Control method for anastomat and anastomosis device

Abstract

The application provides an anastomat and a control method of an anastomosis device. The anastomat comprises an end effector and an anastomosis actuating part, the anastomosis actuating part comprises an actuating body and a conductive part, the conductive part is insulatedly connected with the actuating body, when the anastomosis actuating part moves to the end effector, the conductive path can be in electrical contact with the nail bin to form an identifiable circuit, and then the electrical signal of the identifiable circuit can be obtained through the control method, target information is obtained according to the electrical signal, the target information comprises nail bin information and anastomat information, and then a prompt and / or a preset measure are generated according to the target information. The application can effectively improve the safety and convenience of the operation, the effectiveness and accuracy of the identification information are better, and the identification range is wider.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a control method for an anastomosis device and anastomosis apparatus. Background Technology

[0002] In recent years, with the application and development of robotics technologies, especially computing technology, the role of surgical robots in clinical practice has received increasing attention. Minimally invasive surgical robot systems, in particular, can reduce the physical labor of surgeons during operations through interventional treatment, while achieving precise surgery, resulting in less trauma, less blood loss, less postoperative infection, and faster recovery for patients. The design quality of the surgical instruments used in the surgical robot directly determines the success or failure of the minimally invasive surgical robot system. These instruments can better assist surgeons in completing surgical procedures; therefore, the performance of the surgical instruments is a key factor affecting the performance level of the minimally invasive surgical robot system. Anastomosing devices, as a type of surgical instrument, are commonly used in surgery. Clinically, they are used to replace manual suturing, offering advantages such as faster suturing, simpler operation, shorter operation time, and better postoperative recovery for patients, thus being widely used in various surgeries. Anastomosing devices often require frequent changes of different sizes of staple cartridges during surgery. If the surgical robot could intelligently identify the type of staple cartridge during the operation, it would help improve the safety and convenience of the surgery. In the existing technology, although there are some solutions that can identify the type of staple cartridge, they can only identify a few staple cartridges, the identification range is limited, and the effectiveness and accuracy of identification are not high. In particular, they place higher demands on the installation and transmission precision of the entire stapler, thereby increasing the difficulty of installing and manufacturing the stapler. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention proposes a control method for a stapler and stapler device, which can accurately and effectively identify target information during surgery, has a wide identification range, and also reduces the requirements for the installation and manufacturing of the stapler.

[0004] According to a first aspect of the present invention, a stapler is provided, comprising an end effector and a stapler actuation component. The end effector is configured to load and open / close a staple cartridge, and the stapler actuation component is movable axially along the stapler to manipulate and actuate the end effector and the staple cartridge. The stapler actuation component includes an actuation body and a conductive portion. The conductive portion is disposed circumferentially around the actuation body and is insulated from the actuation body. When the stapler actuation component moves toward the end effector, the conductive portion can make electrical contact with the staple cartridge to form an identifiable circuit, thereby acquiring target information based on the electrical signal of the identifiable circuit. The target information includes staple cartridge information and stapler information.

[0005] Optionally, the actuation body includes an actuation rod, an actuation flexible shaft, and an actuation frame connected sequentially from the proximal end to the distal end. The actuation flexible shaft is capable of bending in all directions. The conductive part extends helically along the axial direction of the actuation flexible shaft. The distal end of the conductive part extends to the actuation frame, and the proximal end of the conductive part extends to the proximal end of the actuation rod.

[0006] Optionally, the actuating flexible shaft is made of a spiral metal sheet, and the spiral direction of the conductive part is the same as the spiral direction of the spiral metal sheet; the spiral metal sheet is provided with a plurality of holes, and the plurality of holes are spaced apart along the axial direction of the spiral metal sheet.

[0007] Optionally, the conductive part consists of two conductors, which extend independently along the axial direction of the actuating flexible shaft, and the distal conductive contacts of the two conductors are symmetrical about the central axis of the actuating flexible shaft.

[0008] Optionally, the matching actuation component further includes an insulating sleeve, through which the conductive part is insulated from the actuation body.

[0009] Optionally, the insulating sheath has a central cavity, the actuating body is partially inserted into the central cavity, and the insulating sheath also has a wire harness guide groove spirally extending around the central cavity, the conductive part being inserted into the wire harness guide groove.

[0010] Optionally, the insulating sleeve is a cylindrical structure that extends continuously along the axial direction of the actuating body, or the insulating sleeve is composed of a plurality of segments distributed sequentially along the axial direction of the actuating body, each segment having an arc-shaped guide surface; the insulating sleeve includes spherical and / or disc-shaped segments.

[0011] Optionally, the stapler further includes a flexible joint, an instrument rod, and an instrument drive box. The stapler is sequentially connected from distal to proximal along its own axial direction, including the end effector, the flexible joint, the instrument rod, and the instrument drive box. The stapler actuation component is movably disposed in the instrument rod, and the proximal end of the stapler actuation component is connected to the instrument drive box. The proximal end of the conductive part is electrically connected to the surgical robot through the instrument drive box.

[0012] The end effector includes a first clamping arm and a second clamping arm disposed opposite to each other. The first clamping arm is fixedly connected to the distal end of the bendable joint, and the proximal end of the second clamping arm is pivotally connected to the proximal end of the first clamping arm. The second clamping arm is used to load the staple cartridge. A sensor is provided on the first clamping arm. The sensor is used to detect the tissue thickness when the end effector closes the tissue, and then determine whether to replace the staple cartridge based on the tissue thickness.

[0013] According to a second aspect of the present invention, a method for controlling an anastomosis device is provided, the anastomosis device including an anastomotic device and a staple cartridge, the staple cartridge being detachably mounted on the anastomotic device, the control method comprising the following steps:

[0014] After the staple cartridge and the stapler make electrical contact to form an identifiable circuit, the electrical signal of the identifiable circuit is acquired, and target information is obtained based on the electrical signal. Then, prompts and / or preset measures are generated based on the target information. The target information includes staple cartridge information and stapler information.

[0015] The steps for obtaining the staple cartridge information are as follows: obtaining the electrical signal of the identifiable circuit when the conductive part in the stapler just makes contact with the proximal conductive contact of the conductive path in the staple cartridge, and then determining the staple cartridge information associated with the target information based on the electrical signal of the identifiable circuit when it just makes contact.

[0016] The steps for obtaining the anastomosis device information are as follows: obtaining the change in the electrical signal of the identifiable circuit when the proximal conductive contact of the conductive path slides proximally relative to the conductive part on the conductive part, and then determining the anastomosis device information associated with the target information based on the change in the electrical signal of the identifiable circuit.

[0017] Optionally, the nail pod information includes a nail pod category. When obtaining the nail pod category, the nail pod category associated with the target information is determined based on the electrical signal of the identifiable circuit at the moment of initial contact.

[0018] The stapler information includes the stapler's advance depth. When acquiring the stapler's advance depth, the advance depth of the stapler is determined based on the change in the electrical signal of the identifiable circuit.

[0019] After obtaining the advance depth of the stapler, the current advance depth is compared with the advance depth detected by the motor encoder, and the absolute value of the difference between the current advance depth and the advance depth detected by the motor encoder is obtained. Then, it is determined whether the absolute value of the difference exceeds the safety threshold. If it exceeds the threshold, the stapler is abnormal.

[0020] If an abnormality occurs, the anastomosis device will immediately perform a pusher retraction action;

[0021] If no abnormality occurs, the anastomosis device will perform a pusher retraction action after completing the anastomosis action.

[0022] Compared with the prior art, the control method of the anastomosis device and anastomosis apparatus of the present invention has the following advantages:

[0023] The above-described anastomosis device includes a stapler and a staple cartridge for use in conjunction. The stapler includes an end effector and an actuation component. The end effector is used to load the staple cartridge and is capable of opening and closing. The actuation component is capable of moving along the axial direction of the stapler to manipulate and actuate the end effector and the staple cartridge. The actuation component includes an actuation body and a conductive part. The conductive part is disposed on the circumferential periphery of the actuation body and is insulated from the actuation body. When the actuation component moves toward the end effector, the conductive path can make electrical contact with the staple cartridge to form an identifiable circuit. Target information is then obtained based on the electrical signal of the identifiable circuit. The target information includes staple cartridge information and stapler information.

[0024] The control method of the above-described anastomosis device can acquire the electrical signal of the identifiable circuit after the staple cartridge and the anastomosis device's electrical contact conduit form an identifiable circuit, and acquire target information based on the electrical signal, and then generate prompts and / or execute preset measures based on the target information; the step of acquiring the staple cartridge information is as follows: acquiring the electrical signal of the identifiable circuit when the conductive part just makes contact with the proximal conductive contact of the conductive path in the staple cartridge, and then determining the staple cartridge information associated with the target information based on the electrical signal of the identifiable circuit at the moment of contact; the step of acquiring the anastomosis device information is as follows: acquiring the change of the electrical signal of the identifiable circuit when the proximal conductive contact of the conductive path slides proximally relative to the conductive part on the conductive part, and then determining the anastomosis device information associated with the target information based on the change of the electrical signal of the identifiable circuit.

[0025] With this configuration, the stapler and stapler work together to form an identifiable circuit. The electrical signals of this circuit can be obtained through a program or corresponding hardware. Therefore, information about the stapler (such as stapler type and maximum anastomotic thickness) and stapler (such as stapler advancement depth) can be retrieved based on the output signals. This allows for convenient assessment of the surgical status based on the stapler and stapler information, effectively improving the safety and convenience of anastomosis surgery. Furthermore, even when the stapler requires frequent replacement during surgery, and when there are many different stapler sizes, this information recognition method can quickly, accurately, and effectively identify various staplers. Therefore, the effectiveness of stapler identification is better, the identification range is wider, and it does not place higher demands on the installation and transmission precision of the entire stapler, reducing the difficulty of stapler installation and manufacturing. Attached Figure Description

[0026] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0027] Figure 1 This is a schematic diagram of the anastomosis device according to Embodiment 1 of the present invention, wherein the staple cartridge and the stapler are in a separated state;

[0028] Figure 2a This is a schematic diagram of the anastomosis device according to Embodiment 1 of the present invention when the instrument rod and instrument drive box are removed, wherein the staple cartridge has been installed on the anastomosis device;

[0029] Figure 2b yes Figure 2a A partially enlarged schematic diagram of the anastomosis device at position A;

[0030] Figure 3a This is a cross-sectional schematic diagram of the end effector of the anastomosis device in Embodiment 1 of the present invention when it is open;

[0031] Figure 3b yes Figure 3a A magnified view of the central anastomotic device at position B;

[0032] Figure 4a This is a schematic cross-sectional view of the end effector of the anastomosis device in Embodiment 1 of the present invention when it is closed;

[0033] Figure 4b yes Figure 4a A magnified view of the central anastomotic device at position C;

[0034] Figure 5a This is a schematic diagram of the matching actuation component preparing to enter the staple cartridge according to Embodiment 1 of the present invention;

[0035] Figure 5b yes Figure 5a A partially enlarged schematic diagram of the actuating component at position D;

[0036] Figure 6a This is a schematic diagram of the pitching motion of the matching actuating component according to Embodiment 1 of the present invention;

[0037] Figure 6b yes Figure 6a A partially enlarged schematic diagram of the matching actuator at position E;

[0038] Figure 7a This is a schematic diagram of the oscillating actuator performing a yaw motion according to Embodiment 1 of the present invention;

[0039] Figure 7b yes Figure 7a A partially enlarged schematic diagram of the actuating component at position F;

[0040] Figure 8a This is a schematic diagram of the matching actuation component in the unbent state according to Embodiment 1 of the present invention;

[0041] Figure 8b yes Figure 8a A partially enlarged schematic diagram of the actuating component at position G;

[0042] Figure 9 This is a schematic diagram of the exploded structure of the matching actuating component according to Embodiment 1 of the present invention;

[0043] Figure 10 yes Figure 9 A partially enlarged schematic diagram of the exploded structure of the mid-section actuating component;

[0044] Figure 11a This is a schematic diagram of the assembly structure of the matching actuation component according to Embodiment 1 of the present invention;

[0045] Figure 11b yes Figure 11a A magnified schematic diagram of the mid-section actuating component at position H;

[0046] Figure 12 This is a schematic cross-sectional view of the matching actuation component according to Embodiment 1 of the present invention;

[0047] Figure 13a This is a schematic diagram of the staple cartridge viewed from a remote end according to Embodiment 1 of the present invention;

[0048] Figure 13b This is a schematic diagram of the staple cartridge viewed from the proximal end in Embodiment 1 of the present invention;

[0049] Figure 14 This is a schematic diagram of the spike cartridge explosion structure according to Embodiment 1 of the present invention;

[0050] Figure 15a This is a schematic diagram of another staple cartridge assembly structure according to Embodiment 1 of the present invention;

[0051] Figure 15b This is a schematic diagram of another spike cartridge explosion structure according to Embodiment 1 of the present invention.

[0052] Figure 16 This is a schematic diagram of another sheet metal electrical connection structure for the staple cartridge according to Embodiment 1 of the present invention;

[0053] Figure 17 This is a schematic diagram of another staple cartridge sheet metal structure according to Embodiment 1 of the present invention;

[0054] Figure 18 This is a schematic diagram of the anastomosis device and surgical robot for recognizing the staple cartridge and advancing the depth according to Embodiment 1 of the present invention;

[0055] Figures 19a-19d These are schematic diagrams illustrating the principle of the conductors of the matching actuation component sequentially entering the pin cartridge depth in Embodiment 1 of the present invention;

[0056] Figures 20a-20d These are schematic diagrams illustrating the contact principle of the conductor of the matching actuating component after it is straightened, according to Embodiment 1 of the present invention. The straightened conductor of the matching actuating component can be equivalent to segments of resistance.

[0057] Figure 21a This is a schematic diagram of the exploded structure of the matching actuating component according to Embodiment 2 of the present invention;

[0058] Figure 21b yes Figure 21a A partially enlarged schematic diagram of the actuating component at position I;

[0059] Figure 22a This is a schematic diagram of the assembly structure of the matching actuation component according to Embodiment 2 of the present invention;

[0060] Figure 22b yes Figure 22a A partially enlarged schematic diagram of the actuating component at position J;

[0061] Figure 23a This is a schematic diagram of the assembly structure of the matching actuation component according to Embodiment 3 of the present invention;

[0062] Figure 23b yes Figure 23a A magnified schematic diagram of the mid-section actuating component at position K;

[0063] Figure 24a This is a schematic diagram of the exploded structure of the matching actuating component according to Embodiment 3 of the present invention;

[0064] Figure 24b yes Figure 24a A partially enlarged schematic diagram of the actuating component at position L;

[0065] Figure 25a This is a schematic diagram of the assembly structure of the matching actuation component according to Embodiment 4 of the present invention;

[0066] Figure 25b yes Figure 25a A cross-sectional view of the actuating component along line A1-A1;

[0067] Figure 26a This is a schematic diagram of the exploded structure of the matching actuating component in Embodiment 4 of the present invention;

[0068] Figure 26b yes Figure 26a A partially enlarged schematic diagram of the actuating component at position M;

[0069] Figure 27 This is a flowchart of the anastomosis device of Embodiment 5 of the present invention performing anastomosis operation;

[0070] Figure 28 This is a schematic diagram of the structure of the end effector of Embodiment 5 of the present invention, which is equipped with a sensor for sensing tissue thickness;

[0071] Figure 29 This is a flowchart of the anastomosis device of Embodiment 5 of the present invention performing anastomosis operation using a surgical robot. Detailed Implementation

[0072] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show components related to the present invention and are not drawn according to the actual number, shape, and size of components in the actual implementation. In the actual implementation, the type, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex.

[0073] Furthermore, while each embodiment described below possesses one or more technical features, this does not imply that users of the present invention must simultaneously implement all technical features in any embodiment, or can only separately implement some or all technical features in different embodiments. In other words, provided it is feasible, those skilled in the art can, based on the disclosure of the present invention and depending on design specifications or implementation requirements, selectively implement some or all technical features in any embodiment, or selectively implement a combination of some or all technical features in multiple embodiments, thereby increasing the flexibility in implementing the present invention.

[0074] As used herein, the singular forms “a,” “an,” and “the” include plural objects, and the plural form “a plurality” includes two or more objects, unless otherwise expressly indicated. As used herein, the term “or” is generally used to include the meaning of “and / or,” unless otherwise expressly indicated, and the terms “install,” “connect,” and “link” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection. Connections can be mechanical or electrical. Connections can be direct or indirect through an intermediate medium, and can represent internal communication between two elements or an interaction between two elements. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0075] To make the objectives, advantages, and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the objectives of the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar parts.

[0076] The terms “proximal” and “distal” are used herein in reference to the use of a medical device by a clinician. The term “proximal” refers to the portion closest to the clinician, while the term “distal” refers to the portion furthest from the clinician. In this application, “distal” and “proximal” do not refer to the ends of structures, but rather to relative positions; for example, the distal end of a stapler is not the end of the surgical instrument, but a position relatively close to the end of the stapler. It should also be understood that, for convenience and clarity, spatial terms such as “pitch,” “yaw,” “forward,” “left-right,” and “up-down” may be used relative to figures. However, surgical instruments are used in many directions and positions, and these terms are not intended to be limiting and / or absolute. “Forward” as used herein refers to the direction along the axis of the stapler or cartridge, where “forward” indicates movement toward the distal end and “backward” indicates movement toward the proximal end. In this application, “axial” refers to the direction along the axis, “lateral” is perpendicular to the axis, and “circumferential” refers to the direction around the axis. “Propulsion” as used herein can be understood as the forward movement of the actuating component causing the end effector to close, the cartridge to fire the staples, or further includes severing or cutting tissue. It should be noted that the term "push knife" as used in this article is not a restrictive term specifically referring to the operation of cutting or severing tissue, but should be understood as the action of the stapler advancing to anastomose tissue. The "push depth" includes the push depth when only anastomosing tissue is performed without severing tissue, as well as the push depth when tissue severing is required.

[0077] The core idea of ​​this invention is to provide a control method for a stapler and stapler device that can accurately and effectively identify target information associated with the stapler and staple cartridge during surgery, with a wide identification range, and can also reduce the requirements for the installation and manufacturing of the stapler.

[0078] The following description refers to the accompanying drawings. In the following description, unless otherwise specified, the embodiments and features described herein may complement or combine with each other.

[0079] Example 1

[0080] Reference Figure 1 , Figure 2a and Figure 2bEmbodiment 1 of the present invention provides an anastomosis device, which includes an anastomosis device 100 and a staple cartridge 200. The anastomosis device is configured to be detachably connected to the robotic arm of a surgical robot, and thus manipulated and actuated by the robotic arm. Specifically, the proximal end of the anastomosis device 100 is connected to the end of the robotic arm. The anastomosis device 100 is preferably quickly connected to the robotic arm via a quick-release interface. The anastomosis device 100 includes an end effector 110 and an anastomosis actuation component 140; the end effector 110 can hold the staple cartridge 200 and is capable of opening and closing; the anastomosis actuation component 140 is movable along the axial direction of the anastomosis device 100 to manipulate and actuate the end effector 110 and the staple cartridge 200. The anastomosis actuation component 140 includes an actuation body, and the movement of the actuation body along the axial direction of the anastomosis device 100 manipulates and actuates the end effector 110 and the staple cartridge 200. The stapler 100 typically also includes a flexible joint 120, an instrument rod 130, and an instrument drive box 150. The stapler 100 is sequentially connected from distal to proximal along its axial direction, consisting of an end effector 110, a flexible joint 120, an instrument rod 130, and an instrument drive box 150. An anastomosis actuation component 140 is axially movably disposed within the instrument rod 130, with its proximal end connected to the instrument drive box 150. In practice, the instrument drive box 150 is directly and detachably mounted on the robotic arm, allowing it to receive power from the surgical robot. The surgical robot is provided with a power pack, which includes several motors that output power to the instrument drive box 150. The instrument drive box 150 then drives the anastomosis actuator 140 to move back and forth along the axial direction of the instrument rod 130. When the anastomosis actuator 140 moves forward, it can control the end effector 110 to close. When the anastomosis actuator 140 moves backward, it can release the end effector 110 to open. After the end effector 110 closes, when the anastomosis actuator 140 continues to move forward, it can also drive the staple cartridge 200 to fire the anastomosis staples 210 (see...). Figure 14 Furthermore, the instrument drive box 150 can also drive the flexible joint 120 to rotate via a transmission component (such as a transmission wire) in the instrument rod 131. The flexible joint 120 mainly performs pitch and yaw movements, thereby controlling the pitch and yaw of the end effector 110. Typically, the instrument drive box 150 can also drive the instrument rod 130 to rotate, thereby realizing the rotation of the entire anastomosis device 100. Figure 2bAs shown, the flexible joint 120 is configured as a snake-like joint, which can yaw (left-right) around a first axis 121 and pitch (forward-backward) around a second axis 122. The first axis 121 and the second axis 122 are perpendicular to each other and intersect perpendicularly with the axis of the instrument rod 131. Accordingly, the end effector 110 can pitch and yaw under the action of the flexible joint 102. It should be noted that the invention mentions a snake-like joint, but this is not intended to be restrictive. That is, the flexible joint 120 can be constructed in other ways to achieve two degrees of freedom of movement. It should also be understood that the anastomosis actuation component 140 needs to pass through the flexible joint 120 to actuate the end effector 110 and the staple cartridge 200. Since the flexible joint 120 can bend at any time, the anastomosis actuation component 140 should also be able to bend and smoothly pass through the flexible joint 120 to enter the end effector 110 and the staple cartridge 200.

[0081] Reference Figures 3a-3b ,as well as Figures 4a-4b The end effector 110 is configured to operably support the staple cartridge 200 therein. The end effector 110 is suitable for loading different types of staple cartridges 200. The type of staple cartridge 200 is generally defined according to the specifications of the anastomotic staples 210. Each specification of anastomotic staple 210 is equipped with a corresponding staple cartridge 200. The specifications of the anastomotic staples 210 are set according to the thickness of the tissue to be anastomosed. Generally, longer anastomotic staples 210 are used when the tissue thickness is larger, and shorter anastomotic staples 210 are used when the tissue thickness is smaller. Clinically, different types of staple cartridges 200 are often distinguished by different colors, allowing medical staff to identify the type of staple cartridge 200 by color. Different types of staple cartridges 200 will have different lengths, sizes, and types. The end effector 110 can use any suitable anastomotic staple 210 to anastomose (fasten) tissue. For more details, see [link to documentation]. Figure 1 and Figure 2a The end effector 110 includes a first clamping arm 111 and a second clamping arm 112 disposed opposite to each other. The clamping arms may be plate-shaped structures. In this embodiment, the first clamping arm 111 is fixedly connected to the distal end of the bendable joint 120, and the proximal end of the second clamping arm 112 is pivotally connected to the proximal end of the first clamping arm 111, so that the second clamping arm 112 can pivot relative to the first clamping arm 111 to open and close. The second clamping arm 112 opens and closes relative to the first clamping arm 111 under the drive of the anastomosis actuation component 140. When anastomosis operation is required, the second clamping arm 112 supports the staple cartridge 200 therein. The staple cartridge 200 is detachably mounted on the second clamping arm 112, preferably in a quick-release manner. The end effector 110 when closed can be referred to Figure 4a and Figure 4b The end effector 110 when opened can be referred to Figure 3aand Figure 3b .

[0082] Reference Figures 3a-3b ,as well as Figures 4a-4b and combined Figure 2a When the anastomosis actuating component 140 moves axially along the instrument lever 131, it first actuates the end effector 110 to close, and then actuates the staple cartridge 200 to fire the anastomosis staples 210. First, the anastomosis actuating component 140 moves forward until it enters the end effector 110, which pushes the second clamp arm 112 from an open state to a closed state via its distal end. After the second clamp arm 112 closes, the anastomosis actuating component 140 continues to move forward until it enters the staple cartridge 200, causing the staple cartridge 200 to fire the anastomosis staples 210 to perform tissue anastomosis. When the anastomosis actuating component 140 moves forward to its distal limit position and stops, it then retracts. During the retraction process, the second clamp arm 112 switches from a closed state to an open state until the anastomosis actuating component 140 retracts to its initial position before entering the end effector 110 and the staple cartridge 200. The engagement actuation component 140 can actuate the second clamp arm 112 from an open state to a closed state, or from a closed state to an open state, in a variety of ways that are understandable to those skilled in the art; this application is not limited to this. In an exemplary embodiment, such as Figure 3b As shown, the proximal end of the second clamp arm 112 is provided with a cam guide surface 112a, allowing the distal end of the anastomosis actuator 140 to slide along the cam guide surface 112a. Because the cam guide surface 112a has a ramp section that gradually moves away from the axis of the stapler 100 from the proximal end to the distal end, when the distal end of the anastomosis actuator 140 slides along the ramp section, it drives the second clamp arm 112 to close relative to the first clamp arm 111. Afterward, the anastomosis actuator 140 can continue to move forward axially until it enters the staple cartridge 200, causing the staple cartridge 200 to fire the staples 210. Conversely, when the anastomosis actuator 140 retracts, its distal end can slide along the cam guide surface 112a again. When the distal end of the anastomosis actuator 140 slides in the opposite direction of the ramp section, it drives the second clamp arm 112 to open relative to the first clamp arm 111.

[0083] As described above, the matching actuation component 140 can be axially translated into the staple cartridge 200 in the end effector 110. Figure 5a and Figure 5bA schematic diagram illustrates the distal end of the anastomosis actuator 140 preparing to enter the staple cartridge 200. The proximal end of the staple cartridge 200 has an inlet for the anastomosis actuator 140 to enter. The anastomosis actuator 140 can actually enter the staple cartridge 200 in either a bent or non-bent posture. It is precisely because the anastomosis actuator 140 has good bending properties in all directions that it can smoothly pass through the bendable joint 120 and enter the end effector 110 and the staple cartridge 200. Specifically, as... Figure 6a and Figure 6b As shown, the matching actuating component 140 can perform pitching motion, and as... Figure 7a and Figure 7b As shown, the matching actuating component 140 can also perform yaw motion, and when not bending, the matching actuating component 140 remains almost in a straight line state. See details. Figure 8a and Figure 8b The anastomosis actuating component 140 needs to meet certain mechanical properties to ensure that it can smoothly advance forward or retract backward. At this time, it is necessary to ensure that the anastomosis actuating component 140 has a certain mechanical strength to reduce the risk of bending or buckling, and it also needs to have a certain degree of flexibility to pass through the bending channel (including the bendable joint 120). Therefore, the anastomosis actuating component 140 is constructed with a harder proximal end and a softer distal end, and the distal end of the anastomosis actuating component 140 needs to have good bending performance in all directions to achieve left-right and front-back bending.

[0084] Please refer to Figure 2a , Figures 3a-3b and Figures 4a-4b As a specific example, the actuation body includes an actuating rod 141, an actuating flexible shaft 142, and an actuating frame 143 connected sequentially from proximal to distal end; the proximal end of the actuating rod 141 is further connected to the instrument drive box 150; the actuating frame 143 can directly actuate the end effector 110 and the staple cartridge 200; the stiffness of the actuating rod 141 is greater than the stiffness of the actuating flexible shaft 142, and the actuating rod 141 can be configured as a rigid rod; the actuating flexible shaft 142 has good bending performance in all directions, and the minimum bending radius Rmin of the actuating flexible shaft 142 (see...) Figure 7bIt should be able to ensure that it can pass smoothly through curved channels such as the bendable joint 120. The actuator rod 141, the actuator flexible shaft 142 and the actuator frame 143 are assembled and connected after being formed separately, but the present invention does not exclude the implementation of the actuator rod 141 and the actuator flexible shaft 142 being formed as a single piece. In this embodiment, the anastomosis device can be controlled to perform the anastomosis operation as follows: the surgical robot receives a command and outputs power to the instrument drive box 150, which in turn drives the anastomosis actuation component 140 to move forward until the actuator 143 enters the end effector 110 and triggers the second clamp arm 112 to close; after the second clamp arm 112 closes, the anastomosis actuation component 140 continues to move forward until the actuator 143 enters the staple cartridge 200 and triggers the staple cartridge 200 to fire the anastomosis staples 210, which can be fired sequentially as the actuator 143 moves forward; after the tissue anastomosis operation is completed, the anastomosis actuation component 140 moves backward and retracts, triggering the second clamp arm 112 to open again. Here, the actuator 143 can actuate the second clamp arm 112 to close or open in a variety of ways. As described above, in an exemplary embodiment, the proximal end of the second clamp arm 112 is provided with a cam guide surface 112a, allowing the actuator 143 to slide along the cam guide surface 112a. It should be noted that the stapler 100 of the present invention can only staple tissue without severing it, or it can also sever tissue. If further severing of tissue is required, a sharp blade is typically provided on the actuator 143, which can cut the tissue by the blade on the actuator 143 while simultaneously stapled with the staples 210.

[0085] Furthermore, to enable the surgical robot and anastomosis device to intelligently identify target information such as staple cartridge information and stapler information, the present invention provides a conductive part on the anastomosis actuation component 140, and a conductive path and electronic components on the staple cartridge 200. Specifically, the anastomosis actuation component 140 also includes a conductive part, which is disposed on the circumferential periphery of the actuation body and is insulated from the actuation body. It should be noted that the staple cartridge information is preferably the staple cartridge type (including staple cartridge size, maximum anastomosis thickness of the staple cartridge, etc.), and the stapler information includes, but is not limited to, the stapler advance depth.

[0086] Reference Figures 13a-13b , Figure 14 , Figures 15a-15b as well as Figures 16-17The staple cartridge 200 includes a staple cartridge body 201, electronic components 202, and conductive paths. Both electronic components 202 and conductive paths are disposed on the staple cartridge body 201 and maintain electrical connection at all times. When the anastomosis actuation component 140 moves towards the end effector 110, the conductive part on the stapler 100 can make electrical contact with the conductive path on the staple cartridge 200 to form an identifiable circuit. Target information such as the staple cartridge type and the stapler advancement depth can then be obtained based on the electrical signal of the identifiable circuit. The stapler advancement depth refers to the depth to which the staple cartridge 200 is actuated when the anastomosis actuation component 140 moves forward. Furthermore, after the surgical robot provided by this invention installs the anastomosis device via a robotic arm, it can obtain the electrical signal of the identifiable circuit in the anastomosis device through a control device, and obtain target information based on the electrical signal, thereby generating prompts and / or executing preset measures based on the target information. The prompts here can be about the staple cartridge type or about the stapler advancement depth; the prompts can be at least one of text and voice prompts. The preset measures here mainly include measures to replace the staple cartridge when it is unsuitable, and safety measures to be taken when the advance depth is abnormal. Furthermore, the control device can execute a program containing a control method for the anastomosis device and stored on a readable storage medium. The program execution then collects electrical signals in the identifiable circuit to obtain target information, and finally generates prompts and / or executes preset measures. With this configuration, the surgical robot and the anastomosis device can intelligently identify staple cartridge and anastomosis device information, effectively improving the safety and convenience of anastomosis surgery. Moreover, even when the anastomosis device 100 requires frequent replacement of the staple cartridge 200 during surgery, and when there are many different staple cartridge sizes, this identification method can quickly, accurately, and effectively identify various staple cartridges. Therefore, the identification effectiveness is better, the identification range is wider, and it does not place higher demands on the installation and transmission accuracy of the entire anastomosis instrument, reducing the difficulty of anastomosis device installation and manufacturing.

[0087] Furthermore, the key to providing a conductive portion on the anastomosis actuation component 140 is that the conductive portion not only does not affect the bending performance of the actuation flexible shaft 142 in all directions, but also allows for bending in all directions without being easily damaged or broken. To address this issue, the conductive portion preferably extends spirally along the axial direction of the actuation flexible shaft 142, thereby ensuring the bending performance of the anastomosis actuation component 140 in all directions while reducing the risk of breakage and damage to the conductive portion. In this embodiment, the distal end of the conductive portion extends to the actuation frame 143 to facilitate contact with the conductive path when the actuation frame 143 enters the staple cartridge 200, and the proximal end of the conductive portion extends to the proximal end of the actuation rod 142 to transmit signals to the surgical robot.

[0088] Reference Figures 9-10 , Figures 11a-11b as well as Figure 12As a specific example, the conductive part consists of two conductors 144, which extend independently along the axial direction of the actuating flexible shaft 142. In addition to being insulated from the actuating flexible shaft 142, the conductors 144 also need to be insulated from other surrounding structures (such as the instrument rod 131, the flexible joint 120, etc.). Insulation between the conductors 144 and other surrounding structures can be achieved in various ways, and this application is not limited in this regard. For example, taking the flexible joint 120 as an example, the flexible joint 120 can be made of insulating material, or an insulating bushing can be provided between the flexible joint 120 and the conductors 144. Understandably, in addition to being arranged around the actuation flexible shaft 142, the two conductors 144 need to extend further proximally. Therefore, conductors 144 also pass between the outer side of the actuation rod 141 and the inner side of the instrument rod 131. The proximal ends of the conductors 144 further enter the instrument drive box 150, through which the conductors 144 can be indirectly connected to the surgical robot, allowing the surgical robot to detect and process the electrical signals in the identifiable circuit. In some applications, the surgical robot provides power to the identifiable circuit; in others, the anastomosis device itself can provide power to the identifiable circuit, such as through a battery or power supply configured in the instrument drive box 150.

[0089] Furthermore, the actuating component 140 also includes an insulating sleeve 145. The conductive part is insulated from the actuating body through the insulating sleeve 145. In this embodiment, the conductive part is insulated from the actuating flexible shaft 142 through the insulating sleeve 145. As in this embodiment, the insulating sleeve 145 covers the actuating flexible shaft 142, and two conductors 144 are independently inserted into the insulating sleeve 145. That is, the conductors 144 are spirally wound around the outside of the actuating flexible shaft 142, and the two conductors 144 are indirectly attached and fixed to the actuating flexible shaft 142 through the insulating sleeve 145. The insulating sleeve 145 serves not only to insulate the conductor 144 from the actuating flexible shaft 142, but also to fix the conductor 144 and the actuating flexible shaft 142 in place. Simultaneously, it ensures the bending performance of both the actuating flexible shaft 142 and the conductor 144 in all directions. Furthermore, the mating actuating component 140, covered by the insulating sleeve 145, has a smooth outer surface and a rounded cross-section, which helps reduce pushing resistance, allowing the actuating flexible shaft 142 to bend smoothly in all directions and pass through the bending channel. Preferably, the insulating sleeve 145 is made of a high-molecular insulating material with good flexibility, such as nylon, PTFE (polytetrafluoroethylene), or FEP (perfluoroethylene propylene copolymer). More preferably, a high-molecular insulating material with a low coefficient of friction is used to make the insulating sleeve 145, thereby reducing the resistance of the mating actuating component 140 when passing through the bending channel. The insulating sleeve 145 is similar to an insulating rubber coating, which can be integrally injection molded with the actuating flexible shaft 142 and the conductive part (such as conductor 144) to give the actuating component 140 better bending performance in all directions, but in practice it includes, but is not limited to, integral injection molding.

[0090] Reference Figure 9 , Figure 10 and Figure 12 The insulating sheath 145 has a central cavity 1451 and a wire harness guide groove 1452 adjacent to the central cavity 1451. The wire harness guide groove 1452 preferably extends spirally around the periphery of the central cavity 1451. An actuating body (such as an actuating flexible shaft 142) partially passes through the central cavity 1451. A conductor 144 passes through the wire harness guide groove 1452. The wire harness guide groove 1452 not only protects and further secures the conductor 144, but also reliably insulates the conductor 144 from other surrounding structures. There can be one or two wire harness guide grooves 1452; two conductors 144 can be installed in the same wire harness guide groove 1452, or one conductor 144 can be installed in each of the two wire harness guide grooves 1452. In the illustrated embodiment, there are two wire harness guide grooves 1452, both extending spirally, and a spiral conductor 144 is installed in each wire harness guide groove 1452. Preferably, the distal conductive contacts 1441 of the two conductors 144 are symmetrically arranged about the central axis of the actuating flexible shaft 142. This configuration gives the mating actuating component 140, which mounts the helical conductors 144, superior anisotropic bending characteristics. It should be understood that the helical winding directions of the two conductors 144 are the same, and the pitch is preferably the same to improve anisotropic bending performance. In a specific example, the insulating sheath 145 is constructed as a cylindrical structure that extends continuously along the axial direction of the actuating body (such as the actuating flexible shaft 142). This structure is relatively simple; see [reference needed]. Figure 9 and Figure 10 .

[0091] Reference Figures 9-10 as well as Figure 11a and Figure 11bThe actuating flexible shaft 142 is preferably made of a spiral metal sheet 142a, that is, the actuating flexible shaft 142 is made by spirally twisting a metal sheet. In this case, the spiral direction of the spiral conductive part is consistent with the spiral direction of the spiral metal sheet 142a, and the pitch of the conductive part is preferably the same as the pitch of the spiral metal sheet 142a. Understandably, the spiral metal sheet 142a has better bending performance in all directions, and can withstand greater push-pull loads, reducing the risk of deformation during push-pull processes. Preferably, the end of the actuating flexible shaft 142 has a fitting structure 1421 that is larger at the end and smaller near the end. Correspondingly, the actuating frame 143 has a fitting slot 1431 that is larger at the end and smaller near the end. The fitting structure 1342 is inserted into the fitting slot 1331, and the actuating flexible shaft 142 and the actuating frame 143 are further fixed by welding, further ensuring the strength of the connection. The actuating flexible shaft 142 can be made from a single helical metal sheet 142a, or from multiple helical metal sheets 142a stacked in their own thickness direction to enhance rigidity. Furthermore, the helical metal sheet 142a has multiple holes 1422, which are spaced apart along the axial direction of the helical metal sheet 142a, and the number of holes 1422 is not limited. The presence of the holes 1422 can give the helical metal sheet 142a better bending characteristics in all directions. However, the holes 1422 are not limiting; in other embodiments, the helical metal sheet 142a may not have holes 1422. In this embodiment, the spacing s between adjacent holes 1422 is s = h / n, where n is 1, 2, or 3, and h is the pitch of the helical metal sheet 142a. This better ensures the good bending performance of the helical metal sheet 142a.

[0092] Furthermore, in a preferred embodiment of this application, the actuating flexible shaft 142 adopts a spiral metal sheet 142a, with two conductors 144 spirally wound around both sides of the spiral metal sheet 142a. The conductors 144 on both sides are electrically insulated from the spiral metal sheet 142a by an insulating sleeve 145. The presence of the spiral metal sheet 142a ensures that the actuating flexible shaft 142 has good bending performance in all directions and can withstand large push and pull loads. At the same time, the spiral conductors 144 also have good bending performance in all directions and are not easily damaged or broken during bending. Combined with the setting of the insulating sleeve 145, while achieving electrical insulation, the insulating sleeve 145 further reduces the risk of breakage and damage of the conductors 144 during bending. In addition, the insulating sleeve 145 can also ensure that the spiral metal sheet 142a has good wear resistance and low frictional resistance. It should also be understood that during the surgery, since the outer surface of conductor 144 can be conductive, its resistance value in the identifiable circuit changes depending on the depth of insertion of the anastomosis actuation component 140 relative to the staple cartridge 200. This allows for further determination of the depth to which the anastomosis actuation component 140 is pushed into the staple cartridge 200. Based on this depth information, the status of the pusher can be further monitored and verified, abnormalities can be detected in a timely manner, and surgical safety can be further ensured. As the anastomosis actuation component 140 enters the staple cartridge 200, the length of conductor 144 in the identifiable circuit changes, which means the resistance value changes. This is equivalent to forming a sliding resistor. As the anastomosis actuation component 140 moves, the proximal conductive contact 207 slides on conductor 144, changing the resistance value in the identifiable circuit. Preferably, conductor 144 is a high-resistance conductor to further improve identification resolution and increase identification effectiveness and accuracy. Conductor 144 can be a common wire with an insulated outer sheath.

[0093] Regarding the staple cartridge 200, it's important to understand that the electronic component 202 is used to characterize staple cartridge information (such as the staple cartridge type), ensuring a certain correspondence between the electrical signals of the identifiable circuit and the staple cartridge information. Different staple cartridges 200 correspond to different electrical signals, and the specific form of the electrical signal is not required; it can be any type of electrical signal such as voltage, current, or resistance. In practical implementation, the electrical signals of each specification of staple cartridge 200 can be calibrated. Different specifications of staple cartridges 200 correspond to different electrical output signals, and the specification of the staple cartridge 200 can be automatically identified based on the different electrical output signals. There are no special requirements for the type of electronic component 202; for example, it can be any electronic component such as a resistor, capacitor, inductor, LED, or chip. The electronic component 202 is used as a calibrator to identify the specification of the staple cartridge, and each specification of staple cartridge 200 is equipped with a corresponding electronic component 202.

[0094] Reference Figures 13a-13b , Figure 14 , Figures 15a-15b as well as Figures 16-17 In this embodiment, a proximal conductive contact 207 is provided at the proximal end of the conductive path, which can contact the conductor 144 on the mating actuating component 140 to form an identifiable circuit. The proximal conductive contact 207 and the conductor 144 make contact in a dynamic process. First, the proximal conductive contact 207 contacts the distal conductive contact 1441 at the farthest end of the conductor 144 (see...). Figure 12 The contact occurs when the anastomosis actuator 140 makes contact with the staple cartridge 200. Then, as the anastomosis actuator 140 moves forward, the proximal conductive contact 207 slides backward relative to the conductor 144. This allows for the detection of the electrical signal when the anastomosis actuator 140 first contacts the staple cartridge 200, as well as the electrical signals during the intermediate and final contact processes. Based on the electrical signal at the initial contact, the staple cartridge information associated with the target information (such as the staple cartridge type) can be determined, and based on the changes in the electrical signals during the intermediate and final contact processes, the stapler information associated with the target information (such as the advance depth of the anastomosis actuator 140) can be determined. In this embodiment, after the conductor 144 makes electrical contact with the conductive path, the proximal conductive contact 207 can slide proximally relative to the conductor 144, causing a change in the resistance of the conductor 144 connected to the identifiable circuit. The advance depth can then be identified based on the change in the resistance of the identifiable circuit. The position of the proximal conductive contact 207 corresponds to the position when the matching actuation component 140 and the staple cartridge 200 just come into contact. In this embodiment, the proximal conductive contact 207 is provided at the proximal inlet of the staple cartridge body 201, and the distal conductive contact 1441 of the conductor 144 is exposed outside the distal end of the matching actuation component 140, enabling timely and effective contact with the proximal conductive contact 207 at the proximal end of the staple cartridge body 201 to achieve electrical connection. In this embodiment, the distal conductive contacts 1441 of the two conductors 144 are exposed on the outside, so that the distal conductive contacts 1441 of the two conductors 144 correspond one-to-one with the proximal conductive contact 207 at the proximal inlet of the staple cartridge body 201 in the circumferential direction. The proximal conductive contact 207 and the distal conductive contact 1441 can be any conductive structure, as long as the contact state is stable and the electrical signal can be effectively transmitted. In an exemplary embodiment, the conductor 144 is constructed as a wire with electrodes at both ends.

[0095] The electronic component 202 can be installed at any position on the staple cartridge 200, as long as there is suitable space on the staple cartridge 200 to install the electronic component 202 and arrange the conductive path, and the conductive path will not interfere with the movement of other surrounding components. In one embodiment, the electronic component 202 is positioned at the distal end of the staple cartridge body 201, and the conductive path extends along the axial direction of the staple cartridge 200. The staple cartridge body 201 may include a staple cartridge base 204 and a staple cartridge sheet metal 205, with the staple cartridge sheet metal 205 supporting the staple cartridge base 204. The staple cartridge base 204 has an upper surface (facing the first clamp arm 111) for releasing the staples 210 and a lower surface opposite to the upper surface, and the staple cartridge sheet metal 205 is disposed on the lower surface of the staple cartridge base 204. In this embodiment, the staple cartridge sheet metal 205 is also used to support the staple pusher block 209 in the staple actuator to prevent the staple pusher block 209 from falling off, and the staple cartridge sheet metal 205 is also used to detachably connect to the second clamp arm 112.

[0096] like Figures 13a-13b as well as Figure 14 As shown, in one embodiment, the conductive path is directly formed by the staple cartridge conductor 203. The electronic component 202 is fixed at the distal end face of the staple cartridge base 204. The staple cartridge conductor 203 passes through the staple cartridge base 201 along the axial direction of the staple cartridge 200 and is fixed to the staple cartridge base 201. In this case, the staple cartridge conductor 203 is fixedly installed in the staple cartridge base 204. One end of the staple cartridge conductor 203 is electrically connected to the electronic component 202, and the other end is electrically connected to the proximal conductive contact 207. The proximal conductive contact 207, the staple cartridge conductor 203, and the electronic component 202 are all fixedly installed on the staple cartridge base 201. Alternatively, the fixed installation of the proximal conductive contact 207, the staple cartridge conductor 203, and the electronic component 202 on the staple cartridge base 201 can be achieved through a metal insert integral injection molding process. At this point, only one piece of staple cartridge sheet metal 205 needs to be set up, the near-end conductive contact 207 is set at the near-end entrance of the staple cartridge base 204, the electronic component 202 is set at the far-end face of the staple cartridge base 204, and the staple cartridge conductor 203 is arranged to extend along the axial direction of the staple cartridge base 204.

[0097] like Figures 15a-15b ,as well as Figures 16-17As shown, in another embodiment, the conductive path is directly formed by the conductive staple cartridge sheet metal 205, and the electronic component 200 is directly fixed at the distal end of the staple cartridge sheet metal 205, located between the staple cartridge sheet metal 205 and the staple cartridge base 204. Specifically, the staple cartridge sheet metal 205 is assembled from a first staple cartridge sheet metal 2051 and a second staple cartridge sheet metal 2052. In this case, the proximal conductive contact 207 is directly disposed at the proximal entrance of the staple cartridge sheet metal 205, and the electronic component 202 is disposed at the distal end of the staple cartridge sheet metal 205 and electrically connected to the staple cartridge sheet metal 205. Specifically, the proximal conductive contact 207 is electrically connected to the conductive first staple cartridge sheet metal 2051 and the second staple cartridge sheet metal 2052, respectively. The first staple cartridge sheet metal 2051 is electrically connected to one terminal of the electronic component 202, and the second staple cartridge sheet metal 2052 is electrically connected to the other terminal of the electronic component 202. Furthermore, the first nail cartridge sheet metal 2051, the second nail cartridge sheet metal 2052, and the electronic component 202 are further encapsulated and fixed by the connecting adhesive block 206, which can increase the stability and reliability of the electrical connection. Furthermore, it is preferable to provide an insulating layer on the bottom surface of the first nail cartridge sheet metal 2051 and the second nail cartridge sheet metal 2052 facing away from the nail cartridge base 204, so that the first nail cartridge sheet metal 2051 and the second nail cartridge sheet metal 2052 will not be short-circuited by the second clamp arm 112.

[0098] Reference Figures 13a-13b and Figure 14 The staple cartridge body 201 further includes a staple actuator, which includes a wedge-shaped slider 208 and a staple pusher block 209. There are multiple staple pushers 209, arranged in multiple rows along the front-rear direction of the staple cartridge 200, and also arranged in two rows along the left-right direction of the staple cartridge 200. One staple pusher block 209 can typically fire multiple staples 210 simultaneously; for example, to fire three staples 210 simultaneously, two staple pushers 209 in the same row can fire the staples 210 simultaneously or sequentially. During the staple insertion operation, the actuator frame 143 pushes the wedge-shaped slider 208 forward along the axial direction of the staple cartridge 200, thereby driving the staple pusher block 209 to move towards the upper surface of the staple cartridge base 204 in an axial direction perpendicular to the stapler 100, and thus the staple pusher block 209 fires the staples 210. The wedge-shaped slider 208 pushes the pusher block 209 to force the anastomosis staple 210 to deform and anastomose the tissue. Optionally, while firing the anastomosis staple 210, the actuator 143 can sever the tissue through its cutting edge. It should be understood that the staple cartridge base 204 has several staple cavities (not labeled), which are perpendicular to the upper surface of the staple cartridge base 204 and extend through both the upper and lower surfaces of the staple cartridge base 204. Each staple cavity holds one anastomosis staple 210, which is mounted on the pusher block 209. The wedge-shaped slider 208 is positioned between the staple cartridge sheet metal 205 and the staple cartridge base 204. Driven by the anastomosis actuation component 140, the wedge-shaped slider 208 axially translates through the staple cartridge base 204 and the staple cartridge sheet metal 205.

[0099] The following is combined with Figures 19a to 19d ,as well as Figures 20a to 20d Further explanation is given regarding the circuit principle for identifying the type of staple cartridge and matching the advance depth of the actuating component 140.

[0100] First refer to Figure 19a and Figure 20a Initially, the matching actuator 140 does not move into the staple cartridge 200. At this time, the distal conductive contact 1441 on the matching actuator 140 does not contact the proximal conductive contact 207 on the staple cartridge 200, thus disconnecting the electrical connection. Then refer to Figure 19b and Figure 20b The anastomosis actuation component 140 moves forward axially, causing the distal conductive contact 1441 on the anastomosis actuation component 140 to contact the proximal conductive contact 207 on the staple cartridge 200, thus establishing an electrical connection. Upon initial contact, an initial electrical signal can be detected by the identifiable circuit, and the type of staple cartridge 200 is identified based on this initial electrical signal. Therefore, when the distal conductive contact 1441 on the anastomosis actuation component 140 first contacts the proximal conductive contact 207 on the staple cartridge 200, the surgical robot can immediately detect the electrical signal and then identify the staple cartridge type based on the acquired electrical signal. Afterwards, refer to... Figure 19c and Figure 20c ,as well as Figure 19d and Figure 20d As the matching actuation component 140 advances further, the resistance value of the conductor 144 connected in series in the identifiable circuit changes. Furthermore, as the advancement depth increases, the resistance value of the conductor 144 in series in the identifiable circuit decreases as its length within the identifiable circuit decreases. Therefore, the identifiable circuit changes the detectable electrical signal according to the change in the resistance value of the conductor 144, and thus determines the advancement depth of the matching actuation component 140 based on the change in the electrical signal. Using electronic component 202 as a resistor R0 for illustration, upon initial contact, the type of staple cartridge 200 can be determined by judging the magnitude of the electrical signal in the identifiable circuit; different types of staple cartridges 200 have different magnitudes of electrical signals.

[0101] As an example, the control device includes an identification circuit module 300. The proximal end of the conductor 144 is electrically connected to the identification circuit module 300 via the instrument drive box 150. The identification circuit module 300 then acquires electrical signals from the identifiable circuit and obtains target information based on these signals. For example, the instrument drive box 150 contains a circuit board with multiple pins. These pins can contact conductive contacts on a certain outer surface (e.g., the bottom) of the instrument drive box 150. These conductive contacts can further connect electrically to an electrical interface (e.g., a spring-loaded electrical interface) on the robotic arm, enabling the surgical robot to provide power to the anastomosis device and facilitating signal transmission between the anastomosis device and the surgical robot. The identification circuit module 300 can detect and process electrical signals from the identifiable circuit. Preferably, the identification circuit module 300 can also provide power to the identifiable circuit. Preferably, the identification circuit module 300 uses low-voltage electrical components to ensure safety. Of course, the identification circuit module 300 is merely illustrative and does not constitute a limitation of the present invention. As those skilled in the art will understand, in other embodiments, the control device may not necessarily have a separate functional module to detect and process electrical signals in the identifiable circuit. This embodiment does not impose any particular limitation on the type of control device and identification circuit module 300. It can be hardware that performs logic operations, such as a microcontroller, microprocessor, programmable logic controller (PLC), or field-programmable gate array (FPGA), or software programs, functional modules, functions, object libraries, or dynamic-link libraries that implement the above functions on a hardware basis. Those skilled in the art should know how to specifically implement the control device and identification circuit module 300 to detect and process electrical signals to obtain the pin cartridge category.

[0102]

Example 2

[0103] Reference Figures 21a-21b as well as Figures 22a-22b As shown, the anastomosis device provided in Embodiment 2 of the present invention is basically the same as the anastomosis device provided in Embodiment 1. The same parts will not be described again, and only the differences will be described below.

[0104] Among them, such as Figures 21a-21b and Figures 22a-22bAs shown, in the anastomosis device provided in Embodiment 2, the insulating sleeve 145 is composed of multiple spherical segments 1453 sequentially distributed along the axial direction of the actuating body (such as the actuating flexible shaft 142), and each spherical segment 1453 provides an arc-shaped guide surface 1454. It should be understood that the presence of the arc-shaped guide surface 1454 helps to reduce the frictional resistance of the anastomosis actuating component 140 during movement and the minimum bending radius Rmin of the anastomosis actuating component 140. A reduced minimum bending radius helps it to pass smoothly through the curved channel, thereby making the sliding of the anastomosis actuating component 140 smoother and reducing movement resistance, thus ensuring that the actuating flexible shaft 142 can smoothly enter or exit the curved channel. In contrast, in the anastomosis device shown in Embodiment 1, the insulating sleeve 145 is generally a continuous cylindrical coated structure, and the outer surface of the insulating sleeve 145 is a continuous cylindrical surface. It should be noted that the segments 1453 are spherical, and here "spherical" includes both spherical and quasi-spherical shapes.

[0105]

Example 3

[0106] Reference Figures 23a-23b as well as Figures 24a-24b As shown, the anastomosis device provided in Embodiment 3 of the present invention is basically the same as the anastomosis device provided in Embodiment 1. The same parts will not be described again, and only the differences will be described below.

[0107] Among them, such as Figures 23a-23b and Figures 24a-24b As shown, in the anastomosis device provided in Embodiment 3, the insulating sleeve 145 is composed of a plurality of disc-shaped segments 1455 sequentially distributed along the axial direction of the actuating body (such as the actuating flexible shaft 142), each disc-shaped segment 1455 having an arc-shaped guide surface 1454. Similar to the spherical segment 1453, the presence of the disc-shaped segment 1455 also helps to reduce the frictional resistance of the anastomosis actuating component 140 during movement and the minimum bending radius Rmin of the anastomosis actuating component 140. The reduction in the minimum bending radius helps it to pass smoothly through the bending channel, thereby making the sliding of the anastomosis actuating component 140 smoother and the movement resistance smaller, ultimately ensuring that the actuating flexible shaft 142 can be smoothly inserted into or out of the bending channel.

[0108]

Example 4

[0109] Reference Figures 25a-25b as well as Figures 26a-26b As shown, the anastomosis device provided in Embodiment 4 of the present invention is basically the same as the anastomosis devices provided in Embodiments 1 to 3. The same parts will not be described again, and only the differences will be described below.

[0110] Among them, such as Figures 25a-25b as well as Figures 26a-26bAs shown, in the anastomosis device provided in Embodiment 4, the push-pull flexible shaft 142 is replaced by a central traction body 142b instead of a spiral metal sheet 142a. The central traction body 142b can be a rod-shaped metal structure, such as a nickel-titanium alloy wire or a woven metal wire, or a structure in the form of a steel wire rope, which is easy to process and manufacture.

[0111] It should be noted that the present invention does not limit the specific configuration of the push-pull flexible shaft 142. In addition to the spiral metal sheet 142a or the rod-shaped central traction body 142b proposed in the above embodiments, other shapes can also be used, as long as the push-pull flexible shaft 142 has good bending performance in all directions and can withstand large push-pull loads.

[0112] Example 5

[0113] Embodiment 5 of the present invention provides a readable storage medium storing a program thereon. When the program is executed, a control method for a matching device is performed. The control method includes the following steps:

[0114] The electrical signal of the identifiable circuit in the anastomosis device described in any embodiment is obtained, and target information is obtained based on the electrical signal. The target information includes staple cartridge information and anastomosis device information. Then, prompts are generated and / or preset measures are executed based on the target information.

[0115] This invention does not impose special requirements on the preset measures implemented. These preset measures mainly refer to measures taken to replace the staple cartridge when its type (e.g., the maximum anastomotic thickness) is unsuitable, and safety measures taken when the stapler's advance depth is abnormal. In this embodiment, after obtaining the staple cartridge type information, the corresponding type of staple cartridge in the information can be compared with the expected value. If it is inconsistent with the expectation, the staple cartridge can be replaced, or the matching between the detected tissue thickness and the staple cartridge can be used to determine whether to replace the staple cartridge. When the staple cartridge is unsuitable, in addition to replacing it, other actions may be included, such as locking the robotic arm and the anastomosis device, removing the anastomosis device from the robotic arm, opening the end effector 100, and removing the staple cartridge 200, etc., including but not limited to these. Furthermore, after obtaining the stapler's advance depth information, if it is found that the advance depth of the anastomosis actuation component 140 is abnormal, the anastomosis device is immediately braked, and the anastomosis device's pusher is controlled to retract to ensure the safety of the surgery.

[0116] Furthermore, the program in the readable storage medium is executed by the control device on the surgical robot.

[0117] In this embodiment, the step of obtaining the pin pod information is as follows: obtaining the electrical signal of the identifiable circuit when the conductive part and the proximal conductive contact of the conductive path just make contact, and then determining the pin pod information associated with the target information based on the electrical signal of the identifiable circuit at the moment of contact. For example, when the pin pod information includes a pin pod category, the pin pod category associated with the target information is determined based on the electrical signal of the identifiable circuit at the moment of contact.

[0118] In this embodiment, the step of obtaining anastomosis device information is as follows: The change in the electrical signal of the identifiable circuit is obtained when the proximal conductive contact of the conductive path slides proximally relative to the conductive part on the conductive part, and then the anastomosis device information associated with the target information is determined based on the change in the electrical signal of the identifiable circuit. For example, when the anastomosis device information includes the advance depth of the anastomosis device, the advance depth of the anastomosis device associated with the target information is determined based on the change in the electrical signal of the identifiable circuit.

[0119] Furthermore, the procedure also performs the following steps:

[0120] After obtaining the category of the nailed storage, determine whether the category of the current nailed storage is consistent with the expectation;

[0121] If so, the anastomosis device performs the anastomosis action;

[0122] If not, replace the staple cartridge.

[0123] Furthermore, the procedure also performs the following steps:

[0124] After obtaining the pinning device category, determine whether the current pinning device category matches the required tissue thickness;

[0125] If so, the anastomosis device performs the anastomosis action;

[0126] If not, replace the staple cartridge.

[0127] Furthermore, the procedure also performs the following steps:

[0128] After obtaining the advance depth, the current advance depth is compared with the advance depth detected by the motor encoder, and the abnormality of the stapler is determined accordingly. If an abnormality is found, the stapler immediately performs a pusher retraction action; if no abnormality is found, the stapler performs a pusher retraction action after completing the stapler action. The motor here is the motor that drives the stapler actuation component 140 to move.

[0129] Furthermore, when comparing the current advance depth with the advance depth detected by the motor encoder, the absolute value of the difference between the current advance depth and the advance depth detected by the motor encoder is obtained, and then it is determined whether the absolute value of the difference exceeds the safety threshold. If it does, it indicates that the stapler is abnormal.

[0130] Furthermore, the procedure also performs the following steps:

[0131] The tissue thickness information detected by sensor 160 in the anastomosis device is obtained, and the required tissue thickness T to be anastomosed is obtained based on the tissue thickness information. (See also...) Figure 28 .

[0132] Reference Figure 28 Further preferably, a sensor 160 is provided on the first clamping arm 111. The sensor 160 is used to detect the thickness T of the anastomosed tissue, and then determine whether to replace the staple cartridge 200 based on the tissue thickness T. The sensor 160 senses the tissue thickness T clamped between the end effectors 110, and then the control device of the surgical robot can determine whether the tissue thickness T is within the anastomosis thickness range allowed by the current staple cartridge 200. In this embodiment, the sensor 160 can be located near the distal end of the first clamping arm 111. The sensor 160 can be configured as a device or apparatus capable of generating a tissue thickness signal, which preferably transmits the signal wirelessly. The sensor 160 can be any suitable sensor for detecting tissue thickness. For example, the sensor 160 may include a magnetic sensor, a magnetic induction sensor, a magnetoresistive sensor, an ultrasonic sensor, a radio frequency sensor, and / or any other suitable sensor. In some embodiments, the sensor 160 can detect a magnetic field generated by a magnet located at the distal end of the staple cartridge 200, and obtain the thickness T of the anastomosed tissue based on the magnetic field strength. For example, when the surgical robot controls the anastomosis actuator 140 to close the second clamping arm 112, the magnet rotates toward the first clamping arm 111 and approaches the sensor 160, thereby altering the magnetic field detected by the sensor 160 when the second clamping arm rotates into the closed position. The strength of the magnetic field from the magnet and sensed by the sensor 160 represents the distance between the staple cartridge 200 and the first clamping arm 111, which represents the thickness of the tissue clamped between the staple cartridge 200 and the first clamping arm 111 when the end effector 110 is in the closed position. For example, a larger distance between the staple cartridge 200 and the first clamping arm 111, and therefore a weaker magnetic field detected by the sensor 160, may indicate the presence of thick tissue between the staple cartridge 200 and the first clamping arm 111, while a shorter distance between the staple cartridge 200 and the first clamping arm 111, and therefore a stronger magnetic field detected by the sensor 160, may indicate the presence of thin tissue between the staple cartridge 200 and the first clamping arm 111. In some embodiments, the sensor 160 is a Hall sensor. After the end effector 110 closes and applies pressure to the tissue, the maximum tissue thickness T at the end is determined by the Hall sensor.

[0133] Furthermore, the surgical robot provided by this invention also includes a display device and / or a voice device. The display device can generate text prompts, and the voice device can generate voice prompts. For example, after reading the staple cartridge type, a prompt is generated, which may include text and / or voice prompts regarding the staple cartridge type. Similarly, after reading the advancement depth, a prompt is generated, which may include text and / or voice prompts regarding the advancement depth. Medical personnel can further confirm the type of the staple cartridge 200 and the advancement depth of the stapler 100 based on the prompts. The confirmed staple cartridge type indicates whether the currently selected staple cartridge is appropriate, and the confirmed advancement depth indicates whether the anastomosis actuation component 140 is experiencing any abnormal push-blade movement.

[0134] Reference Figure 27 During the surgery, when tissue anastomosis is required, the position and status of the anastomosis device can be monitored and the anastomosis action can be performed according to the following steps:

[0135] Step S10: Prepare for the matching operation;

[0136] Step S11: Install the anastomosis device onto the robotic arm; specifically, first install the staple cartridge 200 into the end effector 110 of the stapler 100, then install the stapler 100 with the staple cartridge 200 installed onto the robotic arm, and then the surgical robot can only operate the anastomosis device after recognizing that the anastomosis device has been installed.

[0137] Step S12: After the surgical robot recognizes that the anastomosis device has been installed, it manipulates the anastomosis device to close the end effector 110, and at the same time, the distal conductive contact 1441 on the anastomosis actuation component 140 just contacts the proximal conductive contact 207 on the staple cartridge 200 to form an identifiable circuit; in this step, the motor drives the anastomosis actuation component 140 to move forward through the instrument drive box 150 until the end effector 110 is closed and an electrical signal can be detected.

[0138] Step S13: After the identifiable circuit is formed, the pin pod category can be read, and a prompt corresponding to the pin pod category can be generated;

[0139] Step S14: After reading the staple cartridge type, reopen the end effector 110, that is, the motor drives the matching actuator 140 to retract backward through the instrument drive box 150 until the end effector 110 is opened;

[0140] Step S15: Receive the closing pusher action command; the surgical robot can only manipulate the anastomosis device to perform the anastomosis action after receiving the closing pusher action command; generally, the doctor sends the closing pusher action command to the surgical robot remotely from the doctor's console.

[0141] Step S16: After receiving the closing push knife action command, the anastomosis device is not immediately controlled to execute the closing push knife action. Instead, the operator manually judges whether the read staple cartridge type is consistent with the expectation, and then judges whether to execute the push knife (pushing the knife means advancing forward to anastomose the tissue).

[0142] If it does not meet expectations, proceed to step S18: replace the staple cartridge 200; first remove the anastomosis device from the robotic arm, then open the end effector 110 and remove the staple cartridge 200 before replacing the staple cartridge 200. After replacing the staple cartridge 200, return to step S11.

[0143] If it is consistent with the expectation, proceed to step S17: control the anastomosis device to perform the closing pusher for anastomosis, so the motor drives the anastomosis actuator 140 to move forward through the instrument drive box 150, and sequentially actuates the end effector 110 to close and the staple cartridge 200 to fire the anastomosis staples 210;

[0144] In addition, during the closing push-cut process, step S19 is executed simultaneously: read the push-cut depth and perform an absolute value calculation of the difference between the push-cut depth converted by the motor encoder, and then execute the judgment step in step S20;

[0145] Step S20: Determine whether the absolute value of the difference exceeds the safety threshold;

[0146] If the error exceeds the limit, proceed to step S22: If the advance of the mating actuator 140 is abnormal, immediately control the mating actuator 140 to retract.

[0147] If the time limit is not exceeded, proceed to step S21: After the anastomosis device pushes the blade to the farthest end normally, it performs a blade retraction action, and then the anastomosis operation ends.

[0148] In actual operation, after the surgical robot receives the closing pusher action command, it controls the anastomosis device to move to the vicinity of the tissue to be anastomosed to determine the anastomosis position. If the anastomosis position is confirmed to be correct, the anastomosis device will be further triggered to execute the closing pusher anastomosis action. The anastomosis actuation component 140 continues to move forward to complete the anastomosis operation. During the pusher anastomosis process, if the advance depth exceeds the safety threshold, it indicates an abnormality in advance, such as a large torsional deformation of the actuation flexible shaft 142 or an abnormality in the transmission link. In this case, the retraction action should be executed immediately. Understandably, in Figure 27 In the workflow shown, the matching between tissue thickness and staple cartridge is entirely determined by human judgment. For example, doctors judge the tissue thickness based on experience, and then determine the matching staple cartridge 200 based on the tissue thickness judged by experience.

[0149] In another specific embodiment, a more intelligent anastomosis operation is provided. The surgical robot determines whether the tissue thickness T falls within the allowable anastomosis thickness range of the identified staple cartridge. If it is within the range, a prompt indicates that anastomosis can proceed normally; otherwise, a suitable staple cartridge 200 is used based on the prompt. In this case, the matching between tissue thickness and staple cartridge is automatically determined by the surgical robot, making the surgery more convenient, precise, and safer.

[0150] Reference Figure 29 When anastomosis is required, the position and status of the anastomosis device can be monitored and the anastomosis action can be performed according to the following steps. The following operations are mainly performed by the surgical robot. Specifically:

[0151] Step S20: The surgical robot is in a ready state to prepare for the anastomosis operation;

[0152] Step S21: The surgical robot recognizes that the anastomosis device has been installed, mainly by the control device recognizing the anastomosis device on the robotic arm;

[0153] Step S22: The surgical robot controls the anastomosis device to close the end effector, reads the staple cartridge type, and provides a prompt; specifically, the control device drives the motor to move forward, causing the anastomosis actuator to move until the end effector closes, and then the control device collects the electrical signal of the identifiable circuit to read the staple cartridge type and provides a prompt.

[0154] Step S23: The surgical robot controls the anastomosis device to open the end effector;

[0155] Step S24: The surgical robot controls the anastomosis device to move to the target position, which is the anastomosis position. Specifically, after receiving the position control command sent by the master hand at the doctor's console, the control device controls the anastomosis device to move to the target position.

[0156] Step S25: After the anastomosis device moves to the target position and confirms that the anastomosis position is correct, a closing push knife action command is sent to the surgical robot.

[0157] Step S26: After receiving the closing push knife action command, the surgical robot first controls the anastomosis device to close the end effector 110 and reads the tissue thickness after the end effector 110 closes the tissue;

[0158] Step S27: The surgical robot determines whether the tissue thickness is within the thickness tolerance range that the staple cartridge can match;

[0159] If so, proceed to step S28 to generate a prompt, and then proceed to step S30: the surgical robot controls the anastomosis device to perform a push-blade closing action to perform anastomosis;

[0160] If not, proceed to step S29 to replace the staple cartridge and return to step S21.

[0161] Step S31: During the push-knife anastomosis process, the surgical robot reads the push depth and performs an absolute value calculation of the difference between the push depth and the push depth converted by the motor encoder, and then executes the judgment step in step S32;

[0162] Step S32: Does the absolute value of the difference exceed the safety threshold?

[0163] If so, proceed to step S34: If the advancement of the anastomosis actuator 140 is abnormal, the surgical robot should immediately control the anastomosis device to retract.

[0164] If not, proceed to step S33: push the cutter to the farthest end normally, then perform a cutter retraction action, and then end the mating operation.

[0165] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the present invention and its equivalents, the present invention also intends to include such modifications and variations.

Claims

1. A stapler, characterized in that, The device includes an anastomosis actuation component and an end effector, a flexible joint, and an instrument rod, which are sequentially connected from distal to proximal along their own axial direction. The end effector is used to load and open / close a staple cartridge. The flexible joint is capable of yaw and pitch movements about a first axis and a second axis, respectively. The anastomosis actuation component is movably disposed in the instrument rod and is capable of moving along the axial direction of the instrument rod to manipulate and actuate the end effector and the staple cartridge. The anastomosis actuation component includes an actuation body and a conductive part. The actuating body includes an actuating flexible shaft capable of bending in all directions, the actuating flexible shaft being used to pass through the bendable joint; the conductive part is disposed on the circumferential periphery of the actuating body and is insulated from the actuating body; wherein, the conductive part extends helically along the axial direction of the actuating flexible shaft; When the anastomosis actuation component moves toward the end effector, the conductive part can make electrical contact with the staple cartridge to form an identifiable circuit, and then obtain target information based on the electrical signal of the identifiable circuit. The target information includes staple cartridge information and stapler information.

2. The stapler according to claim 1, characterized in that, The actuating body includes an actuating rod, an actuating flexible shaft, and an actuating frame connected sequentially from the proximal end to the distal end. The distal end of the conductive part extends to the actuating frame, and the proximal end of the conductive part extends to the proximal end of the actuating rod.

3. The stapler according to claim 2, characterized in that, The actuating flexible shaft is made of a spiral metal sheet, and the spiral direction of the conductive part is the same as the spiral direction of the spiral metal sheet; The spiral metal sheet has multiple holes, which are spaced apart along the axial direction of the spiral metal sheet.

4. The stapler according to claim 2, characterized in that, The conductive part consists of two conductors, which extend independently along the axial direction of the actuating flexible shaft, and the distal conductive contacts of the two conductors are symmetrical about the central axis of the actuating flexible shaft.

5. The stapler according to any one of claims 1-4, characterized in that, The matching actuation component further includes an insulating sleeve, and the conductive part is insulated from the actuation body through the insulating sleeve.

6. The stapler according to claim 5, characterized in that, The insulating sheath has a central cavity, the actuating body is partially inserted into the central cavity, and the insulating sheath also has a wire harness guide groove spirally extending around the central cavity, the conductive part being inserted into the wire harness guide groove.

7. The stapler according to claim 6, characterized in that, The insulating sleeve is a cylindrical structure that extends continuously along the axial direction of the actuating body, or the insulating sleeve is composed of a plurality of segments distributed sequentially along the axial direction of the actuating body, each segment having an arc-shaped guide surface; the insulating sleeve includes spherical and / or disc-shaped segments.

8. The stapler according to any one of claims 1-4, characterized in that, The stapler also includes an instrument drive box. The stapler is connected in sequence from the distal end to the proximal end along its own axis to the end actuator, the flexible joint, the instrument rod and the instrument drive box. The proximal end of the stapler actuation component is connected to the instrument drive box, and the proximal end of the conductive part is electrically connected to the surgical robot through the instrument drive box. The end effector includes a first clamping arm and a second clamping arm disposed opposite to each other. The first clamping arm is fixedly connected to the distal end of the bendable joint, and the proximal end of the second clamping arm is pivotally connected to the proximal end of the first clamping arm. The second clamping arm is used to load the staple cartridge. A sensor is provided on the first clamping arm. The sensor is used to detect the tissue thickness when the end effector closes the tissue, and then determine whether to replace the staple cartridge based on the tissue thickness.

9. A method for controlling an anastomosis device, the anastomosis device comprising a staple cartridge and an anastomosis unit as described in any one of claims 1-8, wherein the staple cartridge is detachably mounted on the anastomosis unit, characterized in that, The control method includes the following steps: After the staple cartridge and the stapler make electrical contact to form an identifiable circuit, the electrical signal of the identifiable circuit is acquired, and target information is obtained based on the electrical signal. Then, prompts and / or preset measures are generated based on the target information. The target information includes staple cartridge information and stapler information. The steps for obtaining the staple cartridge information are as follows: obtaining the electrical signal of the identifiable circuit when the conductive part in the stapler just makes contact with the proximal conductive contact of the conductive path in the staple cartridge, and then determining the staple cartridge information associated with the target information based on the electrical signal of the identifiable circuit when it just makes contact. The steps for obtaining the anastomosis device information are as follows: obtaining the change in the electrical signal of the identifiable circuit when the proximal conductive contact of the conductive path slides proximally relative to the conductive part on the conductive part, and then determining the anastomosis device information associated with the target information based on the change in the electrical signal of the identifiable circuit.

10. The control method for the anastomosis device according to claim 9, characterized in that, The nail pod information includes nail pod category. When obtaining the nail pod category, the nail pod category associated with the target information is determined based on the electrical signal of the identifiable circuit at the moment of initial contact. The stapler information includes the stapler's advance depth. When acquiring the stapler's advance depth, the advance depth of the stapler associated with the target information is determined based on the change in the electrical signal of the identifiable circuit. After obtaining the advance depth of the stapler, the current advance depth is compared with the advance depth detected by the motor encoder, and the absolute value of the difference between the current advance depth and the advance depth detected by the motor encoder is obtained. Then, it is determined whether the absolute value of the difference exceeds the safety threshold. If it exceeds the threshold, the stapler is abnormal. If an abnormality occurs, the anastomosis device will immediately perform a pusher retraction action; If no abnormality occurs, the anastomosis device will perform a pusher retraction action after completing the anastomosis action.

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