Intelligent anastomat with double detection function and detection method

Abstract

The application discloses a kind of intelligent anastomat with double detection function and detection method, including the shell of anastomat, the adapter at its distal end, and the executor connectable to the distal end of adapter, the deflection control part is built-in in shell, deflection control part includes driving motor and transmission connecting piece of transmission connection, transmission connecting piece is provided with a first movement detection module that moves synchronously with it;Adapter is built-in with an axially extending moving element, the proximal end of moving element is provided with a second movement detection module that moves synchronously with it, further include a detection unit, for detecting and judging the movement or stillness of first movement detection module or second movement detection module, also for detecting and judging the distance between first movement detection module and second movement detection module.The application uses detection unit to obtain the moving distance of first movement detection module or second movement detection module, to automatically identify the model of executor, and real-time detects the deflection angle when the executor is used.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an intelligent anastomat with double detection function and a detection method. BACKGROUND

[0002] With the development of technology, minimally invasive surgery occupies an important position in surgical operations. The endoscopic anastomat is one of the commonly used surgical instruments in minimally invasive surgery. The working principle of the endoscopic anastomat is to hold a specific position near the lesion site by the cartridge, and to cut and suture at the same time. Compared with the effect of the traditional manual endoscopic anastomat after cutting and suturing the tissue, the anastomotic stoma after cutting and suturing by the electric endoscopic anastomat is smoother and more uniform, which can make the patient recover faster and better after surgery. The electric anastomat has become an industry trend.

[0003] The electric anastomat generally includes a cartridge, an adapter and a handle, wherein the cartridge is detachably mounted on the adapter, and the closing, cutting and retraction functions of the cartridge are realized by a motor and related control circuit. Since the lesion is located in the body, the electric anastomat usually needs to perform a deflection action to make the anastomotic cutting assembly at the front end contact the lesion. However, the deflection angle of the cartridge is easily disturbed, and problems such as collision with internal organs during deflection of the cartridge or discontinuous deflection angle causing difficulty in reaching the specified position may occur. In a light case, the surgery cannot be effectively completed, and in a heavy case, organ damage may occur, which expands the scope of the surgery and brings great inconvenience. On the other hand, the electric anastomat can be compatible with cartridges of different cutting lengths, and the cartridge generally has a length of 30mm, 45mm or 60mm, etc. Different lengths of cartridges need to be adapted to different control programs, so the electric anastomat needs to identify the length of the cartridge for adaptation. The existing identification module uses radio frequency identification technology, but the identification module is arranged on the cartridge protection sheet, which makes the identification inaccurate and prone to errors, resulting in program errors.

[0004] In summary, how to identify the deflection position and assembly model of the cartridge is a problem that needs to be solved urgently. SUMMARY

[0005] The purpose of the present application is to overcome the shortcomings of the prior art and provide an intelligent anastomat with double detection function and a detection method.

[0006] The purpose of the present application is achieved by the following technical solutions:

[0007] The utility model provides an intelligent anastomat with double detection functions, which comprises a housing of the anastomat, an adapter at the distal end of the housing, and an executor connectable to the distal end of the adapter, wherein the housing is internally provided with a deflection control part, the deflection control part comprises a driving motor and a transmission connecting piece in transmission connection, the distal end of the transmission connecting piece is matched with one side of the executor, and the driving motor drives the transmission connecting piece to move axially to drive the executor to deflect; a first movement detection module is arranged on the transmission connecting piece and moves synchronously with the transmission connecting piece; the adapter is internally provided with an axially extending movement piece, the proximal end of the movement piece is provided with a second movement detection module moving synchronously with the movement piece, when the executor is connected to the adapter, the proximal end of the executor drives the movement piece to move along the axis of the movement piece relative to the distal end of the first movement detection module; and a detection unit is further arranged, which is used for detecting and judging the movement or stillness of the first movement detection module or the second movement detection module, and is also used for detecting and judging the distance between the first movement detection module and the second movement detection module.

[0008] Preferably, the transmission connecting piece comprises a first connecting rod, a second connecting rod and a connecting piece, the proximal end of the first connecting rod is connected with the driving shaft of the driving motor, the distal end of the first connecting rod is fixedly connected with the connecting piece, the proximal end of the second connecting rod is fixedly connected with the connecting piece, and the distal end of the second connecting rod is connected with the executor; the housing is internally provided with a driving shaft connected with the executor, the connecting piece is sleeved on the driving shaft and moves along the driving shaft, and the first movement detection module is fixedly arranged at the distal end of the first connecting rod.

[0009] Preferably, a ring groove is formed in the outer peripheral wall of the side part of the connecting piece, the distal end of the first connecting rod is formed in a hook shape and is clamped in the ring groove, and the proximal end of the second connecting rod is fixedly connected with the side part of the connecting piece.

[0010] Preferably, the first connecting rod comprises a connecting block and a connecting plate connected through a pin, the connecting block is connected with the driving shaft of the driving motor, and the distal end of the connecting plate is clamped with the ring groove.

[0011] Preferably, a limiting block is arranged in the housing, the limiting block is located on the movement track of the connecting block and limits the forward limit position of the connecting block.

[0012] Preferably, the movement piece is a hollow tubular structure and is slidably sleeved on the driving shaft, the housing is internally provided with a limiting groove coaxial with the driving shaft, the inner diameter of the groove wall of the limiting groove gradually decreases from the proximal end to the distal end, the proximal end of the movement piece is limited in the limiting groove, a return spring is arranged in the limiting groove, and the two ends of the return spring are respectively in abutment with the proximal end groove wall of the limiting groove and the proximal end surface of the movement piece.

[0013] Preferably, the second movement detection module is arranged at the proximal end of the moving part, and the second movement detection module is arranged opposite to the first movement detection module.

[0014] Preferably, the first movement detection module is a Hall sensor, and the second movement detection module is a magnet.

[0015] Preferably, the actuator comprises a pivotally connected connecting part and a jaw part, when the actuator is connected to the adapter, the distal end of the drive shaft is inserted into the connecting part, the proximal end of the connecting part extends into the adapter and abuts against and pushes the moving part to move, the connecting part is internally provided with a drive rod, the distal end of the drive rod is pivotally connected to one side of the jaw part, the proximal end of the drive rod is clamped to the distal end of the second connecting rod, and the drive motor drives the drive rod to synchronously axially move through the second connecting rod to make the jaw part deflect relative to the connecting part.

[0016] The detection method of the intelligent anastomat with double detection functions comprises

[0017] S1, providing an intelligent anastomat with double detection functions as described above, comprising an adapter at the distal end of the housing of the anastomat, and an actuator that can be inserted into the distal end of the adapter, the housing is internally provided with a deflection control part, the deflection control part comprises a drive motor and a transmission connecting piece in transmission connection, the distal end of the transmission connecting piece is matched with one side of the actuator, and is driven to axially move by the drive motor to drive the actuator to deflect; the transmission connecting piece is provided with a first movement detection module that moves synchronously therewith; the adapter is internally provided with a moving part, when the actuator is inserted into the adapter, the proximal end of the actuator drives the moving part to move along its axis relative to the first movement detection module, the proximal end of the moving part is provided with a second movement detection module that moves synchronously therewith; further comprising a detection unit;

[0018] S2, the detection unit detects and judges the displacement difference between the first movement detection module or the second movement detection module and the corresponding reference to judge the movement or stillness of the two; when the first movement detection module is still and the second movement detection module moves, step S is entered to judge the model of the actuator; when the second movement detection module is still and the first movement detection module moves, step S is entered to judge the deflection angle of the actuator;

[0019] S3, the detection unit detects and judges the distance between the first movement detection module or the second movement detection module, and obtains the model of the actuator by looking up the table;

[0020] S4, the detection unit detects the distance between the first movement detection module or the second movement detection module, and calculates the deflection angle of the actuator.

[0021] The beneficial effects of the present application mainly include:

[0022] The detection unit obtains the movement distance of the first movement detection module or the second movement detection module, which can automatically identify the model of the actuator, select the control program suitable for the actuator, improve the intelligence and convenience of the use of the anastomat, and detect the deflection angle of the actuator in real time to facilitate the doctor to judge whether the deflection of the actuator is normal, avoid misjudgment caused by the interference of other tissues, and improve the accuracy of the deflection control of the actuator. BRIEF DESCRIPTION OF DRAWINGS

[0023] The technical solutions of the present application will be further described below in combination with the drawings:

[0024] Figure 1 Part of the front view of the embodiment of the present application;

[0025] Figure 2 Part of the top view of the embodiment of the present application;

[0026] Figure 3 Part of the structural schematic view of the embodiment of the present application;

[0027] Figure 4 The connection structure schematic view of the adapter and the actuator in the embodiment of the present application;

[0028] Figure 5 The schematic view of the first embodiment of the actuator in the embodiment of the present application;

[0029] Figure 6 The schematic view of the second embodiment of the actuator in the embodiment of the present application;

[0030] Figure 7 The exploded schematic view of the actuator in the embodiment of the present application. DETAILED DESCRIPTION

[0031] The present application will be described in detail below in combination with the specific embodiments shown in the drawings. However, these embodiments are not limited to the present application, and the structural, method, or functional changes made by those skilled in the art based on these embodiments are also included in the protection scope of the present application.

[0032] In the description of the scheme, it needs to be explained that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. And in the description of the scheme, with reference to the operator, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0033] As Figures 1 to 7 shown, the present application discloses a kind of intelligent anastomat with double detection function, including the shell 1 of anastomat, the adapter 101 in its distal end, and the executor 2 connectable to the distal end of the adapter 101, the shell 1 is built-in deflection control part, the deflection control part includes driving motor 401 and transmission connecting piece of transmission connection, the distal end of the transmission connecting piece is matched with one side of the executor 2, and is driven to move axially by the driving motor 401, to drive the executor 2 to produce deflection;First movement detection module 6 is arranged on the transmission connecting piece and synchronously moves with it;The adapter 101 is built-in axially extending moving piece 5, the proximal end of the moving piece 5 is provided with a second movement detection module 8 synchronously moved with it, when the executor 2 is connected with the adapter 101, the proximal end of the executor 2 drives the moving piece 5 to move along its axis relative to the distal end of the first movement detection module 6;It further includes a detection unit for detecting and judging the movement or stillness of the first movement detection module 6 or second movement detection module 8, and for detecting and judging the distance between the first movement detection module 6 and the second movement detection module 8.

[0034] Specifically as Figures 1-3As shown, the transmission connecting piece includes a first connecting rod 402, a second connecting rod 403 and a connecting piece 404, the proximal end of the first connecting rod 402 is connected with the driving shaft of the driving motor 401, and the distal end thereof is fixedly connected with the connecting piece 404; the proximal end of the second connecting rod 403 is fixedly connected with the connecting piece 404, and the distal end thereof is connected with the actuator 2; the housing 1 is internally provided with a driving shaft 3 connected with the actuator 2, the connecting piece 404 is sleeved on the driving shaft 3 and moves along the driving shaft 3, and the first movement detection module 6 is fixedly arranged at the distal end of the first connecting rod 402. The housing 1 is also provided with a firing control part to control the driving shaft 3 to drive the actuator 2 to perform anastomosis on a surgical site after the actuator 2 is connected, which is prior art and is not the focus of the present application, and will not be described here. In order to meet the anastomosis of each part as much as possible, the adapter 101 has a certain length, and the structure that the connecting piece 404 is sleeved on the driving shaft 3 plays a guiding role on the transmission connecting piece, so that the transmission connecting piece can move axially along the driving shaft 3, to ensure the stability and certainty of the movement direction of the transmission connecting piece, and is not easy to deviate, thereby improving the driving stability of the actuator 2 after the transmission connecting piece is connected with the actuator 2.

[0035] Further, a ring groove 406 is formed in the outer peripheral wall of the side portion of the connecting piece 404, and the distal end of the first connecting rod 402 is formed in a hook shape and is clamped in the ring groove 406; the proximal end of the second connecting rod 403 is fixedly connected with the side portion of the connecting piece 404.

[0036] The first connecting rod 402 can be an integrally formed rod, and in the preferred embodiment, the first connecting rod 402 includes a connecting block 4021 and a connecting plate 4023 connected by a pin 4022, the connecting block 4021 is connected with the driving shaft of the driving motor 401, and the distal end of the connecting plate 4023 is clamped with the ring groove 406. The connecting block 4021 is detachably connected with the connecting plate 4023 through the pin 4022, so that in the extreme mode of the anastomat losing power or failure during surgery, the pin 4022 can be pulled out to disconnect the connecting block 4021 from the connecting plate 4023, thereby releasing the driving of the driving motor 401 on the transmission connecting piece, so that the actuator 2 can also be returned to normal in the extreme mode of the anastomat losing power or failure to be smoothly taken out, reduce secondary damage, and improve the use safety and convenience of the anastomat.

[0037] As Figure 3As shown, the housing 1 is provided with a limiting block 103, which is located on the moving track of the connecting block 4021 and defines the forward limit position of the connecting block 4021. The housing 1 is provided with a fixing plate for mounting the deflection control part, and the limiting block 103 is arranged on the fixing plate. When the driving motor 401 drives the connecting block 4021 to move forward by the maximum stroke, the limiting block 103 abuts against the connecting block 4021, thereby preventing the connecting block 4021 from moving excessively forward and damaging other components.

[0038] As shown in Figure 1 , 2 , 3, 5, 6, the moving part 5 is preferably a hollow tubular and is sleeved on the driving shaft 3, so that the driving shaft 3 guides and limits the moving direction of the moving part 5, ensures the smoothness of the movement of the moving part 5, and can simplify the structure and reduce the outer diameter of the adapter 101, thereby further reducing the wound surface of the minimally invasive surgery.

[0039] The housing 1 has a limiting groove 102 coaxial with the driving shaft 3, and the groove wall of the limiting groove 102 gradually reduces in diameter from the proximal end to the distal end. The proximal end of the moving part 5 is limited in the limiting groove 102. The limiting groove 102 is provided with a reset spring 7, and the two ends of the reset spring 7 abut against the proximal end groove wall of the limiting groove 102 and the proximal end surface of the moving part 5, respectively. The spring 7 has a pre-shrinkage amount, so that the spring 7 always provides a force opposite to the driving force of the actuator 2 on the moving part 5, so that after the adapter 101 is connected with the actuator 2, the moving part 5 keeps constant position, avoiding the detection interference when the first movement detection module 6 moves; and after the actuator 2 is released, the moving part 5 is driven to reset, so that the newly connected actuator 2 drives the moving part 5 to move again.

[0040] The second motion detection module 8 is disposed near the proximal end of the moving component 5, and is positioned opposite to the first motion detection module 6 to improve the detection accuracy of the movement of either the first motion detection module 6 or the second motion detection module 8. In this preferred embodiment, the first motion detection module 6 is a Hall sensor, and the second motion detection module 8 is a magnet. When the first motion detection module 6 or the second motion detection module 8 moves, causing a change in the distance between them, the first motion detection module 6 acquires the voltage generated by the different distances to generate different electrical signals, and transmits these signals to the detection unit for judgment. The detection unit (not shown in the figure) is disposed within the control program module inside the housing 1. In other feasible embodiments, the first motion detection module 6 is any detection element capable of detecting its own or the movement distance of the second motion detection module 8, such as a displacement sensor or a photoelectric switch, and the second motion detection module 8 is any triggering element capable of triggering the first motion detection module 6 to perform displacement detection, such as a moving block or a light-emitting moving block. In another feasible embodiment, the first motion detection module 6 may be disposed at the proximal end of the moving part 5, and the second motion detection module 8 may be disposed at the distal end of the first connecting rod 402, without limitation.

[0041] like Figures 4-6 As shown, the actuator 2 includes a pivotally connected connecting part 201 and a jaw part 202. The actuator 2 has different models, and the proximal end of the connecting part 201 of different models has different lengths. When the actuator 2 is connected to the adapter 101, the distal end of the drive shaft 3 is inserted into the connecting part 201, and the proximal end of the connecting part 201 extends into the adapter 101 and abuts against the moving part 5, pushing the moving part 5 to move a certain distance. The distance the proximal end of the connecting part 201 of different models drives the moving part 5 to move is different. Therefore, the first movement detection module 6 can automatically determine the model of the actuator 2 by detecting the movement distance of the moving part 5, thereby allowing the detection unit to select a control program compatible with the actuator 2 for operation, achieving the goal of improving the intelligence, accuracy, and convenience of using the stapler.

[0042] The connecting part 201 has a built-in drive rod 203. The distal end of the drive rod 203 is pivotally connected to one side of the jaw part 202, allowing the jaw part 202 to rotate relative to the drive rod 203. The proximal end of the drive rod 203 is engaged with the distal end of the second connecting rod 403. The drive motor 401 drives the drive rod 203 to move axially synchronously via the second connecting rod 403, causing the jaw part 202 to deflect relative to the connecting part 201.Figure 4 As shown, in the preferred embodiment, the proximal end of the driving rod 203 and the distal end of the second connecting rod 403 are matched hooks, when the actuator 2 is connected with the adapter 101, the driving rod 203 moves synchronously with the actuator 2, and the proximal end of the driving rod 203 is clamped with the distal end of the second connecting rod 403, such a structure can make the connection between the driving rod 203 and the second connecting rod 403 more convenient and stable. In other feasible embodiments, the second connecting rod 403 and the driving rod 203 can also be fixed by other feasible ways, such as clamping, abutting, etc., so that the second connecting rod 403 can drive the driving rod 203 to move synchronously. The working principle of the driving rod 203 driving the jaw part 202 to deflect is that because the distal end of the driving rod 203 is only pivotally connected to one side of the jaw part 202, the movement of the axis of the driving rod 203 can drive the jaw part 202 to deflect relative to the axis of the connecting part 201, and because the driving rod 203 and the transmission connecting piece move integrally, the first movement detection module 6 can judge the deflection angle of the jaw part 202 relative to the connecting part 201 by detecting the movement distance of the first movement detection module 6 relative to the second movement detection module 8. In addition, the jaw part 202 also includes an openable and closable jaw assembly and a nail cartridge, and the connecting part 201 has a knife and other necessary structures for cutting, which is prior art and is not the focus of the present scheme, and will not be described here.

[0043] The present application uses a detection unit to obtain the movement distance of the first movement detection module 6 or the second movement detection module 8, which can automatically identify the model of the actuator 2 on one hand, so as to facilitate the anastomat to select the control program adapted to the actuator 2, improve the intelligence and convenience of the anastomat 2, and on the other hand, can detect the deflection angle of the actuator 2 in real time, so as to facilitate the doctor to judge whether the deflection of the actuator 2 is normal, avoid misjudgment caused by the interference of other tissues on the actuator 2, and improve the accuracy of the deflection control of the actuator 2.

[0044] Further, the present application also provides a detection method of the intelligent anastomat with double detection functions, which includes the following steps:

[0045] S1, provide a smart anastomat with double detection function as described above, it includes the adapter 101 located at the distal end of the housing 1 of the anastomat, and the executor 2 can be inserted into the distal end of the adapter 101, the housing 1 is provided with a deflection control part, the deflection control part includes a driving motor 401 and a transmission connecting piece connected in transmission, the distal end of the transmission connecting piece is matched with one side of the executor 2, and the driving motor 401 drives the transmission connecting piece to move axially to drive the executor 2 to produce deflection; a first movement detection module 6 synchronous with the transmission connecting piece is arranged on the transmission connecting piece; a moving part 5 is built in the adapter 101, when the executor 2 is inserted into the adapter 101, the proximal end of the executor 2 drives the moving part 5 to move along its axis relative to the first movement detection module 6, the proximal end of the moving part 5 is provided with a second movement detection module 8 synchronous with it; further comprising a detection unit;

[0046] S2, the detection unit detects and judges the movement or stillness of the first movement detection module 6 or the second movement detection module 8; when the first movement detection module 6 is still and the second movement detection module 8 moves, then step S3 is entered to judge the model of the executor 2; when the second movement detection module 8 is still and the first movement detection module 6 moves, then step S4 is entered to judge the deflection angle of the executor 2;

[0047] S3, the detection unit detects and judges the distance between the first movement detection module 6 and the second movement detection module 8, and obtains the model of the executor 2 by looking up the table;

[0048] S4, the detection unit detects and judges the distance between the first movement detection module 6 and the second movement detection module 8, and calculates the deflection angle of the executor 2.

[0049] Preferably, the step S2 includes detecting the displacement difference between the first movement detection module 6 or the second movement detection module 8 and its corresponding reference, and judging the movement or stillness of the two through the displacement difference.

[0050] It should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be combined appropriately to form other embodiments that those skilled in the art can understand.

[0051] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present application, and they are not used to limit the protection scope of the present application, and any equivalent embodiments or changes made without departing from the spirit of the present application should be included in the protection scope of the present application.

Claims

1. An intelligent anastomat with double detection function, comprising a housing of an anastomat, an adapter at a distal end of the housing, and an effector connectable to a distal end of the adapter, characterized in that: the housing is internally provided with a deflection control part, the deflection control part comprising a driving motor and a transmission connecting piece in transmission connection, a distal end of the transmission connecting piece being adapted to one side of the effector and being driven by the driving motor to move axially and drive the effector to deflect; a first movement detection module synchronous with the transmission connecting piece is arranged on the transmission connecting piece; the adapter is internally provided with an axially extending movement piece, a proximal end of the movement piece being provided with a second movement detection module synchronous with the movement piece; when the effector is connected to the adapter, a proximal end of the effector drives the movement piece to move along its axis relative to a distal end of the first movement detection module; further comprising a detection unit for detecting and judging the movement or stillness of the first movement detection module or the second movement detection module, and for detecting and judging the distance between the first movement detection module and the second movement detection module. The transmission connecting piece comprises a first connecting rod, a second connecting rod and a connecting piece, a proximal end of the first connecting rod being connected to a driving shaft of the driving motor, a distal end of the first connecting rod being fixedly connected to the connecting piece, a proximal end of the second connecting rod being fixedly connected to the connecting piece, a distal end of the second connecting rod being connected to the effector, the housing being internally provided with a driving shaft connected to the effector, the connecting piece being sleeved on the driving shaft and moving along the driving shaft, the first movement detection module being fixedly arranged at the distal end of the first connecting rod. A side portion of the connecting piece is formed with a ring groove, a distal end of the first connecting rod is formed with a hook and is clamped in the ring groove, and a proximal end of the second connecting rod is fixedly connected to the side portion of the connecting piece. The first connecting rod comprises a connecting block and a connecting plate connected by a pin, the connecting block being connected to the driving shaft of the driving motor, and a distal end of the connecting plate being clamped to the ring groove.

2. The intelligent anastomat with dual detection function according to claim 1, characterized in that: The housing is internally provided with a limiting block, the limiting block being located on a movement track of the connecting block and defining a forward limit position of the connecting block.

3. The intelligent anastomat with dual detection functionality of claim 2, wherein: The movement piece is a hollow tubular and is sleeved on the driving shaft, the housing is internally provided with a limiting groove coaxial with the driving shaft, an inner diameter of a groove wall of the limiting groove gradually decreases from a proximal end to a distal end of the limiting groove, a proximal end of the movement piece is defined in the limiting groove, the limiting groove is internally provided with a return spring, and two ends of the return spring are respectively in abutment with a proximal end groove wall of the limiting groove and a proximal end surface of the movement piece.

4. The intelligent anastomat with dual detection functionality of claim 3, wherein: The second movement detection module is arranged at the proximal end of the movement piece, and the second movement detection module is oppositely arranged with the first movement detection module.

5. The intelligent anastomat with dual detection functionality of claim 4, wherein: The first movement detection module is a Hall sensor, and the second movement detection module is a magnet.

6. The intelligent anastomat with dual detection functionality of any of claims 2-5, wherein: ​ 7. The intelligent anastomat with dual detection functionality of claim 6, wherein: ​ 8. The intelligent anastomat with dual detection functionality of claim 7, wherein: ​ 9. The intelligent anastomat with dual detection functionality of claim 2, wherein: The executor includes a pivotally connected connecting part and a jaw part, when the executor is connected with the adapter, the distal end of the driving shaft is inserted into the connecting part, the proximal end of the connecting part extends into the adapter and abuts against the moving part to push the moving part to move, the connecting part is internally provided with a driving rod, the distal end of the driving rod is pivotally connected with one side of the jaw part, the proximal end of the driving rod is clamped with the distal end of the second connecting rod, the driving motor drives the driving rod to synchronously axially move through the second connecting rod to make the jaw part deflect relative to the connecting part.

10. The detection method of the intelligent anastomat with double detection function, characterized in that: Comprising S1, providing a smart anastomat with double detection function according to any one of claims 1-9, comprising an adapter at the distal end of the housing of the anastomat, and an executor which can be inserted into the distal end of the adapter, the housing is provided with a deflection control part, the deflection control part includes a driving motor and a transmission connecting piece, the distal end of the transmission connecting piece is matched with one side of the executor, and the transmission connecting piece is driven to axially move by the driving motor to drive the executor to deflect; a first movement detection module which moves synchronously with the transmission connecting piece is arranged on the transmission connecting piece; The adapter is internally provided with a moving part, when the executor is inserted into the adapter, the proximal end of the executor drives the moving part to move along the axis relative to the first movement detection module, the proximal end of the moving part is provided with a second movement detection module which moves synchronously with the moving part; further comprising a detection unit; S2, the detection unit detects and judges the displacement difference between the first movement detection module or the second movement detection module and the corresponding reference to judge the movement or stillness of the two; when the first movement detection module is still and the second movement detection module moves, step S3 is entered to judge the model of the executor; when the second movement detection module is still and the first movement detection module moves, step S4 is entered to judge the deflection angle of the executor; S3, the detection unit detects and judges the distance between the first movement detection module or the second movement detection module, and obtains the model of the executor by looking up the table; S4, the detection unit detects and judges the distance between the first movement detection module or the second movement detection module, and calculates the deflection angle of the executor.

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