Surgical instrument and control method thereof

Abstract

A surgical instrument and a control method thereof, the surgical instrument comprising: a handle assembly; a barrel assembly, the barrel assembly comprising a transmission mechanism; an actuator assembly, the actuator assembly comprising a first jaw and a second jaw for clamping tissue; a staple cartridge assembly, the staple cartridge assembly comprising a firing member connected to the transmission mechanism; a driving source, the driving source being able to drive the firing member to move through the transmission mechanism, the firing member being used to fire one or more suture staples during movement to suture tissue; a controller, the controller being used to determine the movement speed of the firing member when firing the suture staples based on at least a time parameter related to tissue compression when the first jaw and the second jaw are closed. By means of the above surgical instrument and the control method thereof, the good nail rate can be improved to better suture tissue.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a surgical instrument and a control method thereof. Background Art

[0002] At present, minimally invasive surgery occupies an important position in surgical operations, and staplers are commonly used surgical instruments in minimally invasive surgery. The working principle of the stapler is to clamp the jaws of the distal actuator at a specific position near the lesion, cut the tissue with the cutting knife of the distal actuator, and suture with the stapler assembly of the distal actuator at the same time.

[0003] The principle of stapler assembly for suturing is similar to that of stapler for binding paper. The stapler assembly is mainly composed of staples, anvil, stapler and other parts. The stapler uses the firing member to fire the staples to eject them and suture the tissue. How to better cut / suture tissues in clinical practice, especially cutting / suture thick tissues, is one of the problems to be improved or solved. Summary of the invention

[0004] According to a first aspect, some embodiments provide a surgical instrument comprising:

[0005] Handle assembly;

[0006] A barrel assembly, the proximal end of which is connected to the handle assembly, and the barrel assembly includes a transmission mechanism;

[0007] an actuator assembly, the distal end of the barrel assembly being connected to the actuator assembly, the actuator assembly comprising a first jaw and a second jaw for clamping tissue;

[0008] A nail magazine assembly, the nail magazine assembly is arranged between the first jaw and the second jaw, and the nail magazine assembly includes a firing member connected to the transmission mechanism;

[0009] A driving source, wherein the driving source can drive the firing member to move through the transmission mechanism, and the firing member is used to fire one or more suture staples to suture tissues during movement;

[0010] A controller is used to determine the movement speed of the firing member when firing the suture staple based on at least a time parameter related to tissue compression when the first jaw and the second jaw are closed, so as to control the firing member to fire the suture staple at the determined movement speed.

[0011] According to a second aspect, some embodiments provide a method for controlling a surgical instrument, the surgical instrument comprising:

[0012] Handle assembly;

[0013] A barrel assembly, the proximal end of which is connected to the handle assembly, and the barrel assembly includes a transmission mechanism;

[0014] an actuator assembly, the distal end of the barrel assembly being connected to the actuator assembly, the actuator assembly comprising a first jaw and a second jaw for clamping tissue;

[0015] A nail magazine assembly, the nail magazine assembly is arranged between the first jaw and the second jaw, and the nail magazine assembly includes a firing member connected to the transmission mechanism;

[0016] A driving source, wherein the driving source can drive the firing member to move through the transmission mechanism, and the firing member is used to fire one or more suture staples to suture tissues during movement;

[0017] The method comprises:

[0018] The movement speed of the firing member when firing the suture staple is determined at least based on a time parameter related to tissue compression when the first jaw and the second jaw are closed, so as to control the firing member to fire the suture staple at the determined movement speed.

[0019] According to the third aspect, some embodiments provide a computer-readable storage medium, on which a program is stored, and the program can be executed by a processor to implement the above method.

[0020] According to the surgical instrument and control method thereof of the above-mentioned embodiment, the movement speed of the firing member when firing the suture staple is determined according to the time parameters related to tissue compression when the first jaw and the second jaw are closed, thereby achieving a better nailing rate and suturing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of a surgical instrument according to an embodiment;

[0022] Figure 2 is a schematic structural diagram of an actuator assembly according to an embodiment;

[0023] Figure 3 is a structural schematic diagram of a nail magazine assembly according to an embodiment;

[0024] Figure 4 is a structural schematic diagram of a nail magazine assembly in another embodiment;

[0025] Figure 5 A flowchart of a method for controlling a surgical instrument according to an embodiment;

[0026] Figure 6 A flowchart of a method for controlling a surgical instrument according to another embodiment;

[0027] Figure 7 A flowchart of a method for controlling a surgical instrument according to another embodiment;

[0028] Figure 8 A flowchart of a method for controlling a surgical instrument according to another embodiment;

[0029] 100, handle assembly; 110, fixed handle; 120, movable handle;

[0030] 200. Gun barrel assembly; 210. Transmission mechanism;

[0031] 300, actuator assembly; 310, first jaw; 320, second jaw;

[0032] 400, nail magazine assembly; 410, mounting seat;

[0033] 412, tissue bonding surface; 413, movable cavity; 414, supporting part; 415, limiting part;

[0034] 420, firing member; 430, cutting knife. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0036] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0037] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0038] The inventors have found that although adjusting the firing speed during the firing process can improve the good nail rate of thick tissue, the speed adjustment when the tissue is squeezed in place has limited effect on improving the good nail rate of thick tissue. Therefore, the most important concept of this application is to use the time parameters related to tissue squeezing as one of the bases for determining the movement speed of the firing member. Specifically, the inventors learned that under constant squeezing force conditions, the tissue will denature with the squeezing time until the tissue is balanced, that is, the creep characteristic of the tissue. In addition, under the action of external force, when the external force remains constant, the tissue stress decreases with time until it is balanced. When the external force disappears, the tissue tends to return to its original state. Therefore, the shorter the squeezing time, the greater the stress in the tissue and the smaller the deformation, so it is necessary to reduce the firing speed and extend the squeezing time, based on setting the initial speed of the firing member to be positively correlated with the pre-squeezing time and the squeezed time.

[0039] The term "distal end" in this application refers to the end of the surgical instrument that is away from the operator when operating the surgical instrument, and the term "proximal end" refers to the end of the surgical instrument that is close to the operator when operating the surgical instrument. The term "axial" in this application refers to the direction of the line connecting the center of the distal end and the center of the proximal end, and the term "radial" refers to the direction perpendicular to the axial direction.

[0040] Please refer to Figures 1 to 4 The embodiment shown in the figure provides a surgical instrument, which includes a handle assembly 100, a barrel assembly 200, an actuator assembly 300, a stapler assembly 400, a drive source and a controller (the drive source and the controller are not shown in the figure). Exemplarily, the surgical instrument can be a stapler.

[0041] The handle assembly 100 comprises a fixed handle 110 and at least one movable handle 120 for the operator to hold. The proximal end of the barrel assembly 200 is connected to the handle assembly, and the distal end of the barrel assembly 200 is connected to the actuator assembly 300. The barrel assembly 200 comprises a closed transmission chain and a firing transmission chain. When operating the surgical instrument, the operator can hold the fixed handle 110 and extend the actuator assembly 300 into the lesion site in the human body through the elongated barrel assembly 200. The closed transmission chain is triggered by the movable handle 120 again so that the jaws of the actuator assembly 300 are closed and clamped near the lesion site. Then the firing transmission chain is triggered by the movable handle 120 so that the cutting knife 430 in the actuator assembly 300 excises the tissue, and the suture nails of the staple cartridge assembly 400 are used to suture the tissue while excision. In the present embodiment, the firing transmission chain comprises a transmission mechanism 210, and the transmission mechanism 210 is used to realize the firing of the suture nails under the effect of the driving source, and realize the cutting of the cutting knife.

[0042] The actuator assembly 300 includes a first jaw 310 and a second jaw 320 for clamping tissues. The first jaw 310 and the second jaw 320 are movably connected, and the first jaw 310 and the second jaw 320 can move relative to each other to achieve closing and opening. A mounting cavity is formed between the first jaw 310 and the second jaw 320, and the staple cartridge assembly 400 is disposed in the mounting cavity. The distal end of the transmission mechanism 210 extends into the mounting cavity.

[0043] Please continue to refer to Figure 3 and Figure 4 The staple cartridge assembly 400 includes a mounting seat 410, a firing member 420 and a cutting knife 430. The mounting seat 410 has a plurality of mounting positions for mounting staples. The mounting seat 410 has a tissue bonding surface 412 for contacting with tissue. The firing member 420 is movably arranged on the mounting seat 410. The cutting knife 430 is movably connected to the mounting seat 410. The firing member 420 and the cutting knife 430 can move between the proximal end and the distal end of the mounting seat 410. The transmission mechanism 210 can drive the firing member 420 and the cutting knife 430 to move between the proximal end and the distal end of the mounting seat 410. It should be noted that the tissue bonding surface 412 of the mounting seat 410 refers to a side of the mounting seat 410 that contacts the clamped tissue when clamping the tissue. It is understandable that when suturing the tissue, the staple is pushed out from the tissue bonding surface 412 of the mounting seat 410 to achieve suturing of the tissue, and the suturing staple is pushed out when it is fired by the firing member 420.

[0044] In some embodiments, the mounting seat 410 has a movable cavity 413 arranged along its axial direction, and the firing member 420 and the cutting knife 430 are movably arranged in the movable cavity 413. The moving direction of the firing member 420 and the cutting knife 430 is limited by the movable cavity 413 to ensure that the firing member 420 and the cutting knife 430 can move between the proximal end and the distal end of the mounting seat 410 along the axial direction of the mounting seat.

[0045] In some embodiments, the mounting seat 410 has a supporting portion 414, which is located on the side of the movable cavity 413 away from the mounting position, for supporting the firing member 420 and the cutting knife 430. The supporting portion 414 prevents the firing member 420 and the cutting knife 430 from escaping from the movable cavity 413 from the side of the mounting seat 410 away from the mounting position.

[0046] In some embodiments, the proximal end of the mounting seat 410 has a limiting portion 415, which is used to prevent the firing member 420 and the cutting knife 430 from escaping from the active cavity 413 from the proximal end of the mounting seat 410. The limiting portion 415 prevents the firing member 420 and the cutting knife 430 from escaping from the active cavity 413 from the proximal end of the mounting seat 410.

[0047] In some embodiments, the staple cartridge assembly 400 can be considered as a part of the actuator assembly 300. For example, the staple cartridge assembly 400 can be fixedly connected to the first jaw 310 or the second jaw 320 or form an integrated structure. The staple cartridge assembly 400 can also be considered as a component independent of the actuator assembly 300. For example, the staple cartridge assembly 400 can be detachably mounted on the first jaw 310 or the second jaw 320, so that the staple cartridge assembly 400 can be considered as a consumable material applied to the actuator assembly 300.

[0048] The driving source can drive the firing member 420 to move through the transmission mechanism 210. Specifically, the driving source can apply a force in the axial direction of the transmission mechanism 210 to move the transmission mechanism 210 toward the distal end, so that the transmission mechanism 210 pushes the firing member 420 to move, and the firing member 420 fires one or more suture staples to suture the tissue during movement. It can be understood that when the driving source drives the transmission mechanism 210 with different driving parameters, the speed of the transmission mechanism 210 is different, and thus the moving speed of the firing member 420 and the firing speed of the suture staples will also be different. In some embodiments, the driving source is a motor, and the speed of the transmission mechanism 210 can be controlled by setting parameters such as the current and speed of the motor.

[0049] In this embodiment, the starting position and the end position can be defined in the stroke of the firing member 420 moving from the proximal end to the distal end, and the firing process is defined between the starting position and the end position, and the speed of moving from the starting position to the end position represents the speed of the firing speed. Among them, the starting position refers to the position where the firing member 420 starts to fire the suture staples during the movement, and the end position refers to the position of the firing member 420 when the sutured tissue has been completed. In some embodiments, the position where the firing member 420 fires some or all of the suture staples in the mounting seat 410 is defined as the end position. In other embodiments, the end position is defined by a distance, and there is a preset distance between the end position and the starting position. It can be understood that when the firing member 420 moves from the starting position to the end position faster, the firing process ends faster, the firing speed of the whole process is faster, and the suture speed of the tissue is faster. Conversely, when the firing member 420 moves from the starting position to the end position slower, the firing process ends slower, the firing speed of the whole process is slower, and the suture speed of the tissue is slower. The most critical concept of this embodiment is how to control the moving speed of the firing member 420 from the starting position to the end position. It can be understood that this is also equivalent to how to control the firing speed of the suture nail, or, it can also be equivalent to how to control the driving parameters of the driving source, or, it can be equivalent to how to control the suturing speed of the tissue.

[0050] The controller is used to determine the movement speed of the firing member 420 when firing the suture nail according to at least the time parameters related to tissue compression when the first jaw 310 and the second jaw 320 are closed, so as to control the firing member 420 to fire the suture nail at the determined movement speed. It can be understood that the controller controls the movement speed of the transmission mechanism 210 by controlling the driving parameters of the driving source, and then controls the movement speed of the firing member 420. In the present application, the controller controls the movement speed of the firing member 420 in two dimensions according to the time parameters. The movement speed of the first dimension is the movement speed of the firing member 420 when it starts to fire the suture nail, that is, the initial movement speed of the firing member 420 at the starting position; the movement speed of the second dimension is the movement speed of the firing member 420 during the firing of the suture nail, that is, the controller can continuously adjust the movement speed of the firing member 420 from the starting position to the end position, which will be explained below.

[0051] In some embodiments, the surgical instrument further includes a timing device for obtaining a time parameter, and the timing device is used to time after the first jaw 310 and the second jaw 320 are closed to a specific relative position to obtain the time parameter. In some embodiments, the time parameter includes the pre-compression time from the time when the first jaw 310 and the second jaw 320 are closed to a specific relative position to the time when the firing member 420 starts to fire the suture staple, and the controller determines the movement speed of the firing member 420 when it starts to fire the suture staple based on the pre-compression time. The specific relative position can be a relative position customized by the user according to the situation, or it can also be some relative positions that meet preset conditions, including but not limited to the following situations:

[0052] The position where the first jaw 310 and the second jaw 320 start to clamp the tissue. For example, the first jaw 310 and the second jaw 320 are both provided with pressure sensors. When both pressure sensors show certain values, it means that both the first jaw 310 and the second jaw 320 are in contact with the tissue, and the timing device obtains the time parameter by timing thereafter. It is understandable that whether the first jaw 310 and the second jaw 320 start to clamp the tissue can also be determined by other methods.

[0053] The first jaw 310 and the second jaw 320 clamp the tissue to a specific position. For example, the first jaw 310 and the second jaw 320 are both provided with a pressure sensor. When the measurement result of the pressure sensor exceeds a preset pressure threshold, it indicates that the first jaw 310 and the second jaw 320 clamp the tissue to a specific position. Then, the timing device obtains a time parameter by timing thereafter. It is understandable that other methods may also be used to determine whether the first jaw 310 and the second jaw 320 clamp the tissue to a specific position.

[0054] The first jaw 310 and the second jaw 320 are closed to a preset distance, or the first jaw 310 and the second jaw 320 are closed to a preset angle. For example, a distance sensor is provided between the first jaw 310 and the second jaw 320. When the two are closed to a preset distance, the timing device obtains the time parameter by timing thereafter. For another example, an angle measuring device is provided at the movable connection between the first jaw 310 and the second jaw 320. When the first jaw 310 and the second jaw 320 are closed to a preset angle, the timing device obtains the time parameter by timing thereafter. In some embodiments, the position of the first jaw 310 and the second jaw 320 when they are about to close can be used as a specific relative position. Then, when the first jaw 310 and the second jaw 320 begin to close, the timing device starts timing.

[0055] It should be noted that the timing device obtains the time parameter after the first jaw 310 and the second jaw 320 are closed to a specific relative position, which does not mean that the timing device starts timing when the first jaw 310 and the second jaw 320 are closed to the specific relative position. For example, the timing can also be started after the first jaw 310 and the second jaw 320 are closed to a specific relative position for T time to obtain the time parameter.

[0056] In some embodiments, when the surgical instrument receives the firing operation of the user, it indicates that the firing member 420 starts firing the staples. Exemplarily, a firing switch is provided on the surgical instrument, and when the user presses the firing switch, the pre-compression time ends, and the timing device also stops or temporarily stops timing.

[0057] In some embodiments, the movement speed of the firing member 420 when it starts firing the staples is set to be within a preset first speed range and positively correlated with the pre-compression time. The longer the pre-compression time, the better the tissue is compressed, so the tissue can be sutured at a faster firing speed. Therefore, in this embodiment, the initial movement speed of the firing member 420 is positively correlated with the pre-compression time, but this positive correlation is also limited to a certain range, that is, it cannot exceed the first speed range.

[0058] In addition to the pre-pressing time, the first clamping force of the first jaw 310 and the second jaw 320 on the tissue during the pre-pressing time can also be obtained, and then the movement speed of the firing member 420 when starting to fire the suture staple is determined based on the pre-pressing time and the first clamping force during the pre-pressing time. For example, the first jaw 310 and the second jaw 320 are both provided with pressure sensors, and the controller obtains the pressure values ​​collected by the two pressure sensors during the pre-pressing time as the first clamping force. Of course, the pressure sensor can also be set only in the first jaw 310 or the second jaw 320. In some embodiments, the first clamping force obtained is continuous, and in other embodiments, the first clamping force can also be obtained once every period of time during the pre-pressing time, that is, the first clamping force obtained is discrete.

[0059] In some embodiments, the change relationship between the first clamping force and the pre-pressing time can be obtained based on the pre-pressing time and the first clamping force during the pre-pressing time. For example, a relationship curve of the first clamping force changing with time is generated based on the continuous or discrete first clamping force. The slope of the relationship curve can indicate the speed of change of the first clamping force. After obtaining the change relationship, the movement speed of the firing member 420 when it starts to fire the suture staple is determined based on the change relationship. Exemplarily, if the slope of the relationship curve A is K1 and the slope of the relationship curve B is K2 during the same length of pre-pressing time, and K1 is greater than K2, then the initial movement speed of the firing member 420 determined based on the relationship curve A is greater than the initial movement speed of the firing member 420 determined based on the relationship curve B. In other embodiments, in addition to the relationship curve, the first clamping force at some special moments can also be considered in the change relationship between the first clamping force and the pre-pressing time. For example, if the slope of relationship curve A is K1 within the same length of pre-pressing time, the slope of relationship curve B is also K1, the magnitude of the first clamping force of relationship curve A at the end point (i.e., when firing member 420 begins to fire the suture staple) is a, the magnitude of the first clamping force of relationship curve B at the end point is b, and a is greater than b, then the initial movement speed of firing member 420 determined based on relationship curve A is less than the initial movement speed of firing member 420 determined based on relationship curve B.

[0060] In some embodiments, the statistical value of the first clamping force during the pre-squeezing time can also be obtained, and the moving speed of the firing member 420 when starting to fire the staples can be determined based on the statistical value. The statistical value of the first clamping force includes but is not limited to the average value, the maximum value, and the like.

[0061] After determining the initial moving speed of the firing member 420, the controller controls the driving source with the corresponding driving parameters, so that the driving source drives the firing member 420 to move at the determined moving speed through the transmission mechanism 210. During this process, the first jaw 310 and the second jaw 320 continue to clamp the tissue. In some embodiments, the time parameter also includes the squeezed time of the first jaw 310 and the second jaw 320 closing to a specific relative position to continue to clamp the tissue, and the controller can also adjust the moving speed of the firing member 420 during the firing of the suture nail according to the current squeezed time. It should be noted that the squeezed time is a dynamically changing parameter, which can also be regarded as the sum of the pre-squeezing time and the fired time. Exemplarily, after the first jaw 310 and the second jaw 320 close to a specific position, the operator presses the firing switch after 10s, then the pre-squeezing time is 10s, and the timing device continues to time after the firing member 420 starts to move. After moving for 5s, the squeezed time at this time is 15s.

[0062] In some embodiments, the movement speed of the firing member 420 during the firing of the staples is set to be within a preset second speed range and positively correlated with the squeezed time. For example, as the current squeezed time increases, the firing speed also increases linearly or nonlinearly, or, multiple time levels can be pre-set, each time level has a preset speed value, and when the squeezed time exceeds the time level, the firing speed is adjusted to the speed value corresponding to the time level.

[0063] In some embodiments, in addition to the time parameter, the controller can also obtain the second clamping force of the first jaw 310 and the second jaw 320 on the tissue during the firing of the suture nail by the firing member 420, and adjust the movement speed of the firing member 420 during the firing of the suture nail according to the second clamping force. In some embodiments, the movement speed of the firing member 420 during the firing of the suture nail is set to be negatively correlated with the second clamping force, that is, the greater the second clamping force, the lower the movement speed of the firing member 420 is adjusted to reduce the suturing speed of the tissue. It is understandable that the second clamping force can be a continuous value obtained during the firing of the suture nail by the firing member 420, or it can be a discrete value obtained during the firing of the suture nail by the firing member 420.

[0064] Exemplarily, multiple clamping force threshold ranges may be pre-set, and during the firing of the suture staple by the firing member 420, the controller adjusts the movement speed of the firing member 420 during the firing of the suture staple according to the clamping force threshold range into which the second clamping force falls. For example, each clamping force threshold range corresponds to a movement speed of the firing member 420, and if the second clamping force falls into a clamping force threshold range, the controller adjusts the movement speed of the firing member 420 to the movement speed corresponding to the clamping force threshold range; for another example, each clamping force threshold range corresponds to a speed difference of the firing member 420, and if the second clamping force falls into a clamping force threshold range, the movement speed of the firing member 420 is adjusted based on the initial movement speed of the firing member 420 and the speed difference corresponding to the clamping force threshold range.

[0065] In some embodiments, in addition to the time parameter, the controller can also obtain the driving resistance of the firing member 420 during the firing of the suture nail, and adjust the moving speed of the firing member 420 during the firing of the suture nail according to the driving resistance. The driving resistance is the resistance encountered by the transmission mechanism 210 when pushing the firing member 420 to move. In some embodiments, the moving speed of the firing member 420 during the firing of the suture nail is set to be negatively correlated with the driving resistance, that is, the greater the driving resistance, the lower the moving speed of the firing member 420 is adjusted to reduce the suturing speed of the tissue. It is understandable that the driving resistance can be a continuous value obtained during the firing of the suture nail by the firing member 420, or it can be a discrete value obtained during the firing of the suture nail by the firing member 420.

[0066] Exemplarily, multiple resistance threshold ranges may be pre-set, and during the firing of the suture staple by the firing member 420, the controller adjusts the movement speed of the firing member 420 during the firing of the suture staple according to the resistance threshold range into which the driving resistance falls. For example, each resistance threshold range corresponds to a movement speed of the firing member 420, and if the driving resistance falls into a resistance threshold range, the controller adjusts the movement speed of the firing member 420 to the movement speed corresponding to the resistance threshold range; for another example, each resistance threshold range corresponds to a speed difference of the firing member 420, and if the driving resistance falls into a resistance threshold range, the movement speed of the firing member 420 is adjusted based on the initial movement speed of the firing member 420 and the speed difference corresponding to the resistance threshold range.

[0067] It should be noted that after determining the initial moving speed of the firing member 420, the moving speed of the firing member 420 during the firing of the staples may also be adjusted according to at least two of the combined effects of the squeezed time, the second clamping force, and the driving resistance. In addition, the above description of the method for obtaining the first clamping force, the second clamping force, and the driving resistance is only an example, and the methods for measuring the first clamping force, the second clamping force, and the driving resistance that have existed in the past or may appear in the future all fall within the scope of the present application.

[0068] Please refer to Figure 5 , Figure 5 The embodiment shown further provides a control method based on the above surgical instrument, including:

[0069] Step S100, determining the movement speed of the firing member 420 when firing the suture staple at least based on the time parameters related to tissue compression when the first jaw 310 and the second jaw 320 are closed, so as to control the firing member 420 to fire the suture staple at the determined movement speed.

[0070] In some embodiments, in step S100, the movement speed of the firing member 420 in two dimensions is controlled according to the time parameter. The movement speed in the first dimension is the movement speed when the firing member 420 starts to fire the suture staple, that is, the initial movement speed of the firing member 420 at the starting position; the movement speed in the second dimension is the movement speed of the firing member 420 in the process of firing the suture staple, that is, the movement speed of the firing member 420 from the starting position to the end position can be continuously adjusted.

[0071] In some embodiments, Figure 6 As shown, step S100 specifically includes:

[0072] Step S111, obtaining the pre-pressing time.

[0073] The pre-squeezing time is the time from when the first jaw 310 and the second jaw 320 are closed to a specific relative position to when the firing member 420 starts firing the suture staple. The specific relative position can be a relative position customized by the user according to the situation, or can also be some relative positions that meet preset conditions, including but not limited to the following situations:

[0074] The first jaw 310 and the second jaw 320 begin to clamp the tissue. For example, the first jaw 310 and the second jaw 320 are both provided with pressure sensors. When both pressure sensors show certain values, it means that both the first jaw 310 and the second jaw 320 are in contact with the tissue.

[0075] The first jaw 310 and the second jaw 320 clamp the tissue to a specific position. For example, the first jaw 310 and the second jaw 320 are both provided with a pressure sensor. When the measurement result of the pressure sensor exceeds a preset pressure threshold, it indicates that the first jaw 310 and the second jaw 320 clamp the tissue to a specific position.

[0076] The first jaw 310 and the second jaw 320 are closed to a preset distance, or the first jaw 310 and the second jaw 320 are closed to a preset angle. In some embodiments, the position of the first jaw 310 and the second jaw 320 when they start to close can be used as a specific relative position.

[0077] In some embodiments, when the surgical instrument receives the firing operation of the user, it indicates that the firing member 420 starts to fire the staples. Exemplarily, a firing switch is provided on the surgical instrument, and the pre-compression time ends when the user presses the firing switch.

[0078] Step S112: determining the moving speed of the firing member 420 when starting to fire the suture staple according to the pre-compression time.

[0079] In some embodiments, the movement speed of the firing member 420 when it starts firing the staples is set to be within a preset first speed range and positively correlated with the pre-compression time. The longer the pre-compression time, the better the tissue is compressed, so the tissue can be sutured at a faster firing speed. Therefore, in this embodiment, the initial movement speed of the firing member 420 is positively correlated with the pre-compression time, but this positive correlation is also limited to a certain range, that is, it cannot exceed the first speed range.

[0080] In some embodiments, Figure 7 As shown, step S100 specifically includes:

[0081] Step S121, obtaining the pre-squeezing time and the first clamping force of the first jaw 310 and the second jaw 320 on the tissue during the pre-squeezing time.

[0082] The meaning of the pre-pressing time has been explained above and will not be repeated here. In some embodiments, the first clamping force obtained is continuous, and in other embodiments, the first clamping force can also be obtained at intervals during the pre-pressing time, that is, the first clamping force obtained is discrete.

[0083] Step S122, determining the moving speed of the firing member 420 when starting to fire the suture staple according to the pre-pressing time and the first clamping force within the pre-pressing time.

[0084] In some embodiments, the change relationship between the first clamping force and the pre-pressing time can be obtained based on the pre-pressing time and the first clamping force during the pre-pressing time. For example, a relationship curve of the first clamping force changing with time is generated based on the continuous or discrete first clamping force. The slope of the relationship curve can indicate the speed of change of the first clamping force. After obtaining the change relationship, the movement speed of the firing member 420 when it starts to fire the suture staple is determined based on the change relationship. Exemplarily, if the slope of the relationship curve A is K1 and the slope of the relationship curve B is K2 during the same length of pre-pressing time, and K1 is greater than K2, then the initial movement speed of the firing member 420 determined based on the relationship curve A is greater than the initial movement speed of the firing member 420 determined based on the relationship curve B. In other embodiments, in addition to the relationship curve, the first clamping force at some special moments can also be considered in the change relationship between the first clamping force and the pre-pressing time. For example, if the slope of relationship curve A is K1 within the same length of pre-pressing time, the slope of relationship curve B is also K1, the magnitude of the first clamping force of relationship curve A at the end point (i.e., when firing member 420 begins to fire the suture staple) is a, the magnitude of the first clamping force of relationship curve B at the end point is b, and a is greater than b, then the initial movement speed of firing member 420 determined based on relationship curve A is less than the initial movement speed of firing member 420 determined based on relationship curve B.

[0085] In some embodiments, the statistical value of the first clamping force during the pre-squeezing time can also be obtained, and the moving speed of the firing member 420 when starting to fire the staples can be determined based on the statistical value. The statistical value of the first clamping force includes but is not limited to the average value, the maximum value, and the like.

[0086] In some embodiments, after the firing member begins to fire the staples, Figure 8 As shown, step S100 also includes:

[0087] Step S131, obtaining the current squeezed time.

[0088] The squeezed time is the length of time that the first jaw 310 and the second jaw 320 continue to clamp the tissue after closing to a specific relative position. It should be noted that the squeezed time is a dynamically changing parameter, which can also be regarded as the sum of the pre-squeezing time and the fired time. For example, after the first jaw 310 and the second jaw 320 close to a specific position, the operator presses the firing switch 10 seconds later, and the pre-squeezing time is 10 seconds. After the firing member 420 starts to move, the timing device continues to time, and after moving for 5 seconds, the squeezed time is 15 seconds.

[0089] Step S132, adjusting the moving speed of the firing member 420 during the firing of the suture staple according to the current pressing time.

[0090] In some embodiments, the movement speed of the firing member 420 during the firing of the staples is set to be within a preset second speed range and positively correlated with the squeezed time. For example, as the current squeezed time increases, the firing speed also increases linearly or nonlinearly, or, multiple time levels can be pre-set, each time level has a preset speed value, and when the squeezed time exceeds the time level, the firing speed is adjusted to the speed value corresponding to the time level.

[0091] In some embodiments, in addition to the time parameter, the second clamping force of the first jaw 310 and the second jaw 320 on the tissue during the firing of the suture nail by the firing member 420 can also be obtained, and the movement speed of the firing member 420 during the firing of the suture nail can be adjusted according to the second clamping force. In some embodiments, the movement speed of the firing member 420 during the firing of the suture nail is set to be negatively correlated with the second clamping force, that is, the greater the second clamping force, the lower the movement speed of the firing member 420 is adjusted to reduce the suturing speed of the tissue. It is understandable that the second clamping force can be a continuous value obtained during the firing of the suture nail by the firing member 420, or it can be a discrete value obtained during the firing of the suture nail by the firing member 420.

[0092] Exemplarily, multiple clamping force threshold ranges may be pre-set, and during the firing of the suture staple by the firing member 420, the movement speed of the firing member 420 during the firing of the suture staple is adjusted according to the clamping force threshold range into which the second clamping force falls. For example, each clamping force threshold range corresponds to a movement speed of the firing member 420, and if the second clamping force falls into a clamping force threshold range, the movement speed of the firing member 420 is adjusted to the movement speed corresponding to the clamping force threshold range; for another example, each clamping force threshold range corresponds to a speed difference of the firing member 420, and if the second clamping force falls into a clamping force threshold range, the movement speed of the firing member 420 is adjusted based on the initial movement speed of the firing member 420 and the speed difference corresponding to the clamping force threshold range.

[0093] In some embodiments, in addition to the time parameter, the driving resistance of the firing member 420 during the firing of the suture nail can also be obtained, and the moving speed of the firing member 420 during the firing of the suture nail can be adjusted according to the driving resistance. The driving resistance is the resistance encountered by the transmission mechanism 210 when pushing the firing member 420 to move. In some embodiments, the moving speed of the firing member 420 during the firing of the suture nail is set to be negatively correlated with the driving resistance, that is, the greater the driving resistance, the lower the moving speed of the firing member 420 is adjusted to reduce the suturing speed of the tissue. It can be understood that the driving resistance can be a continuous value obtained during the firing of the suture nail by the firing member 420, or it can be a discrete value obtained during the firing of the suture nail by the firing member 420.

[0094] Exemplarily, multiple resistance threshold ranges may be pre-set, and during the firing of the suture staple by the firing member 420, the movement speed of the firing member 420 during the firing of the suture staple is adjusted according to the resistance threshold range into which the driving resistance falls. For example, each resistance threshold range corresponds to a movement speed of the firing member 420, and if the driving resistance falls into a resistance threshold range, the movement speed of the firing member 420 is adjusted to the movement speed corresponding to the resistance threshold range; for another example, each resistance threshold range corresponds to a speed difference of the firing member 420, and if the driving resistance falls into a resistance threshold range, the movement speed of the firing member 420 is adjusted based on the initial movement speed of the firing member 420 and the speed difference corresponding to the resistance threshold range.

[0095] This document is described with reference to various exemplary embodiments. However, those skilled in the art will recognize that changes and modifications may be made to the exemplary embodiments without departing from the scope of this document. For example, various operating steps and components for performing the operating steps may be implemented in different ways (e.g., one or more steps may be deleted, modified, or incorporated into other steps) depending on the specific application or considering any number of cost functions associated with the operation of the system.

[0096] In addition, as will be appreciated by those skilled in the art, the principles of the present invention may be reflected in a computer program product on a computer-readable storage medium, which is pre-installed with a computer-readable program code. Any tangible, non-temporary computer-readable storage medium may be used, including magnetic storage devices (hard disks, floppy disks, etc.), optical storage devices (CD-ROMs, DVDs, Blu Ray disks, etc.), flash memory, and / or the like. These computer program instructions may be loaded onto a general-purpose computer, a special-purpose computer, or other programmable data processing device to form a machine, so that these instructions executed on a computer or other programmable data processing device may generate a device that implements a specified function. These computer program instructions may also be stored in a computer-readable memory, which may instruct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory may form a manufactured product, including an implementation device that implements a specified function. The computer program instructions may also be loaded onto a computer or other programmable data processing device, so that a series of operating steps are performed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device may provide steps for implementing a specified function.

[0097] Although the principles of this invention have been shown in various embodiments, many modifications of structures, arrangements, proportions, elements, materials and components particularly suitable for specific environments and operational requirements can be used without departing from the principles and scope of this disclosure. The above modifications and other changes or modifications will be included in the scope of this invention.

[0098] The foregoing specific description has been described with reference to various embodiments. However, those skilled in the art will recognize that various modifications and changes can be made without departing from the scope of the present disclosure. Therefore, the consideration of the present disclosure will be illustrative rather than restrictive, and all these modifications will be included in its scope. Similarly, the advantages, other advantages and solutions to the problems of various embodiments have been described above. However, the benefits, advantages, solutions to the problems and any elements that can produce these, or make them more clear, should not be interpreted as critical, necessary or necessary. The term "include" and any other variants used in this article are all non-exclusive inclusions, so that the process, method, article or device including the list of elements not only includes these elements, but also includes other elements that are not explicitly listed or do not belong to the process, method, system, article or device. In addition, the term "coupled" and any other variants used in this article refer to physical connections, electrical connections, magnetic connections, optical connections, communication connections, functional connections and / or any other connections.

[0099] Those skilled in the art will appreciate that many changes may be made to the details of the above-described embodiments without departing from the basic principles of the invention. Therefore, the scope of the invention should be determined from the following claims.

Claims

1. A surgical instrument, characterized in that: include: Handle assembly; A barrel assembly, the proximal end of which is connected to the handle assembly, and the barrel assembly includes a transmission mechanism; an actuator assembly, the distal end of the barrel assembly being connected to the actuator assembly, the actuator assembly comprising a first jaw and a second jaw for clamping tissue; A nail magazine assembly, the nail magazine assembly is arranged between the first jaw and the second jaw, and the nail magazine assembly includes a firing member connected to the transmission mechanism; A driving source, wherein the driving source can drive the firing member to move through the transmission mechanism, and the firing member is used to fire one or more suture staples to suture tissues during movement; A controller, the controller is used to determine the movement speed of the firing member when firing the suture staple based on at least a time parameter related to tissue compression when the first jaw and the second jaw are closed, so as to control the firing member to fire the suture staple at the determined movement speed; the time parameter includes a pre-compression time from when the first jaw and the second jaw are closed to a specific relative position to when the firing member starts to fire the suture staple.

2. The surgical instrument according to claim 1, characterized in that: The controller is used to determine the movement speed of the firing member when firing the staple according to at least a time parameter related to tissue compression when the first jaw and the second jaw are closed, including: The controller is used to determine the movement speed of the firing member when it starts to fire the suturing staple at least according to the time parameter.

3. The surgical instrument according to claim 2, characterized in that: The controller is used to determine the moving speed of the firing member when starting to fire the staple at least according to the time parameter, including: The controller is used to determine the moving speed of the firing member when it starts to fire the suturing staple at least according to the pre-compression time.

4. The surgical instrument according to claim 3, characterized in that: The moving speed of the firing member when starting to fire the suturing staple is set to be within a preset first speed range and is positively correlated with the pre-pressing time.

5. The surgical instrument according to claim 3, characterized in that: The controller is used to determine the moving speed of the firing member when starting to fire the staple at least according to the pre-pressing time, including: Acquire a first clamping force of the first jaw and the second jaw on the tissue during the pre-compression time; The moving speed of the firing member when starting to fire the suturing staple is determined according to the pre-pressing time and the first clamping force within the pre-pressing time.

6. The surgical instrument according to claim 5, characterized in that: The determining of the movement speed of the firing member when starting to fire the staple according to the pre-pressing time and the first clamping force during the pre-pressing time includes any one of the following methods: Acquire a change relationship between the first clamping force within the pre-pressing time and the pre-pressing time, and determine a moving speed of the firing member when starting to fire the suture staple according to the change relationship; A statistical value of the first clamping force within the pre-pressing time is obtained, and a moving speed of the firing member when starting to fire the suture staple is determined according to the statistical value.

7. The surgical instrument according to any one of claims 1 to 6, characterized in that: The controller is used to determine the movement speed of the firing member when firing the staple according to at least a time parameter related to tissue compression when the first jaw and the second jaw are closed, including: The controller is used to adjust the movement speed of the firing member during the process of firing the suturing staple at least according to the time parameter.

8. The surgical instrument according to claim 7, characterized in that: The first jaw and the second jaw are used to continue to clamp the tissue when the firing member fires the suture staple, and the time parameter includes the compression time of the first jaw and the second jaw continuing to clamp the tissue after closing to a specific relative position; The controller is used to adjust the movement speed of the firing member during firing of the suturing staple at least according to the time parameter, including: The controller is used to adjust the movement speed of the firing member during the process of firing the suturing staple according to the current squeezing time.

9. The surgical instrument according to claim 8, characterized in that: The moving speed of the firing member during the process of firing the suture staple is set to be within a preset second speed range and is positively correlated with the squeezed time.

10. The surgical instrument according to any one of claims 1 to 6, characterized in that: The controller is also used for: Acquire a second clamping force of the first jaw and the second jaw on the tissue during the process of the firing member firing the suturing staple, and / or acquire a driving resistance during the process of the firing member firing the suturing staple; The moving speed of the firing member during the process of firing the suturing staple is adjusted according to the second clamping force and / or the driving resistance.

11. The surgical instrument according to claim 10, wherein: The movement speed of the firing member during the process of firing the staple is set to be negatively correlated with the second clamping force and / or driving resistance.

12. The surgical instrument according to claim 1, wherein: It also includes a timing device, which is used to count time after the first jaw and the second jaw are closed to a specific relative position to obtain the time parameter.

13. A computer-readable storage medium, characterized in that: The medium stores a program, which can be executed by a processor to implement the steps of the following method for controlling a surgical instrument, wherein the surgical instrument comprises: Handle assembly; A barrel assembly, the proximal end of which is connected to the handle assembly, and the barrel assembly includes a transmission mechanism; an actuator assembly, the distal end of the barrel assembly being connected to the actuator assembly, the actuator assembly comprising a first jaw and a second jaw for clamping tissue; A nail magazine assembly, the nail magazine assembly is arranged between the first jaw and the second jaw, and the nail magazine assembly includes a firing member connected to the transmission mechanism; A driving source, wherein the driving source can drive the firing member to move through the transmission mechanism, and the firing member is used to fire one or more suture staples to suture tissues during movement; The control method of the surgical instrument comprises the following steps: The movement speed of the firing member when firing the suture staple is determined at least based on a time parameter related to tissue compression when the first jaw and the second jaw are closed, so as to control the firing member to fire the suture staple at the determined movement speed; the time parameter includes a pre-compression time from when the first jaw and the second jaw are closed to a specific relative position to when the firing member starts to fire the suture staple.

14. The computer-readable storage medium of claim 13, wherein: The method of determining the movement speed of the firing member when firing the staple according to at least a time parameter related to tissue compression when the first jaw and the second jaw are closed comprises: The movement speed of the firing member when starting to fire the staple is determined at least according to the time parameter.

15. The computer-readable storage medium of claim 14, wherein: The step of determining the moving speed of the firing member when starting to fire the staple at least according to the time parameter comprises: The movement speed of the firing member when starting to fire the suture staple is determined at least according to the pre-compression time.

16. The computer-readable storage medium of claim 15, wherein: The moving speed of the firing member when starting to fire the suturing staple is set to be within a preset first speed range and is positively correlated with the pre-pressing time.

17. The computer-readable storage medium of claim 16, wherein: The step of determining the moving speed of the firing member when starting to fire the staple at least according to the pre-compression time comprises: Acquire a first clamping force of the first jaw and the second jaw on the tissue during the pre-compression time; The moving speed of the firing member when starting to fire the suturing staple is determined according to the pre-pressing time and the first clamping force within the pre-pressing time.

18. The computer-readable storage medium of claim 17, wherein: The step of determining the moving speed of the firing member when starting to fire the suturing staple according to the pre-pressing time and the first clamping force within the pre-pressing time comprises: The changing relationship between the first clamping force within the pre-pressing time and the pre-pressing time is obtained, and the moving speed of the firing member when starting to fire the suturing staple is determined according to the changing relationship.

19. The computer-readable storage medium according to any one of claims 13 to 18, characterized in that: The method of determining the movement speed of the firing member when firing the suturing staple at least according to a time parameter related to tissue compression when the first jaw and the second jaw are closed comprises: The movement speed of the firing member during the process of firing the suturing staple is adjusted at least according to the time parameter.

20. The computer-readable storage medium of claim 19, wherein: The first jaw and the second jaw are used to continue to clamp the tissue when the firing member fires the suture staple, and the time parameter includes the compression time of the first jaw and the second jaw continuing to clamp the tissue after closing to a specific relative position; The step of adjusting the movement speed of the firing member during firing of the staple at least according to the time parameter comprises: The moving speed of the firing member during the process of firing the suture staple is adjusted according to the current squeeze time.

21. The computer-readable storage medium of claim 20, wherein: The moving speed of the firing member during the process of firing the suture staple is set to be within a preset second speed range and is positively correlated with the squeezed time.

22. The computer-readable storage medium according to any one of claims 13 to 18, wherein: Also includes: Acquire a second clamping force of the first jaw and the second jaw on the tissue during the process of the firing member firing the suturing staple, and / or acquire a driving resistance during the process of the firing member firing the suturing staple; The moving speed of the firing member during the process of firing the suturing staple is adjusted according to the second clamping force and / or the driving resistance.

23. The computer-readable storage medium of claim 22, wherein: The movement speed of the firing member during the process of firing the staple is set to be negatively correlated with the second clamping force and / or driving resistance.

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