Distribution control type full-electric anastomat and control method

Abstract

The present application relates to the technical field of full electric anastomat, disclose a distribution control type full electric anastomat, including device shell, transmission rack, control panel, rack drive detection module, deflection control module and rotation control module, device shell includes main shell and rotation shell, rotation control module is used for controlling and driving rotation shell relative main shell is arranged in rotation, rack drive detection module is used for driving transmission rack is in motion and detects the motion position, deflection control module is used for driving anastomosis assembly along left and right deflection.Control panel obtains the motion target position of transmission rack, moves transmission rack through rack drive detection module control, detects transmission rack real-time position simultaneously, until rack moves to target position;Realize rotation and deflection operation through deflection control module and rotation control module, satisfy different operation requirement;In this way, greatly improve the automation degree of anastomat, reduce the operation fatigue degree of doctor, facilitate doctor to focus on operation, improve operation effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of full-electric anastomat, in particular to a distributed control type full-electric anastomat and a control method. BACKGROUND

[0002] Laparoscopic guided minimally invasive surgery has the advantages of small trauma, light pain and fast recovery, and is gradually popularized in clinical practice, and anastomat is widely used.

[0003] The operation of anastomat generally includes jaw deflection adjustment, jaw rotation adjustment and jaw closing and firing actions, for example, the prior art patent with publication number CN112914649A discloses an electric anastomat main transmission manual back-off mechanism, which comprises a motor, a transmission gear driven by the driving motor, a rack driven by the transmission gear, a guide pin for mounting the transmission gear, a push piece stop block arranged on the upper end face of the transmission gear, and a cam wrench abutting against the push piece stop block.

[0004] In the prior art, anastomat is mostly mechanical or partially electric, and the degree of automation is not high, so doctors need to spend extra physical effort to perform some mechanical operations during surgery, which can easily cause the doctors to be tired and unable to focus on the surgery, thereby affecting the surgical effect. SUMMARY

[0005] The purpose of the present application is to provide a distributed control type full-electric anastomat and a control method, which aims to solve the problem of low automation degree of anastomat in the prior art.

[0006] The present application is realized in the following manner: a distributed control type full-electric anastomat comprises a device housing, a transmission rack, a control board, a rack drive detection module, a deflection control module and a rotation control module, the transmission rack, the control board, the rack drive detection module, the deflection control module and the rotation control module are respectively assembled with the device housing, and the rack drive detection module, the deflection control module and the rotation control module are respectively electrically connected with the control board, the device housing comprises a main housing and a rotating shell, the main housing and the rotating shell are movably assembled, the rotation control module is used for controlling and driving the rotating shell to rotate relative to the main housing, the rack drive detection module is used for driving the transmission rack to move and detecting the movement position, and the deflection control module is used for driving the anastomat assembly to deflect left and right.

[0007] Further, the rack drive detection module comprises a bracket, which is in assembly arrangement with the device housing or the control element, and has a main rack slot arranged in a long strip shape and having two ends arranged in a through manner. The transmission rack is in assembly arrangement with a matching assembly through the main rack slot, and the matching assembly is used for surgical operation. The bracket is used for supporting the transmission rack and the matching assembly.

[0008] Further, the main rack slot has two rack slot walls, the transmission rack comprises a meshing part and a flush part, the meshing part is in spaced corresponding arrangement with one of the rack slot walls, and the flush part is in flat lapping abutting arrangement with the other rack slot wall.

[0009] Further, the rack drive detection module comprises a drive gear and a position detector, the drive gear is in rotating arrangement under the driving force, the drive gear is in meshing arrangement with the meshing part, and the position detector is arranged on the bracket and is used for detecting and feeding back the real-time position of the transmission rack.

[0010] Further, the rack drive detection module comprises a reduction motor and a reduction gear, the reduction motor is used for driving the reduction gear in rotating arrangement, and the reduction gear is in meshing arrangement with the drive gear.

[0011] Further, the control board has an RFID module, which is used for reading label information, and the label information is used for confirming the movement target position of the transmission rack; and the reduction gear and the drive gear are used for controlling the movement of the transmission rack to the required target position.

[0012] Further, the rack drive detection module comprises a home position pin, one end of the home position pin is in butt joint arrangement with the transmission rack, and the other end of the home position pin is in extending arrangement in the direction towards the control board; the control board has an initial sensor, which is used for detecting the home position pin, the movement of the home position pin triggers the initial sensor, and the initial sensor is used for calibrating the starting position of the transmission rack.

[0013] Further, the deflection control module comprises a worm element, a worm wheel element and a deflection disc, the worm wheel element is in assembly arrangement with the deflection disc, and the worm element is in meshing arrangement with the worm wheel element; the rotating shell has a deflection slot, the deflection disc is embedded in the deflection slot, and the deflection disc is rotated to drive the matching assembly in left and right deflection arrangement.

[0014] Further, the rotation control module comprises a rotating motor and a rotating gear, the rotating motor is used for driving the rotating gear to rotate, the main shell has a shell ring groove arranged in a ring shape, the rotating shell has a convex strip arranged in a ring shape and outwardly protruding, and the convex strip is embedded in the shell ring groove, and the convex strip has a strip tooth part arranged in a ring shape and engaged with the rotating gear.

[0015] The control method of the distributed control full-electric anastomat comprises a device shell, a transmission rack, a control board, a rack driving detection module, a deflection control module and a rotation control module, the device shell comprises a main shell and a rotating shell, the control board has an RFID module and an initial sensor, the rack driving detection module comprises a starting position pin, a speed reduction gear and a position detector, and the specific steps are as follows:

[0016] (1) the RFID module reads the information in the RFID electronic tag, obtains the movement target position of the transmission rack, and the control board controls the rack driving detection module to drive the transmission rack to move;

[0017] (2) when the transmission rack moves, the starting position pin moves to trigger the initial sensor, and the initial sensor is used for calibrating the starting position of the transmission rack;

[0018] (3) the position detector detects and feeds back the real-time position of the transmission rack in real time, the control board controls the speed reduction gear to cooperate with the driving gear to control the transmission rack to move to the required target position;

[0019] (4) during the movement of the transmission rack, the control board synchronously controls the deflection control module and the rotation control module, controls the rotating shell to rotate relative to the main shell, and completes the intelligent operation of deflection and rotation.

[0020] Compared with the prior art, the distributed control full-electric anastomat provided by the application, after the control board obtains the movement target position of the transmission rack, the control board outputs instructions to control the transmission rack to move through the rack driving detection module, and detects the real-time position of the transmission rack at the same time, until the transmission rack moves to the target position; at the same time, the control board controls the rotation of the rotating shell and the deflection of the anastomosis assembly in real time through the deflection control module and the rotation control module, so as to meet different surgical requirements; in this way, the distributed control anastomat is realized, the automation degree of the anastomat is greatly improved, the surgical fatigue degree of the doctor is reduced, the doctor can focus on the operation, and the operation effect is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is the internal perspective view of the distributed control full-electric anastomat provided by the application.

[0022] Figure 2 is a cross-sectional view of a distribution control type full-electric anastomat provided by the present application;

[0023] Figure 3 is an enlarged view of part A of the distribution control type full-electric anastomat provided by the present application;

[0024] Figure 4 is a layout perspective view of a rotation control module of the distribution control type full-electric anastomat provided by the present application;

[0025] Figure 5 is a flowchart of a control method of the distribution control type full-electric anastomat provided by the present application;

[0026] Figure 6 is a control schematic diagram of a deflection control module and a rotation control module of the distribution control type full-electric anastomat provided by the present application. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0028] The implementation of the present application is described in detail below in combination with specific embodiments.

[0029] In the drawings of the embodiments, the same or similar reference numerals correspond to the same or similar components; in the description of the present application, it should be understood that the orientations or positional relationships indicated by terms such as "upper", "lower", "left", "right" are based on the orientations or positional relationships shown in the drawings, and are only used for the convenience of describing the present application and simplifying the description, and therefore the terms describing the positional relationships in the drawings are only used for exemplary illustration and cannot be understood as limiting the present patent; for those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0030] Referring to Figures 1-6 , a preferred embodiment provided by the present application is shown.

[0031] The distributed control type full-electric anastomat comprises a device shell 1, a transmission rack 2, a control board 3, a rack driving and detecting module 4, a deflection control module 5 and a rotation control module 6, the transmission rack 2, the control board 3, the rack driving and detecting module 4, the deflection control module 5 and the rotation control module 6 are arranged in assembly with the device shell 1, and the rack driving and detecting module 4, the deflection control module 5 and the rotation control module 6 are arranged in electrical connection with the control board 3, the device shell 1 comprises a main shell 11 and a rotation shell 12, the main shell 11 and the rotation shell 12 are arranged in movable assembly, the rotation control module 6 is used for controlling and driving the rotation shell 12 to be arranged in rotation relative to the main shell 11, the rack driving and detecting module 4 is used for driving the transmission rack 2 to be arranged in movement and detecting a movement position, and the deflection control module 5 is used for driving an anastomosis assembly to deflect left and right.

[0032] After the control board 3 obtains the movement target position of the transmission rack 2, the control board 3 outputs an instruction to control the transmission rack 2 to move through the rack driving and detecting module 4, simultaneously detects a real-time position of the transmission rack, and drives the transmission rack to move to the target position; simultaneously, the control board 3 controls the rotation of the rotation shell 12 and the deflection of the anastomosis assembly through the deflection control module 5 and the rotation control module 6, realizes rotation operation and deflection operation, and meets different surgical requirements; in this way, the distributed control anastomat is realized, the automation degree of the anastomat is greatly improved, the surgical fatigue degree of a doctor is reduced, the doctor can focus on surgery, and the surgical effect is improved.

[0033] Meanwhile, the distributed control type full-electric anastomat realizes intelligent operation of all actions such as deflection, rotation, closing and firing of a clamp mouth, is driven full-electrically, reduces the surgical fatigue degree of a doctor, facilitates the doctor to focus on surgery, and improves the surgical effect.

[0034] The rack driving and detecting module 4 comprises a support member 41, the support member 41 is arranged in assembly with the device shell 1, or the support member 41 is arranged in assembly with a control member; assembly of the support member 41 is realized, and assembly of other parts is facilitated through the support member 41.

[0035] The support member 41 has a main support groove, the main support groove is arranged in a strip shape, both ends of the main support groove are arranged in penetration, the transmission rack 2 is arranged in assembly with the anastomosis assembly through the main support groove, the anastomosis assembly is used for surgical operation, and the support member 41 is used for supporting the transmission rack 2 and the anastomosis assembly.

[0036] In this way, the support member 41 does not affect movement of the transmission rack 2, and the support member 41 plays a positioning and reinforcing role on the transmission rack 2, and improves assembly stability of the transmission rack 2.

[0037] The anastomosis assembly can be an anastomat, can be a cutting tool, and can be a clamp mouth.

[0038] The support piece 41 comprises a support body and at least one supporting tooth bar, the support body forms a main support groove, the supporting tooth bar is arranged in extension along the width direction of the transmission tooth bar 2, the supporting tooth bar is fixedly arranged with the support body, and the upper part of the supporting tooth bar is in abutting arrangement with the transmission tooth bar 2; in this way, under the action of each supporting tooth bar, the straightness of the transmission tooth bar 2 is guided and limited, the moving accuracy of the transmission tooth bar 2 is improved, and the risk of movement deviation of the transmission tooth bar 2 is reduced.

[0039] The main support groove has two support groove walls, the transmission tooth bar 2 comprises a meshing tooth part and a flush part, the meshing tooth part is arranged in spaced correspondence with one of the support groove walls, and the flush part is arranged in abutting contact with the other support groove wall.

[0040] In this way, under the action of the support groove walls, the movement of the transmission tooth bar 2 is guided and limited, the straightness of the movement of the transmission tooth bar 2 is improved, the moving accuracy is improved, and the surgical effect is ensured.

[0041] The tooth bar driving and detecting module 4 comprises a driving gear 42 and a position detector 43, the driving gear 42 is arranged in rotation under the action of a driving force, the driving gear 42 is arranged in meshing with the meshing tooth part, and the position detector 43 is arranged on the support piece 41 and is used for detecting and feeding back the real-time position of the transmission tooth bar 2.

[0042] In this way, when the driving gear 42 is arranged in rotation under the action of a driving force, the driving gear 42 rotates to drive the meshing tooth part, the straight-line movement of the transmission tooth bar 2 is realized, and the anastomosis assembly is driven to move in a straight line until it moves to the target position.

[0043] The position detector 43 can be an angle sensor, record the initial angle, and judge the real-time position of the transmission tooth bar 2 based on the number of rotations and the angle of the driving gear 42.

[0044] In the process of one-way rotation of the driving gear 42, the position detector 43 records the number of rotations of the driving gear 42, a unit number of rotations corresponds to a unit moving distance, and the real-time position of the transmission tooth bar 2 is further judged.

[0045] The driving gear 42 is divided into 360 equal parts along the circumference, corresponding to 360 degrees, the position detector 43 detects the equal division of the rotation of the driving gear 42, judges the insufficient rotation angle, and further judges the real-time position of the transmission tooth bar 2.

[0046] The tooth bar driving and detecting module 4 comprises a speed reducer motor 45 and a speed reducer gear 46, the speed reducer motor 45 is used for driving the speed reducer gear 46 to be arranged in rotation, and the speed reducer gear 46 is arranged in meshing with the driving gear 42.

[0047] In this way, under the action of the speed reducer motor 45, a driving force is provided to realize the driving of the speed reducer gear 46, the driving gear 42 is driven through the speed reducer gear 46, and the driving of the transmission tooth bar 2 is further realized.

[0048] The control board 3 has an RFID module for reading tag information used to confirm the target position of the transmission rack 2; the reduction gear 46 and the drive gear 42 are used to control the transmission rack 2 to move to the required target position.

[0049] In this way, different tag information is generated according to different surgical requirements and different target positions; when the distributed control type full-electric anastomat is in use, the RFID module extracts the tag information to obtain the target position of the transmission rack 2, and then the reduction gear 46 outputs driving force to the drive gear 42, which in turn controls the transmission rack 2 to move to the target position.

[0050] The rack drive detection module 4 includes a home pin 44, one end of which is arranged in butt joint with the transmission rack 2, and the other end of which is arranged to extend towards the control board 3; the control board 3 has an initial sensor 31 for detecting the home pin 44, which triggers the initial sensor 31 when it moves, and the initial sensor 31 is used to calibrate the starting position of the transmission rack 2.

[0051] With the cooperation of the initial sensor 31 and the home pin 44, the starting position of the transmission rack 2 is calibrated, the starting position is fed back, the accuracy of the transmission rack 2 moving to the target position is improved, and the surgical effect is ensured.

[0052] The initial sensor 31 can be a positioning sensor, which calibrates the starting position of the transmission rack 2 under the action of the positioning sensor.

[0053] The initial sensor 31 can be a positioning sensor, which calibrates the starting position of the transmission rack 2 under the action of the positioning sensor.

[0054] The deflection control module 5 includes a worm member 51, a worm gear member 52, and a deflection disc 53, the worm gear member 52 is assembled with the deflection disc 53, and the worm member 51 is engaged with the worm gear member 52; the rotating shell 12 has a deflection groove, the deflection disc 53 is embedded in the deflection groove, and the deflection disc 53 rotates to drive the anastomosis assembly to be arranged left and right; in this way, the anastomosis assembly is deflected left and right, automatic deflection is achieved, and the degree of automation of the distributed control type full-electric anastomat is improved.

[0055] The rotation control module 6 includes a rotation motor and a rotation gear 61, the rotation motor is used to drive the rotation gear 61 to rotate; the main shell 11 has a shell ring groove arranged in a ring shape, the rotating shell 12 has a protruding strip arranged in a ring shape and protruding outward, and the protruding strip is embedded in the shell ring groove; under the cooperation of the protruding strip and the shell ring groove, the assembly stability of the rotating shell 12 and the main shell 11 is improved, the rotation stability of the rotating shell 12 is ensured, and the rotation of the rotating shell 12 is facilitated.

[0056] The convex strip has strip teeth 121 arranged in a ring shape and engaged with the rotating gear 61; the rotating of the convex strip is driven by the rotation of the rotating gear 61, so that the rotation accuracy is controllable and the control accuracy of the rotation is higher.

[0057] The control panel 3 provides power supply to the rotating control module 6 through the first double-wire cable 7, and the control panel 3 includes a signal loading module for coupling control signals to the first double-wire cable 7; the rotating control module 6 includes a signal analysis module for analyzing the signals coupled to the first double-wire cable 7 by the control panel 3, so as to realize the control of the control panel 3 on the rotating control module 6; and the control signal transmission is more stable, and the control command is more accurate.

[0058] The deflection control module 5 is electrically connected with the second double-wire cable 8 through the first double-wire cable 7, so that the deflection control module 5 obtains power supply, the middle of the second double-wire cable 8 is connected by an electric brush, the deflection control module 5 includes a signal analysis module for analyzing the signals coupled to the second double-wire cable 8 by the control panel 3, so as to realize the control of the control panel 3 on the deflection control module 5; and the control signal transmission is more stable, and the control command is more accurate.

[0059] The control method of the distributed control type full-electric anastomat includes an instrument shell 1, a transmission rack 2, a control panel 3, a rack driving detection module 4, a deflection control module 5 and a rotating control module 6, the instrument shell 1 includes a main shell 11 and a rotating shell 12, the control panel 3 has an RFID module and an initial sensor 31, and the rack driving detection module 4 includes a starting position pin 44, a speed reducer gear 46 and a position detector 43; the specific steps are as follows:

[0060] (1) The RFID module reads the information in the RFID electronic tag, obtains the target position of the movement of the transmission rack 2, and the control panel 3 controls the rack driving detection module 4 to drive the transmission rack 2 to move;

[0061] (2) When the transmission rack 2 moves, the starting position pin 44 moves to trigger the initial sensor 31, and the initial sensor 31 is used to calibrate the starting position of the transmission rack 2;

[0062] (3) The position detector 43 detects and feeds back the real-time position of the transmission rack 2 in real time, and the control panel 3 controls the speed reducer gear 46 to cooperate with the driving gear 42 to control the transmission rack 2 to move to the required target position;

[0063] (4) During the movement of the transmission rack 2, the control panel 3 synchronously controls the deflection control module 5 and the rotating control module 6, controls the rotating shell 12 to rotate relative to the main shell 11, and completes the intelligent operation of deflection and rotation.

[0064] The control method of the distributed control type full-electric anastomat described above, when in use, the RFID module of the control board 3 first reads the information in the RFID electronic tag, confirms the target position that the transmission rack 2 needs to move to, then the control board 3 outputs instructions to control the transmission rack 2 to move to the target position through the rack drive detection module 4, the position detector 43 detects and feeds back the real-time position of the transmission rack 2 during the movement of the transmission rack 2, improves the movement accuracy, at the same time, the control board 3 controls the rotation of the rotating shell 12 and the deflection of the anastomosis assembly in real time through the deflection control module 5 and the rotation control module 6, to meet different surgical needs; in this way, a distributed control anastomat is realized, which greatly improves the automation degree of the anastomat, reduces the surgical fatigue of the doctor, and facilitates the doctor to focus on the operation and improve the operation effect.

[0065] The control board 3 provides power to the rotation control module 6 through the first double-wire cable 7, the control board 3 includes a signal loading module for coupling control signals onto the first double-wire cable 7; the rotation control module 6 includes a signal analysis module for analyzing the signals coupled onto the first double-wire cable 7 by the control board 3, realizing the control of the control board 3 on the rotation control module 6; and the control signal transmission is more stable, and the control instruction is more accurate.

[0066] The deflection control module 5 is electrically connected with the second double-wire cable 8 through the first double-wire cable 7, so that the deflection control module 5 obtains power, the middle of the second double-wire cable 8 is connected by an electric brush, the deflection control module 5 includes a signal analysis module for analyzing the signals coupled onto the second double-wire cable 8 by the control board 3, realizing the control of the control board 3 on the deflection control module 5; and the control signal transmission is more stable, and the control instruction is more accurate.

[0067] The above only describes the preferred embodiments of the present application and is not intended to limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A distributed control type all-electric anastomat, characterized by, The device shell, the transmission rack, the control board, the rack driving and detecting module, the deflection control module and the rotation control module, the transmission rack, the control board, the rack driving and detecting module, the deflection control module and the rotation control module are respectively arranged in the device shell, and the rack driving and detecting module, the deflection control module and the rotation control module are respectively arranged in the control board, the device shell includes the main shell and the rotation shell, the main shell and the rotation shell are arranged in the activity, the rotation control module is used for controlling and driving the rotation shell to rotate relative to the main shell, the rack driving and detecting module is used for driving the transmission rack to move and detecting the moving position, and the deflection control module is used for driving the anastomosis assembly to deflect left and right; The rack driving and detecting module includes a support piece, a driving gear, a position detector and a reduction gear, the support piece is arranged in the device shell or the control board, the support piece has a main rack slot, the main rack slot is arranged in a long strip shape, and the two ends of the main rack slot are arranged in a through manner, the transmission rack is arranged in the main rack slot and the anastomosis assembly is assembled, the anastomosis assembly is used for surgical operation, and the support piece is used for supporting the transmission rack and the anastomosis assembly; The main rack slot has two rack slot walls, the transmission rack includes a meshing part and a flush part, the meshing part is arranged in a spaced corresponding manner with one of the rack slot walls, and the flush part is arranged in a flat lapping contact manner with the other rack slot wall; The driving gear is driven by a driving force to rotate, the driving gear is arranged in engagement with the meshing part, the position detector is arranged in the support piece, and the position detector is used for detecting and feeding back the real-time position of the transmission rack; The control board has an RFID module, the RFID module is used for reading tag information, and the tag information is used for confirming the target position of the transmission rack; The reduction gear and the driving gear are used for controlling the transmission rack to move to the required target position. The rack driving and detecting module includes a home position pin, one end of the home position pin is arranged in abutment with the transmission rack, and the other end of the home position pin is arranged in extension in the direction towards the control board; The control board has an initial sensor, the initial sensor is used for detecting the home position pin, the home position pin moves to trigger the initial sensor, and the initial sensor is used for calibrating the initial position of the transmission rack.

2. The distributed control fully electric anastomat of claim 1, wherein, The rack driving and detecting module includes a reduction motor, the reduction motor is used for driving the reduction gear to rotate, and the reduction gear is arranged in engagement with the driving gear.

3. The distributed control type all-electric anastomat according to claim 1 or 2, characterized by, The deflection control module includes a worm piece, a worm wheel and a deflection disc, the worm wheel is arranged in assembly with the deflection disc, and the worm piece is arranged in engagement with the worm wheel; The rotation shell has a deflection groove, the deflection disc is embedded in the deflection groove, and the deflection disc rotates to drive the anastomosis assembly to deflect left and right.

4. The distributed control type all-electric anastomat according to claim 1 or 2, characterized by, The rotation control module comprises a rotation motor and a rotation gear, the rotation motor is used to drive the rotation gear to rotate; the main shell has a shell ring groove, the shell ring groove is arranged in a ring shape, the rotation shell has a convex strip, the convex strip is arranged in a ring shape, and the convex strip is arranged outwardly in a convex manner, and the convex strip is embedded in the shell ring groove; the convex strip has a strip tooth part, the strip tooth part is arranged in a ring shape, and the strip tooth part is arranged in meshing with the rotation gear.

Images