the preset rotation speed value (rotation speed threshold) or there is a sudden change in the rotation speed of the motor 70, the control unit determines that the motor is jammed, and the control module 50 controls the motor 70 to operate with a second preset parameter value so that the cutting knife assembly 40 exceeds the first position A and continues to exceed the second position B to achieve normal firing.

[0186] In the above examples, the position information of the cutting knife assembly 40 is specifically the position of the cutting knife assembly 40, and the motor state is the rotation speed of the motor 70. It should be noted that the position information of the cutting knife assembly 40 can specifically be the displacement of the cutting knife assembly 40 or the number of turns of the motor rotation, and the motor state can specifically be the current of the motor 70 or the voltage of the motor. That is, the specific forms of the position information of the cutting knife assembly 40 and the motor state can be combined.

[0187] Therefore, the electric stapler 100 can utilize the difference in the motion state of the cutting knife caused by the difference in the position of the staple pushing plate in the empty staple cartridge state and the non-empty staple cartridge state, and adopt a method in which the control module 50 executes computer software to identify whether the stapler 100 is in the empty staple cartridge state and perform empty staple cartridge protection.

[0188] Specifically, in this embodiment, the method for the control module 50 to execute computer software is as follows:

[0189] S1: The control module 50 controls the operation of the motor 70 with a first preset parameter value; specifically, it includes the following steps:

[0190] S12: The control module 50 controls the operation of the motor 70 with a first preset parameter value to drive the cutting tool assembly 40 to move forward;

[0191] S13: By detecting the position information of the cutting tool assembly 40 and the motor state, it is judged whether the cutting tool assembly 40 exceeds the first position A.

[0192] It should be noted that the staple cartridge identification method in this application is applicable to different types of surgical instruments. The above surgical instruments all utilize a cutting tool assembly and a staple cartridge assembly to achieve cutting and anastomosis functions, and are powered by a motor.

[0193] In other prior arts, in addition to the existing structure of the stapler itself, the stapler is provided with an additional mechanical structure. Compared with the state of an empty staple cartridge, the state after installing an unused staple cartridge assembly will change the cooperation mode between the above mechanical structure and the cutting tool assembly, thereby causing changes in parameters such as current. By sensing changes in parameters such as current, it is identified whether it is in the state of an empty staple cartridge.

[0194] Compared with the prior art, in order to identify the state of an empty staple cartridge and provide protection for an empty staple cartridge, this application first recognizes that there are differences in the positions of the pusher plate in the state of an empty staple cartridge and a non-empty staple cartridge, and there is friction between the pusher plate and the staple cartridge body. Then, based on the above understanding, through the mechanical structure inherent in the stapler, that is, by utilizing the differences in the positions of the pusher plate in the state of an empty staple cartridge and a non-empty staple cartridge and the friction between the pusher plate and the staple cartridge body, the motor runs at a first preset parameter value to be able to push the cutting tool assembly forward but unable to push the pusher plate to identify the state of an empty staple cartridge and a non-empty staple cartridge, and perform empty staple cartridge protection in the state of an empty staple cartridge. The overall structure of the machine is simple and the operation reliability is high. It can be seen that this application does not need to set a mechanical structure for limiting position or an additional mechanical structure for identifying the state of an empty staple cartridge in the stapler. Being able to apply the above understanding to the identification of the state of an empty staple cartridge is difficult for those skilled in the art to think of. On this basis, realizing the identification of the state of an empty staple cartridge through the mechanical structure inherent in the stapler is even more difficult for those skilled in the art to think of.

[0195] The above embodiments are only used to illustrate the technical concept and features of this application, and their purpose is to enable those who are familiar with this technology to understand the content of this application and implement it accordingly, and cannot be used to limit the protection scope of this application. All equivalent changes or modifications made according to the spirit and essence of this application should be covered within the protection scope of this application.

Claims

1. A surgical instrument, characterized in that, Comprising: A jaw assembly, the jaw assembly including a cartridge seat (31) for mounting a cartridge assembly and an anvil seat (32) pivotally connected to the cartridge seat (31); the cartridge assembly including a pusher plate (51) and a cartridge body (71), the pusher plate (51) being received in the cartridge body (71); the unused cartridge assembly further including anastomosis staples (52) received in the cartridge body (71), the pusher plate (51) moving forward in the cartridge body (71) to push out the anastomosis staples from the cartridge body; the cartridge seat (31) having a first position and a second position in front of the first position, the first position being aligned with the rear end of the pusher plate (51) of the unused cartridge assembly mounted in the cartridge seat (31), and the second position being aligned with the rear end of the proximal anastomosis staples (52) of the unused cartridge assembly mounted in the cartridge seat (31); A cutting knife assembly (40); A motor (70), drivingly connected to the cutting knife assembly (40) to drive the cutting knife assembly (40) to move; A control module (50), the control module (50) being configured to: Control the motor (70) to operate with a first preset parameter value to drive the cutting knife assembly (40) to move forward; when the motor (70) operates with the first preset parameter value such that after the cutting knife assembly (40) reaches the first position, in response to the blocking of the pusher plate (51), the cutting knife assembly (40) does not exceed the first position; Determine whether the cutting knife assembly (40) exceeds the first position; If not, the control module (50) controls the motor (70) to operate such that the cutting knife assembly (40) exceeds the first position and then exceeds the second position; If so, the control module (50) controls the motor (70) to stop.

2. The surgical instrument according to claim 1, wherein The control module (50) controls the motor (70) to operate with the first preset parameter value and continue for a preset time to drive the cutting knife assembly (40) to move forward, such that in the absence of the blocking of the pusher plate (51), the cutting knife assembly (40) exceeds the first position but does not exceed the second position.

3. The surgical instrument according to claim 1, characterized in that, The control module (50) includes: A detection unit, the detection unit being configured to obtain a detection signal representing the position information of the cutting knife assembly (40); A control unit, the control unit determining, based on the detection signal, whether the cutting knife assembly (40) exceeds the first position within a preset time when the control unit controls the motor (70) to operate with the first preset parameter value; If not, the control unit controls the motor (70) to operate with a second preset parameter value such that the cutting knife assembly (40) exceeds the first position and then exceeds the second position; If so, the control unit controls the motor (70) to stop.

4. The surgical instrument according to claim 3, wherein The position information of the cutting knife assembly (40) includes the displacement amount of the cutting knife assembly (40).

5. The surgical instrument according to claim 3, wherein, The position information of the cutting tool assembly (40) includes the position of the cutting tool assembly (40).

6. The surgical instrument according to claim 3, wherein, The position information of the cutting tool assembly (40) includes the number of turns of the motor rotation.

7. The surgical instrument according to claim 1, wherein The control module (50) includes a detection unit and a control unit. The detection unit is used to obtain a detection signal representing the state of the motor; Within the preset time when the control unit controls the motor (70) to operate with the first preset parameter value, the control unit determines whether the cutting tool assembly (40) exceeds the first position according to the detection signal; If not, the control unit controls the motor (70) to operate with a second preset parameter value so that the cutting tool assembly (40) exceeds the first position and then exceeds the second position; If so, the control unit controls the motor (70) to stop.

8. The surgical instrument according to claim 7, wherein The motor state includes at least one of the voltage, current, and rotation speed of the motor (70), or whether at least one of the voltage, current, and rotation speed of the motor (70) undergoes a sudden change.

9. The surgical instrument according to any one of claims 2, 3, and 7, characterized in that, The preset time is from 0.1 to 3 seconds.

10. The surgical instrument according to claim 9, wherein The preset time is 0.5 seconds.

11. The surgical instrument according to claim 1, wherein The control module (50) includes a detection unit and a control unit. The detection unit is used to obtain a first detection signal representing the position information of the cutting tool assembly (40) and a second detection signal representing the state of the motor; The control unit controls the motor (70) to operate with the first preset parameter value to drive the cutting tool assembly (40) to move forward, and the control unit determines whether the cutting tool assembly (40) exceeds the first position according to the first detection signal and the second detection signal; If not, the control unit controls the motor (70) to operate with a second preset parameter value so that the cutting tool assembly (40) exceeds the first position and then exceeds the second position; If so, the control unit controls the motor (70) to stop.

12. The surgical instrument according to claim 11, wherein The position information of the cutting tool assembly (40) includes the displacement of the cutting tool assembly (40).

13. The surgical instrument according to claim 11, wherein, The position information of the cutting tool assembly (40) includes the position of the cutting tool assembly (40).

14. The surgical instrument according to claim 11, wherein, The position information of the cutting tool assembly (40) includes the number of turns of the motor rotation.

15. The surgical instrument according to claim 11, wherein, The motor state includes at least one of the voltage, current, and rotation speed of the motor (70), or whether at least one of the voltage, current, and rotation speed of the motor (70) undergoes a sudden change.

16. The surgical instrument according to any one of claims 3, 7, and 11, characterized in that, Both the first preset parameter value and the second preset parameter value are duty cycles.

17. The surgical instrument according to claim 1, characterized in that, The first preset parameter value is a duty cycle.

18. The surgical instrument according to claim 1, wherein, The cartridge holder (31) also has an initial position, which is aligned with the front end of the cutting tool assembly (40) when not fired, and the initial position is behind the first position.

19. The surgical instrument according to claim 1, characterized in that, The control module (50) includes: A detection unit, which is used to obtain a detection signal representing the position information of the cutting tool assembly (40) and / or the state of the motor; A control unit, which generates a first control signal according to the first preset parameter value and sends the first control signal to the motor drive unit; the control unit is electrically connected to the detection unit; A motor drive unit, which is electrically connected to the control unit. After receiving the first control signal, the motor drive unit sends a second control signal to the switch unit; A switch unit, which is electrically connected to the motor drive unit. After receiving the second control signal, the switch unit controls the operation of the motor (70); The control unit also determines whether the cutting tool assembly (40) exceeds the first position according to the detection signal, and controls the operation or shutdown of the motor (70) through the motor drive unit and the switch unit.

20. The surgical instrument according to claim 19, wherein According to the determination result of whether the cutting tool assembly (40) exceeds the first position, the control unit generates a third control signal and sends the third control signal to the motor drive unit; A motor drive unit, after receiving the third control signal, the motor drive unit sends a fourth control signal to the switch unit; A switch unit, after receiving the fourth control signal, the switch unit controls the operation or shutdown of the motor (70); When the cutting tool assembly (40) does not exceed the first position, the control unit generates the third control signal according to the second preset parameter value. After receiving the third control signal, the motor drive unit sends the fourth control signal to the switch unit, and the switch unit controls the operation of the motor (70) to drive the cutting tool assembly (40) and the staple pusher (51) to move forward to exceed the first position and then exceed the second position; When the cutting tool assembly (40) exceeds the first position, the control unit generates the third control signal. After receiving the third control signal, the motor drive unit sends the fourth control signal to the switch unit, and the switch unit controls the motor (70) to stop.

21. The surgical instrument according to claim 1, wherein The surgical instrument further includes a transmission mechanism, and the motor (70) is drivably connected to the cutting tool assembly (40) through the transmission mechanism.

22. The surgical instrument according to any one of claims 7 and 11, characterized in that, The control unit determines whether the motor (70) is stalled according to the detection signal indicating the motor state to determine whether the cutting tool assembly (40) exceeds the first position.

23. The surgical instrument according to claim 11, wherein That the cutting tool assembly (40) exceeds the first position is determined by the control unit according to the first detection signal, and the control unit controls the motor (70) to stop so that the cutting tool assembly (40) does not exceed the second position.

24. The surgical instrument according to claim 11, wherein That the cutting tool assembly (40) does not exceed the first position is determined by the control unit according to the second detection signal, and the control unit controls the operation of the motor (70) with the second preset parameter value so that the cutting tool assembly (40) exceeds the first position and then exceeds the second position.

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