A method and electronic device for preventing accidental shifting of gears in an electric stapler

Abstract

This invention discloses a method for preventing accidental shifting of an electric stapler, comprising the following steps: The electric stapler is started; entering the electric stapler locking stage, it is determined whether the operating current of the electric stapler in the locking stage meets the anti-accidental shifting measures; if it does, the anti-accidental shifting measures are executed; otherwise, proceed to the next step; the electric stapler locking is completed; the electric stapler is started again; entering the electric stapler cutting stage, it is determined whether the operating current of the electric stapler in the cutting stage meets the anti-accidental shifting measures; if it does, the anti-accidental shifting measures are executed; otherwise, proceed to the next step; the electric stapler cutting is completed; if the electric stapler is started again, the anti-accidental shifting measures are executed; the electric stapler is reset after operation is completed. Using this invention can improve the accuracy of anti-accidental shifting judgment.

Description

Technical Field

[0001] This invention relates to the field of electric stapler control technology, and in particular to a method for preventing accidental shifting of gears in an electric stapler. Background Technology

[0002] Electric staplers are mainly used in laparoscopic and open surgeries for cutting, separating, and suturing tissues and organs. A single surgery often requires multiple suturing operations, necessitating the adjustment of the electric stapler to different speed settings and pairing it with various models of linear cutting closure devices. Different models of linear cutting closure devices require different drive distances from the electric stapler and have varying requirements for the DC motor's operating conditions. When the selected speed setting of the electric stapler is incompatible with the linear cutting closure device, it can lead to damage to either the electric stapler or the linear cutting closure device, resulting in a medical accident.

[0003] Commonly available electric staplers cannot determine whether the selected setting of the electric stapler matches the linear cutting closure device, and cannot stop the electric stapler in time when they do not match. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the above and / or existing electric staplers, the present invention is proposed.

[0006] Therefore, the purpose of this invention is to provide a method for preventing accidental shifting of the electric stapler, which can promptly stop the electric stapler from working when the selected gear of the electric stapler does not match the linear cutting closure device, thereby avoiding damage to the electric stapler or the linear cutting closure device and medical accidents, and improving the safety and reliability of the electric stapler.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a method for preventing accidental shifting of an electric stapler, comprising the following steps:

[0008] The electric stapler is activated;

[0009] Upon entering the electric stapler locking stage, it is determined whether the operating current of the electric stapler in the locking stage meets the anti-misoperation measures for the locking stage. If it does, the anti-misoperation measures for the locking stage are executed; otherwise, proceed to the next step.

[0010] The electric stapler is locked in place;

[0011] The electric stapler is restarted and enters the electric stapler cutting stage. It is determined whether the operating current of the electric stapler in the cutting stage meets the anti-misoperation measures. If it does, the anti-misoperation measures are implemented; otherwise, the next step is executed.

[0012] Once the electric stapler has finished cutting, if the electric stapler is restarted, measures to prevent accidental shifting during the cutting phase will be implemented.

[0013] The electric stapler is reset after it has finished working.

[0014] As a preferred embodiment of the electric stapler anti-misoperation shift control method of the present invention, the method comprises: during the locking phase of the electric stapler, removing the current information within a set time during the DC motor startup phase of the electric stapler, calculating the measured current value when the electric stapler drives the linear cutting closure to lock; if the measured current value during the locking phase of the electric stapler meets the anti-misoperation shift condition for the current during the locking phase of the electric stapler, then the anti-misoperation shift measure for the locking phase is executed; during the cutting phase of the electric stapler, after removing the DC motor startup phase of the electric stapler, calculating the measured current value when the electric stapler drives the linear cutting closure to lock; if the measured current value during the cutting phase of the electric stapler meets the anti-misoperation shift condition for the current during the cutting phase of the electric stapler, then the anti-misoperation shift measure for the cutting phase is executed, or if the average current value during the cutting phase of the electric stapler meets the anti-misoperation shift condition for the current during the cutting phase of the electric stapler, then the anti-misoperation shift trigger measure is executed; if the current sudden change is greater than the preset current jump threshold when the electric stapler is working in any phase, then the anti-misoperation shift trigger measure is executed.

[0015] In a preferred embodiment of the electric stapler anti-misshifting control method of the present invention, during the locking phase of the electric stapler, a reference current curve for the locking phase is obtained, and the maximum value of the operating current during the locking phase is taken as the maximum value of the current during the locking phase. I 1MAX The minimum value is the minimum current during the locking phase. I 1MIN The reference current curve for the locking phase is the current curve of the electric stapler driving the linear cutting closure device to lock. The real-time operating current of the electric stapler during the locking phase is obtained as follows: I 1TEST The current anti-misshifting condition during the locking phase is that the real-time operating current during the locking phase... I 1TEST Less than the minimum current value during the locking phase I 1MIN Or the real-time current during the locking phase I 1TEST Greater than the maximum current value of the locking stage I 1MAX .

[0016] In a preferred embodiment of the electric stapler anti-misoperation control method of the present invention, during the cutting phase of the electric stapler operation, a reference current curve for the cutting phase is obtained, and the maximum value of the current during the cutting phase is taken as the maximum value of the current during the cutting phase. I 2MAX The minimum value is the minimum current during the locking phase. I 2MIN The reference current curve for the cutting stage is the current curve of the electric stapler driving the linear cutting closure for locking; the real-time operating current of the electric stapler during the cutting stage is obtained as follows: I 2TEST The preset average threshold for the anti-misoperation current during the cutting phase of the electric stapler is [value missing]. I 2AVG ; Calculate the average current value during the cutting stage I 2AVGTEST , I 2AVGTEST =(I 1 +I 2 +……+I t / k ) / t / k ,in I 1 To lock the current value of the next sample after triggering the grating, I 2 The current value sampled for the second time after triggering the grating is used sequentially. I t / k To trigger the grating after the first t / k The current value of the next sample. t This is the total duration of the anastomosis trigger grating. k The preset sampling frequency division coefficient; the current anti-mis-switching condition during the cutting stage is the real-time operating current value during the cutting stage. I 2TEST Less than the minimum current value during the cutting stage I 2MIN Or the real-time current value during the cutting stage I 2TEST The current is greater than the maximum value of the cutting stage. I 2MAX Or the average current value during the cutting stage I 2AVGTEST It is greater than the average threshold of the current for preventing accidental shifting during the cutting stage.

[0017] As a preferred embodiment of the electric stapler anti-misoperation control method of the present invention, wherein: a preset current jump threshold for the operation of the electric stapler is preset. I TH Calculate the operating current jump value of the electric stapler. I THTEST =I i+1 - I i ,in I i+1 For the (i+1)th sample after triggering the grating, I i This is the i-th sample after triggering the grating; if the operating current jump value of the electric stapler... I THTEST The current jump threshold I is greater than the preset current threshold for the operation of the electric stapler. TH If so, the anti-misshift triggering measures will be implemented.

[0018] As a preferred embodiment of the electric stapler anti-misoperation control method of the present invention, wherein: the desired current during the locking phase of the electric stapler is preset to be... I 1PRE The preset desired current for the locking phase of the electric stapler is I 2PRE The real-time operating current of the electric stapler during the locking phase was calculated and obtained. I 1TEST The real-time operating current of the electric stapler during the locking phase was calculated and obtained. I 2TEST After adjustment, the electric stapler outputs current during the locking phase. I 1OUT The electric stapler outputs current during the cutting stage. I 2OUT When the electric stapler is in the locking phase, the real-time current during the locking phase of the electric stapler is monitored. I 1TEST And the expected current during the locking phase is I 1PRE The current difference was obtained by comparison. I 1DIF By utilizing the current loop control principle of a DC motor, the current difference is fed back for PID calculation to adjust the output current of the electric stapler during the locking phase. I 1OUT Approximately equal to the expected current during the locking phase I 1PRE ;

[0019] When the electric stapler is operating in the cutting phase, the real-time current during the cutting phase is monitored. I 2TEST And the expected current during the cutting stage is I 2PRE The current difference was obtained by comparison. I 2DIF By utilizing the current loop control principle of a DC motor, the current difference is fed back for PID calculation to adjust the output current of the electric stapler during the cutting stage. I2OUT Approximately equal to the expected current during the cutting phase I 2PRE The formula for calculating the output current is:

[0020] ;

[0021] in, I OUT For output current, I DIF This is the difference between the real-time operating current and the expected current. K P , K I , K D These are the proportional, integral, and differential gain coefficients, respectively.

[0022] As a preferred embodiment of the electric stapler anti-misshifting control method in this invention, wherein: the current difference during the locking phase of the electric stapler... I 1DIF The current jump threshold of the electric stapler is greater than the preset current threshold for operation. I TH When this happens, anti-misshifting measures will be implemented during the locking phase;

[0023] Current difference during the cutting phase of the electric stapler I 2DIF The current jump threshold of the electric stapler is greater than the preset current threshold for operation. I TH If necessary, measures to prevent accidental gear shifting during the cutting phase will be implemented.

[0024] As a preferred embodiment of the anti-misoperation shifting control method for the electric stapler in this invention, the anti-misoperation shifting triggering measures include: stopping the electric stapler; if the electric stapler is operating in the locked phase, performing a reset and unlocking operation on the electric stapler-driven linear cutting closure device; if the electric stapler is operating in the cutting phase, performing an emergency stop on the electric stapler-driven linear cutting closure device and immediately triggering an alarm; after the alarm is cleared, performing a reset and unlocking operation on the electric stapler-driven linear cutting closure device; and prohibiting the electric stapler from operating again within a preset time period.

[0025] Another object of the present invention is to provide an electronic device used in an electric stapler anti-misoperation shift control method, comprising,

[0026] The processor controls the start and stop of the electric stapler and calculates the output current based on the received real-time operating current and the preset expected current.

[0027] Memory, which stores instructions that can be executed by at least one processor;

[0028] A DC motor controls the start and stop of the electric stapler;

[0029] The current detection device detects the current value of the DC motor when it is working and sends the detected current value to the processor.

[0030] As a preferred embodiment of the electronic device in this invention, it further includes an input device for manually controlling the opening and closing of the electric stapler.

[0031] Compared with the prior art, the present invention has the following technical effects: based on the characteristic that the current change trend of the electric stapler is inconsistent in the three states of starting, locking and cutting, different current judgment conditions are adopted according to the current change trend in different stages. It can stop the electric stapler in time when the selected gear of the electric stapler does not match the linear cutting closure, thereby improving the safety and reliability of the electric stapler. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0033] Figure 1 This is a flowchart of the present invention.

[0034] Figure 2 This is a graph showing the relationship between motor current and stroke during the complete operation of an electric stapler.

[0035] Figure 3 This is a schematic diagram of the control principle for filtering the judgment wave during the start-up phase of the anastomosis device.

[0036] Figure 4 This is a schematic diagram of the control principle for detecting accidental gear shifting after the anastomosis device has completed its cutting process. Detailed Implementation

[0037] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0038] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0039] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0040] Example 1

[0041] like Figures 1-4 As shown, this is the first embodiment of the present invention. This embodiment provides a method for preventing accidental shifting of an electric stapler. It adopts different current judgment conditions for different working states of the electric stapler to improve the accuracy of the judgment for preventing accidental shifting.

[0042] A method for preventing accidental gear shifting in an electric stapler includes the following steps:

[0043] S1 electric stapler activated;

[0044] S2 enters the electric stapler locking stage. It is determined whether the working current of the electric stapler in the locking stage meets the anti-misoperation measures in the locking stage. If it does, the anti-misoperation measures in the locking stage are executed; otherwise, proceed to step S3.

[0045] S3 electric stapler locking complete;

[0046] S4 The electric stapler is restarted; it enters the electric stapler cutting stage. It is determined whether the working current of the electric stapler in the cutting stage meets the anti-misoperation measures for the cutting stage. If it does, the anti-misoperation measures for the cutting stage are executed; otherwise, it proceeds to step S5.

[0047] After the S5 electric stapler has finished cutting, if the electric stapler is restarted, the anti-misshifting measures during the cutting stage will be implemented.

[0048] The S6 electric stapler completes its operation and then resets.

[0049] In step S2, the current information within a set time during the start-up phase of the electric stapler's DC motor is removed, and the measured current value during the locking operation of the electric stapler driving the linear cutting closure device is calculated. If the measured current value during the locking phase of the electric stapler meets the current anti-misoperation switching condition during the locking phase, specifically, the reference current curve for the locking phase is obtained, and the maximum value of the working current during the locking phase is taken as the maximum current value during the locking phase. I 1MAX The minimum value is the minimum current during the locking phase. I 1MIN The reference current curve for the locking phase is the current curve of the electric stapler driving the linear cutting closure device to lock. The real-time operating current of the electric stapler during the locking phase is obtained as follows: I1TEST The current anti-misshifting condition during the locking phase is that the real-time operating current during the locking phase... I 1TEST Less than the minimum current value during the locking phase I 1MIN Or the real-time current during the locking phase I 1TEST Greater than the maximum current value of the locking stage I 1MAX Then, implement anti-misshifting measures during the locking phase;

[0050] In step S4, during the electric stapler cutting stage, after removing the DC motor start-up stage of the electric stapler, the measured current value when the electric stapler drives the linear cutting closure lock is locked is calculated. If the measured current value during the electric stapler cutting stage meets the current anti-misoperation switching condition during the electric stapler cutting stage, specifically, the reference current curve for the cutting stage is obtained, and the maximum current value during the cutting stage is taken as the maximum current value during the cutting stage. I 2MAX The minimum value is the minimum current during the locking phase. I 2MIN The reference current curve for the cutting stage is the current curve of the electric stapler driving the linear cutting closure for locking; the real-time operating current of the electric stapler during the cutting stage is obtained as follows: I 2TEST The preset average threshold for the anti-misoperation current during the cutting phase of the electric stapler is [value missing]. I 2AVG ; Calculate the average current value during the cutting stage I 2AVGTEST , I 2AVGTEST =(I 1 +I 2 +……+I t / k ) / t / k ,in I 1 To lock the current value of the next sample after triggering the grating, I 2 The current value sampled for the second time after triggering the grating is used sequentially. I t / k To trigger the grating after the first t / k The current value of the next sample. t This is the total duration of the anastomosis trigger grating. k The preset sampling frequency division coefficient; the current anti-mis-switching condition during the cutting stage is the real-time operating current value during the cutting stage. I 2TEST Less than the minimum current value during the cutting stage I 2MINOr the real-time current value during the cutting stage I 2TEST The current is greater than the maximum value of the cutting stage. I 2MAX Or the average current value during the cutting stage I 2AVGTEST If the average current during the cutting stage is greater than the average threshold for preventing accidental shifting, then measures to prevent accidental shifting during the cutting stage will be implemented. Alternatively, if the average current during the cutting stage of the electric stapler meets the conditions for preventing accidental shifting during the cutting stage, then measures to trigger accidental shifting will be implemented.

[0051] Specifically: During the locking phase of the electric stapler driving the linear cutting closure, the DC motor of the electric stapler drives the linear cutting closure forward to clamp the required muscle tissue. If the selected gear of the electric stapler is incompatible with the linear cutting closure being used, it can cause abnormal operating current during the locking phase or even stop the DC motor. Therefore, by detecting changes in the current during the locking phase, a judgment can be made to prevent accidental gear shifting. That is, when the locking current of the electric stapler driving the linear cutting closure exceeds the operating current and is not within the current reference curve for the locking phase, anti-accidental gear shifting measures are implemented. During the cutting phase of the electric stapler driving the linear cutting closure, the electric... The DC motor drives the linear cutting closure device of the stapler to cut muscle tissue and expel the staples. After cutting, the DC motor drives the linear cutting closure device to retract the blade and return to the initial state. If the selected gear of the electric stapler does not match the linear cutting closure device being used, it will cause abnormal working current of the DC motor driving the linear cutting closure device to cut muscle tissue, uncontrollable start and stop of the DC motor, or even damage to the linear cutting closure device. Therefore, by detecting the change in current during the cutting phase of the electric stapler, the determination of the gear shift can be made. That is, when the current of the electric stapler driving the linear cutting closure device exceeds the working current threshold range, the gear shift prevention measures are implemented.

[0052] During the operation of an electric stapler, the operating current of the DC motor varies significantly across different stages. Using a single operating current threshold range makes it impossible to implement targeted current shift prevention. For example, if a large operating current threshold range is set, the current driving the linear cutting closure during the stapler's locking phase is relatively small. Therefore, if a shift occurs, the operating current will not reach the threshold range, and the current shift prevention function will fail. Conversely, if a small operating current threshold range is set, the current during the cutting phase, when the electric stapler drives the linear cutting closure to complete cutting and return to its initial state, already exceeds the threshold range, causing misjudgments and affecting normal operation. Therefore, using a single operating current threshold range makes it impossible to implement targeted current shift prevention.

[0053] This embodiment breaks down the operation of the electric stapler into multiple stages and proposes different control methods for each stage. After the electric stapler is started, it enters the electric stapler locking stage. The locking current of the electric stapler is affected by the start of the DC motor, showing a trend of slow decrease and then stable operation. At this time, the average value of the working current should be between 0.6A and 1.1A. If the working current generated when the electric stapler is locked is outside the range of 0.6A to 1.1A, it can be determined that the electric stapler has a wrong gear shift. At this time, the electric stapler drive linear cutting closure device reset and unlocking operation should be performed. When the electric stapler enters the cutting stage, the DC motor's operating current increases significantly due to the cutting and suturing operations. Influenced by the DC motor's startup, the current gradually decreases and then stabilizes, with the average operating current between 1.0A and 1.7A. If the operating current generated during cutting falls outside this range, it indicates a mis-shifting issue. In this case, an emergency stop should be initiated for the electric stapler's linear cutting closure mechanism, and an alarm should be triggered immediately. After the alarm is cleared, the linear cutting closure mechanism should be reset and unlocked. The electric stapler should not be used again within a preset time period. After cutting, the electric stapler enters the reset stage, with an operating current between 0.5A and 1.0A. Since different operating states of the electric stapler generate different operating currents, and a large starting current is generated during DC motor startup, affecting the mis-shifting detection, the current during startup needs to be filtered out. When the electric stapler enters the reset state, since the reset state should have the highest priority in the workflow and should not be subject to any restrictions, the current during the reset state should also be filtered out.

[0054] If the current surge exceeds a preset current jump threshold during any stage of operation of the electric stapler, an anti-misoperation triggering measure will be implemented. Specifically, the preset current jump threshold for the electric stapler's operation will be used. I TH Calculate the operating current jump value of the electric stapler. I THTEST = I i+1 - I i ,in I i+1 For the (i+1)th sample after triggering the grating, I i This is the i-th sample after triggering the grating; if the operating current jump value of the electric stapler... I THTEST The current jump threshold I is greater than the preset current threshold for the operation of the electric stapler. TH If so, the anti-misshift triggering measures will be implemented.

[0055] Specifically, the preset expected current for the locking phase of the electric stapler is... I 1PRE The preset desired current for the locking phase of the electric stapler is I 2PRE The real-time operating current of the electric stapler during the locking phase was calculated and obtained. I 1TEST The real-time operating current of the electric stapler during the locking phase was calculated and obtained. I 2TEST After adjustment, the electric stapler outputs current during the locking phase. I 1OUT The electric stapler outputs current during the cutting stage. I 2OUT When the electric stapler is in the locking phase, the real-time current during the locking phase of the electric stapler is monitored. I 1TEST And the expected current during the locking phase is I 1PRE The current difference was obtained by comparison. I 1DIF By utilizing the current loop control principle of a DC motor, the current difference is fed back for PID calculation to adjust the output current of the electric stapler during the locking phase. I 1OUT Approximately equal to the expected current during the locking phase I 1PRE ;

[0056] When the electric stapler is operating in the cutting phase, the real-time current during the cutting phase is monitored. I 2TEST And the expected current during the cutting stage is I 2PRE The current difference was obtained by comparison. I 2DIF By utilizing the current loop control principle of a DC motor, the current difference is fed back for PID calculation to adjust the output current of the electric stapler during the cutting stage. I 2OUT Approximately equal to the expected current during the cutting phase I 2PRE The formula for calculating the output current is:

[0057] ;

[0058] in, I OUT For output current, I DIF This is the difference between the real-time operating current and the expected current. K P , K I ,K D These are the proportional, integral, and differential gain coefficients, respectively.

[0059] Current difference during the locking phase of the electric stapler I 1DIF The current jump threshold of the electric stapler is greater than the preset current threshold for operation. I TH When this happens, anti-misshifting measures will be implemented during the locking phase;

[0060] Current difference during the cutting phase of the electric stapler I 2DIF The current jump threshold of the electric stapler is greater than the preset current threshold for operation. I TH If necessary, measures to prevent accidental gear shifting during the cutting phase will be implemented.

[0061] Specifically, the anti-misoperation triggering measures include stopping the electric stapler; if the electric stapler is in the locking phase, performing a reset and unlocking operation on the electric stapler-driven linear cutting closure device; if the electric stapler is in the cutting phase, performing an emergency stop on the electric stapler-driven linear cutting closure device and immediately sounding an alarm; after the alarm is cleared, performing a reset and unlocking operation on the electric stapler-driven linear cutting closure device; and prohibiting the electric stapler from operating again within a preset time period.

[0062] Example 2

[0063] Reference Figure 3 and Figure 4 This is the second embodiment of the present application. The difference from embodiment 1 is that this embodiment provides a method for preventing accidental shifting of the electric stapler. The electric stapler often starts and stops intermittently during operation. The method can accurately determine the motor starting state and filter it out to avoid affecting the judgment of preventing accidental shifting.

[0064] Specifically, during operation, the electric stapler may experience situations such as stopping and locking, re-locking, stopping cutting, and re-cutting. During re-locking and re-cutting, due to the operating characteristics of the DC motor, the operating current suddenly increases significantly. If the current anti-misoperation switching condition during the locking or cutting phase of the electric stapler is used at this time, the sudden increase in current will cause the current anti-misoperation switching condition to be misjudged. Therefore, it is necessary to filter out the situation of sudden current increase during the re-locking and restarting of the electric stapler. After the electric stapler has finished cutting, if the electric stapler starts, the operating current is monitored during the period from 60ms to 100ms after the DC motor starts. Under normal stopping and starting conditions, the DC motor driving the electric stapler to lock or cut is in a state of gradual decrease and stabilization. When the shifting is abnormal, the DC motor operating current shows an upward trend after 100ms, and the current rise is significant. Therefore, the preset DC motor operating current threshold is 2A. The 0-60ms of DC motor start-up is not monitored. If the current gradually increases during the period from 60ms to 100ms after DC motor start-up, and the DC motor operating current exceeds the preset threshold of 2A after 100ms of start-up, then the electric stapler is determined to be malfunctioning, and measures to prevent accidental shifting are taken.

[0065] This embodiment utilizes the characteristic of DC motor starting with a sudden current change in a short time, gradually decreasing and stabilizing. If the electric stapler continues to start after the cutting work is completed, and the operating current is greater than the normal starting current when the DC motor starting current should stabilize, then measures to prevent accidental shifting are implemented.

[0066] Example 3

[0067] This is the third embodiment of the present application. The difference between this embodiment and embodiments 1 and 2 is that it provides an electronic device used in the electric anastomosis device anti-misoperation shifting control method. This device is a microcontroller unit, comprising:

[0068] The processor controls the start and stop of the electric stapler. It calculates the output current based on the received actual current and the preset expected current. Specifically, the processor presets the expected DC motor operating current value, receives the actual current value of the DC motor when it is working, calculates the difference between the expected current value and the actual current value, uses the current loop control principle, calculates the output current through the processor, adjusts the DC motor operating state, and uses the output current as the actual current value to calculate again using the current loop control principle, so that the output current of the electric stapler is close to or equal to the expected current.

[0069] Memory, which stores instructions that can be executed by at least one processor;

[0070] A DC motor controls the start and stop of the electric stapler;

[0071] A current detection device detects the current value of a DC motor during operation and sends the detected current value to a processor.

[0072] Input device: The electric stapler can be manually controlled to open and close.

[0073] Memory, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the electric anastomosis anti-misoperation shifting control method in the embodiments of this application. The processor executes various functional applications and data processing by running the non-volatile software programs, instructions, and modules stored in the memory, thereby implementing the electric anastomosis anti-misoperation shifting control method in the above embodiments. The memory may include a program storage area and a data storage area, wherein the program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the electric anastomosis anti-misoperation shifting control method, etc. Furthermore, the memory may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. Input devices may include microswitches, tactile switches, and slide switches, which can generate signal inputs related to user settings and function control of the electric anastomosis anti-misoperation shifting control method. Current detection devices may include a current detection chip INA226, sampling resistors, and surface-mount capacitors, etc. When one or more modules are stored in the memory, and are run by one or more processors, the electric stapler anti-misshift control method in any of the above method embodiments is executed.

[0074] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An anti-misshift control electronic device for an electric anastomat, characterized in that: comprising, a processor for controlling the start and stop of the electric anastomat, and calculating an output current according to a received actual current and a preset expected current; a memory for storing instructions executable by the at least one processor; a direct current motor for controlling the start and stop of the electric anastomat; a current detection device for detecting a current value when the direct current motor is working and sending the detected current value to the processor; when the electronic device is used to control the electric anastomat, comprising the following steps, starting the electric anastomat; entering a locking stage of the electric anastomat, determining whether a working current of the electric anastomat in the locking stage meets a locking stage anti-misshift measure, and if so, executing the locking stage anti-misshift measure, otherwise, entering the next step; completing the locking of the electric anastomat; starting the electric anastomat again; entering a cutting stage of the electric anastomat, determining whether a working current of the electric anastomat in the cutting stage meets a cutting stage anti-misshift measure, and if so, executing the cutting stage anti-misshift measure, otherwise, executing the next step; completing the cutting of the electric anastomat, and if the electric anastomat is started again, executing the cutting stage anti-misshift measure; resetting the electric anastomat after the working of the electric anastomat is completed.

2. The control electronics for preventing mis-shift of an electrically powered stapler of claim 1, wherein: In the locking stage of the electric anastomat, removing current information in a set time during the start stage of the direct current motor of the electric anastomat, calculating a measured current value when the electric anastomat drives a linear cutting stapler to lock, and if the measured current value in the locking stage of the electric anastomat meets a current anti-misshift condition of the locking stage of the electric anastomat, executing the locking stage anti-misshift measure; in the cutting stage of the electric anastomat, removing the current information after the start stage of the direct current motor of the electric anastomat, calculating a measured current value when the electric anastomat drives the linear cutting stapler to lock, and if the measured current value in the cutting stage of the electric anastomat meets a current anti-misshift condition of the cutting stage of the electric anastomat, executing the cutting stage anti-misshift measure, or if a current average value in the cutting stage of the electric anastomat meets the current anti-misshift condition of the cutting stage, executing an anti-misshift trigger measure; when the electric anastomat works in any stage, if a current mutation is greater than a preset current jump threshold, executing the anti-misshift trigger measure.

3. The control electronics for an electrically powered surgical stapler to prevent misshifting, as claimed in claim 2, wherein: In the locking stage of the electric anastomat, a locking stage reference current curve is obtained, and a maximum value of the working current in the locking stage is taken as a locking stage current maximum value I 1MAX , and a minimum value is taken as a locking stage current minimum value I 1MIN The locking stage reference current curve is a current curve for locking a drive straight-line cutting stapler of the electric anastomat, and a working real-time current in the locking stage of the electric anastomat is obtained I 1TEST The locking stage current anti-misshift condition is that the working real-time current in the locking stage is I 1TEST less than the locking stage current minimum value I 1MIN or greater than the locking stage current maximum value I 1TEST I 1MAX .​ 4. The control electronics for an electrically powered surgical stapler to prevent misshifting, as claimed in claim 2, wherein: In the cutting stage of the operation of the electric anastomat, a cutting stage reference current curve is obtained, and a maximum value of the cutting stage current is taken as a cutting stage current maximum value I 2MAX , and a minimum value is taken as a locking stage current minimum value I 2MIN The cutting stage reference current curve is a current curve of the electric anastomat driving a linear cutting stapler to lock; a working real-time current in the cutting stage of the operation of the electric anastomat is obtained I 2TEST ; and a preset The average threshold value of the current preventing mis-shift during the cutting stage of the electric anastomat is I 2AVG ; The average current value of the cutting stage is calculated I 2AVGTEST , I 2AVGTEST =(I 1 +I 2 +……+I t / k ) / t / k wherein I 1 is the current value of the triggered light barrier rear second sampling, I 2 is the current value of the triggered light barrier rear third sampling, in turn I t / k is the current value of the triggered light barrier rear t / k fourth sampling, t is the total duration of the stapler triggered light barrier, k is a preset sampling frequency coefficient; the cutting stage current false shift condition is that the cutting stage working real-time current value I 2TEST is less than the cutting stage current minimum value I 2MIN or the cutting stage working real-time current value I 2TEST is greater than the cutting stage current maximum value I 2MAX or the average current value of the cutting stage I 2AVGTEST is greater than the average threshold value of the cutting stage false shift current.

5. The control electronics for preventing mis-shift of gears of an electric anastomat according to any one of claims 1 to 4, characterized in that: Pre-set current jump threshold for preset electric anastomat working I TH , calculate the electric anastomat working current jump value I THTEST = I i+1 - I i , wherein I i+1 is the i+1th sampling after triggering the light barrier, I i is the ith sampling after triggering the light barrier; If the working current jump value of the electric anastomat I THTEST greater than the preset current jump threshold I of the working of the electric anastomat TH the anti-misshift triggering measure is executed.

6. The control electronics for preventing mis-shift of gears of an electric anastomat according to any one of claims 2 to 4, characterized in that: The preset electric anastomat locking stage expected current is I 1PRE The preset electric anastomat locking stage expected current is I 2PRE The calculated electric anastomat locking stage working real-time current is I 1TEST The calculated electric anastomat locking stage working real-time current is I 2TEST The adjusted electric anastomat locking stage output current is I 1OUT The electric anastomat cutting stage output current is I 2OUT When the electric anastomat works in the locking stage, the real-time monitoring electric anastomat locking stage working real-time current is I 1TEST The locking stage expected current is I 1PRE The current difference is obtained by comparison I 1DIF The current difference is fed back for PID calculation by using the working principle of the current loop control DC motor, and the electric anastomat locking stage output current is adjusted I 1OUT The adjusted electric anastomat locking stage output current is close to or equal to the locking stage expected current I 1PRE ; When the electric anastomat works in the cutting stage, the real-time monitoring electric anastomat cutting stage working real-time current is I 2TEST And the cutting stage expected current is I 2PRE The current difference is obtained by comparison I 2DIF Using the working principle of current loop control DC motor, the current difference feedback is calculated by PID, and the output current of the electric anastomat cutting stage is adjusted I 2OUT Close to or equal to the cutting stage expected current I 2PRE ; The calculation formula of the output current is, ； wherein, I OUT is the output current, I DIF is the difference between the actual current and the desired current, K P , K I , K D are the proportional, integral and derivative gain coefficients, respectively.

7. The control electronics for an electrically powered surgical stapler to prevent misshifting, as claimed in claim 6, wherein: When the current difference of the electric anastomat lock phase is greater than the preset current jump threshold value of the electric anastomat work I 1DIF , the lock phase anti-misshift measure is executed I TH . When the electric anastomat cutting phase current difference I 2DIF is greater than a preset current jump threshold value of the electric anastomat operation I TH , the cutting phase anti-misshift measure is executed.

8. The control electronics for an electrically powered surgical stapler to prevent misshifting, as claimed in claim 7, wherein: the anti-misshift trigger measure includes stopping the working of the electric anastomat; if the electric anastomat works in the locking stage, executing a reset and unlocking operation of the linear cutting stapler driven by the electric anastomat, if the electric anastomat works in the cutting stage, executing an emergency stop of the linear cutting stapler driven by the electric anastomat and immediately alarming, and after the alarm is removed, executing the reset and unlocking operation of the linear cutting stapler driven by the electric anastomat; in a preset time period, the electric anastomat is prohibited from working again.

9. The control electronics for an electrically powered surgical stapler to prevent misshifting, as claimed in claim 8, wherein: Further comprising an input device, and manually controlling the opening and closing of the electric anastomat through the input device.

Images