Electric stapler and control method thereof

Abstract

The present application relates to an electric stapler and a control method thereof. It includes: a frame; a motor, mounted on the frame; an end effector, movably mounted on the frame, including a jaw assembly and a cutting knife assembly; a transmission assembly, including a first gear and a rack, the first gear is rotatably mounted on the frame, connected to the output shaft of the motor, and rotates under the drive of the motor; the rack is movably mounted on the frame and meshes with the first gear; the rack is connected to the end effector, and the movement of the rack can drive the movement of the end effector; a first monitor, mounted on the frame, is used to monitor the position change of the first gear when the end effector moves, and generates first information representing the rotation stroke of the first gear; a control component, mounted on the frame, and is connected to the first monitor in communication, is used to obtain the first information, and determine the movement stroke of the end effector based on the first information. The technical solution of the present application can more accurately control the movement stroke of the end effector.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an electric stapler and a control method thereof. Background Art

[0002] Surgical cutting staplers are a kind of surgical instruments commonly used in medicine to replace manual suturing. The main working principle is to use a cutting knife to separate tissues and titanium staples to staple tissues, similar to a stapler. There are many types of staplers according to their application to different parts of the body. For surgical cutting staplers, their working principle is to enter the patient's body through the cannula of the puncture device that is precisely positioned at the surgical site, and then make a longitudinal incision in the tissue and apply staples on the opposite side of the incision, thereby separating and staple tissues.

[0003] Since the stapler needs to be inserted into the patient's body during use, such as in the abdominal cavity, the movement range of the end effector is far less clear than that of open surgery, and needs to be judged by combining the camera and the doctor's experience. Therefore, it is difficult to accurately control the movement range of the end effector. Summary of the invention

[0004] In view of this, the present application provides an electric stapler and a control method thereof to solve at least one problem existing in the background technology.

[0005] To achieve the above purpose, the technical solution of this application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides an electric stapler, comprising:

[0007] frame;

[0008] A motor, mounted on the frame;

[0009] An end effector is movably mounted on the frame and includes a jaw assembly and a cutting knife assembly;

[0010] The transmission assembly includes a first gear and a rack, wherein the first gear is rotatably mounted on the frame, connected to the output shaft of the motor, and rotates under the drive of the motor; the rack is movably mounted on the frame and meshes with the first gear; the rack is connected to the end effector, and the movement of the rack can drive the movement of the end effector; the movement of the end effector includes the opening and closing of the jaw assembly and the advance and retreat of the cutting knife assembly;

[0011] A first monitor, mounted on the frame, for monitoring a position change of the first gear when the end effector moves, and generating first information representing a rotation stroke of the first gear;

[0012] A control component is installed on the frame and is in communication with the first monitor, and is used to obtain the first information and determine the movement stroke of the end effector according to the first information.

[0013] In combination with the first aspect of the present application, in an optional embodiment, the first monitor includes a fixed part and a movable part, the fixed part is installed on the frame, and the movable part rotates following the rotation of the first gear; the rotation of the movable part relative to the fixed part can generate the first information.

[0014] In combination with the first aspect of the present application, in an optional embodiment, the first monitor includes a rotary rheostat, the movable part includes a moving contact piece of the rotary rheostat, and the rotation of the moving contact piece can change the output resistance of the rotary rheostat to generate the first information.

[0015] In conjunction with the first aspect of the present application, in an optional implementation manner, the movable part further includes:

[0016] a third gear, the third gear being connected to the movable contact piece and rotating in conjunction with it;

[0017] The transmission assembly further includes a fourth gear meshing with the third gear, and the fourth gear is coaxial with the first gear.

[0018] In conjunction with the first aspect of the present application, in an optional embodiment, the electric stapler further includes:

[0019] The second monitor includes a main body and a contact portion, wherein the main body is mounted on the frame, and the contact portion protrudes from the main body; the second monitor is used to generate second information representing the position of the rack through the touch received by the contact portion, and the control component determines the state of the jaw assembly based on the second information to determine whether to stop the motor operation and start the feed of the cutting knife assembly; the rack is provided with a preset structure that touches the contact portion to trigger the second monitor.

[0020] In combination with the first aspect of the present application, in an optional embodiment, the second monitor is a micro switch, and the preset structure is a spring plate groove for the spring plate of the micro switch to extend into; the spring plate extends into the spring plate groove from a direction intersecting with the first direction; the first direction is the direction of movement of the rack.

[0021] In conjunction with the first aspect of the present application, in an optional embodiment, the electric stapler further includes:

[0022] An input component is used to input a preset motion stroke of the end effector to the control component.

[0023] In a second aspect, an embodiment of the present application provides a control method for an electric stapler, the method comprising:

[0024] Acquire first information generated by a first monitor and representing a rotation stroke of a first gear;

[0025] Determine the movement range of the end effector according to the first information;

[0026] When it is determined that the jaw assembly is closed, the motor is controlled to stop running to prepare for the cutting knife assembly to advance;

[0027] After determining that the cutting blade assembly starts to advance, the advance stroke of the cutting blade assembly is acquired according to the first information.

[0028] In conjunction with the second aspect of the present application, in an optional implementation, the first monitor includes a rotary rheostat;

[0029] The obtaining of first information generated by the first monitor and indicative of the rotational travel of the first gear includes:

[0030] Obtaining the output resistance of the rotary rheostat;

[0031] Determining the movement stroke of the end effector according to the first information includes:

[0032] The moving distance of the rack is determined according to the output resistance of the rotary rheostat, thereby determining the opening and closing degree of the jaw assembly and the feed stroke of the cutting knife assembly; the moving distance of the rack is linearly related to the output resistance of the rotary rheostat.

[0033] In conjunction with the second aspect of the present application, in an optional implementation manner, the method further includes:

[0034] Acquire second information representing the position of the rack generated by the second monitor;

[0035] According to the first information and the second information, it is determined that the movement stroke of the end effector is that the jaw assembly is closed.

[0036] The electric stapler and control method thereof provided in the embodiment of the present application include: a frame; a motor, mounted on the frame; an end actuator, movably mounted on the frame, including a jaw assembly and a cutting knife assembly; a transmission assembly, including a first gear and a rack, the first gear being rotatably mounted on the frame, connected to the output shaft of the motor, and rotating under the drive of the motor; the rack being movably mounted on the frame and meshing with the first gear; the rack being connected to the end actuator, and the movement of the rack can drive the movement of the end actuator; a first monitor, mounted on the frame, for monitoring the position change of the first gear when the end actuator moves, and generating first information representing the rotation stroke of the first gear; a control component, mounted on the frame and communicatively connected to the first monitor, for acquiring the first information, and determining the movement stroke of the end actuator based on the first information. It can be seen that the electric stapler and control method thereof of the embodiment of the present application are provided with a first monitor and a control component, which monitors the position change of the first gear when the end effector moves, and generates first information representing the rotation stroke of the first gear; then the control component determines the movement stroke of the end effector according to the first information. The movement stroke of the end effector can be more accurately monitored to more accurately control the movement stroke of the end effector. Therefore, the electric stapler and control method thereof of the embodiment of the present application can more accurately control the movement stroke of the end effector.

[0037] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0039] Figure 1 Schematic diagram of the structure of the electric stapler provided in the embodiment of the present application Figure 1 (When the micro switch is not triggered);

[0040] Figure 2 for Figure 1 A local enlarged schematic diagram of the middle A;

[0041] Figure 3 Schematic diagram of the structure of the electric stapler provided in the embodiment of the present application Figure 2 (After the micro switch is triggered);

[0042] Figure 4 for Figure 3 A partial enlarged schematic diagram of point B in the middle;

[0043] Figure 5 A schematic flow chart of a control method for an electric stapler provided in an embodiment of the present application;

[0044] Figure 6 A schematic diagram of the structure of a control device for an electric stapler provided in an embodiment of the present application;

[0045] Figure 7 A schematic diagram of the structure of a computing device provided in an embodiment of the present application.

[0046] Reference numerals:

[0047] 10. Frame; 20. Motor; 30. End effector; 41. First gear; 42. Rack; 421. Shrapnel groove; 422. First plane; 43. Second gear; 44. Third gear; 45. Fourth gear; 46. First axis; 51. First monitor; 52. Second monitor; 521. Shrapnel; 70. Control device of electric stapler; 71. First acquisition module; 72. Determination module; 73. Control module; 74. Second acquisition module; 80. Computing device; 81. Storage component; 82. Communication bus; 83. Processing component; 84. Input device; 85. Output device; 86. External communication interface. DETAILED DESCRIPTION

[0048] In order to make the technical solutions and beneficial effects of the present application more obvious and easy to understand, the following is a detailed description by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which the present application belongs.

[0049] In the description of the present application, terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of simplified description of the present application, and do not indicate that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and should not be understood as a limitation on the present application.

[0050] In this application, the terms "first" and "second" are used only for the purpose of clear description and should not be understood as the relative importance of the indicated features or the number of the indicated technical features. Therefore, the features defined as "first" and "second" can explicitly include at least one of the features. In the description of this application, "multiple" means at least two, such as two, three, etc.; "several" means at least one, such as one, two, three, etc., unless otherwise clearly and specifically defined.

[0051] In this application, unless otherwise clearly defined, the terms "install", "connect", "connect", "fix", "set", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] In the present application, unless otherwise clearly defined, a first feature being “on”, “above”, “above”, “below”, “below”, “below” or “below” a second feature may mean that the first feature is in direct contact with the second feature, or the first feature and the second feature are in indirect contact with each other through an intermediate medium. Moreover, a first feature being “on”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than the horizontal height of the second feature. A first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than the horizontal height of the second feature.

[0053] In order to thoroughly understand the present application, detailed steps and detailed structures will be presented in the following description to illustrate the technical solution of the present application. The preferred embodiments of the present application are described in detail below, but in addition to these detailed descriptions, the present application may also have other implementation methods.

[0054] The applicant of the present application discovered during research and development that there is a problem of relatively large errors when determining the movement stroke of the end effector by monitoring the rotation of the motor. Directly monitoring the moving parts of the end effector causes high costs due to the fact that the end effector needs to enter the biological tissue and its structure is relatively compact. Adding monitoring parts will also result in high costs.

[0055] Therefore, after further research and development by the applicant, the following technical solution was proposed. Embodiment 1

[0056] The present application embodiment provides an electric stapler. Figure 1 and Figure 2 , the electric stapler comprises:

[0057] Rack 10;

[0058] A motor 20 is mounted on the frame 10;

[0059] The end effector 30 is movably mounted on the frame 10 and includes a jaw assembly and a cutting knife assembly;

[0060] The transmission assembly includes a first gear 41 and a rack 42. The first gear 41 is rotatably mounted on the frame 10, connected to the output shaft of the motor 20, and rotates under the drive of the motor 20; the rack 42 is movably mounted on the frame 10 and meshes with the first gear 41; the rack 42 is connected to the end effector 30, and the movement of the rack 42 can drive the movement of the end effector 30; the movement of the end effector includes the opening and closing of the jaw assembly and the advance and retreat of the cutting knife assembly;

[0061] A first monitor 51, mounted on the frame 10, for monitoring a position change of the first gear 41 when the end effector 30 moves, and generating first information representing a rotation stroke of the first gear 41;

[0062] The control component is installed on the frame 10 and is in communication connection with the first monitor 51 , and is used for acquiring the first information and determining the movement stroke of the end effector 30 according to the first information.

[0063] It can be understood that the frame 10 can be relatively fixed relative to the moving parts such as the end effector 30 and the transmission assembly to support the moving parts.

[0064] It is understandable that the movement strokes of the jaw assembly and the cutting knife assembly of the end effector 30 are sequentially related, for example, the jaw assembly needs to be closed first, and then the cutting knife assembly is advanced. Closing the jaw assembly means clamping the biological tissue to be cut so that the biological tissue will not move with the knife during the cutting of the cutting knife assembly.

[0065] It can be understood that compared with the linear motor 20, the rotary motor 20 has more types, is easier to control, and is more reliable. Therefore, by using the rotary motor 20, and then through the structure of the gear and the rack 42, the output linear movement can be realized more simply and reliably. Therefore, the transmission assembly of this embodiment includes a first gear 41 and a rack 42. Among them, the rack 42 is connected to the end effector 30, and the execution of the end effector 30 is driven by the linear movement of the rack 42.

[0066] Here, the rack 42 is connected to the end effector 30 , which may be directly connected or indirectly connected.

[0067] It can be understood that the monitoring medium of the first monitor 51 can be optical information, electrical signals, magnetic field signals, sound wave signals, etc., without limitation.

[0068] Specifically, the control component may be a microcontroller unit (MCU). The MCU has powerful processing and control capabilities and a simple structure. In this way, the received first information may be processed to determine the motion stroke of the end effector 30. The processing here may be a preset fixed program or a dynamic program that can continuously learn and iterate program parameters.

[0069] The communication connection can be a wired connection, such as a data cable, a network cable, an optical fiber, etc., or a wireless connection, such as Bluetooth (BT), infrared communication (Infrared Communications), Near Field Communication (NFC), Zigbee protocol, etc.

[0070] The electric stapler of the embodiment of the present application is provided with a first monitor 51 and a control component, which monitors the position change of the first gear 41 when the end effector 30 moves, and generates first information representing the rotation stroke of the first gear 41; then the control component determines the movement stroke of the end effector 30 according to the first information. The movement stroke of the end effector 30 can be monitored more accurately to control the movement stroke of the end effector 30 more accurately.

[0071] In some other embodiments of the present application, the transmission assembly further includes a second gear 43 , which is sleeved on the output shaft of the motor 20 and meshes with the first gear 41 to transmit the torque of the motor 20 to the first gear 41 .

[0072] The second gear 43 can make the center of gravity of the first gear 41, the rack 42, the motor 20, and the frame 10 more balanced and the structure more compact.

[0073] In some other embodiments of the present application, the first monitor 51 includes a fixed part and a movable part, the fixed part is installed on the frame 10, and the movable part rotates following the rotation of the first gear 41; the rotation of the movable part relative to the fixed part can generate the first information.

[0074] That is, by providing a movable part that rotates following the rotation of the first gear 41, the rotation of the first gear 41 can be better characterized. The medium that can generate the first information by the rotation of the movable part relative to the fixed part is also as described above, for example, it can be an electrical signal, optical information, etc.

[0075] In some other embodiments of the present application, the first monitor 51 includes a rotary rheostat, the movable portion includes a moving contact piece of the rotary rheostat, and the rotation of the moving contact piece can change the output resistance of the rotary rheostat to generate the first information.

[0076] The rotary rheostat can transmit signals to the outside by changing the output resistance. The resistance of the rotary rheostat changes continuously within a set range, and the movement stroke of the first gear 41 can be monitored more accurately.

[0077] In some other embodiments of the present application, the movable part further includes:

[0078] A third gear 44, the third gear 44 is connected to the movable contact piece and rotates in conjunction with it;

[0079] The transmission assembly further includes a fourth gear 45 meshing with the third gear 44 , and the fourth gear 45 is coaxial with the first gear 41 .

[0080] Compared with other transmission modes which may cause slippage, gear transmission can more accurately reflect the rotation of the first gear 41 .

[0081] Specifically, the transmission assembly also includes:

[0082] The first shaft 46 is mounted on the frame 10 via bearings and other supporting members, and the first gear 41 is sleeved on the first shaft 46 . The gear rotates based on the supporting member of the first shaft 46 as a rotation axis.

[0083] The fourth gear 45 and the first gear 41 are respectively at the two ends of the first shaft 46, so the number of circles or angle of rotation of the fourth gear 45 is the same as that of the first gear 41. The third gear 44 and the fourth gear 45 are meshed with each other, and the rotation angle of the fourth gear 45 can be obtained by conversion through the gear ratio. It is better if the number of teeth of the third gear 44 and the fourth gear 45 are set to be the same.

[0084] It can be understood that providing the fourth gear 45 instead of directly meshing the third gear 44 with the first gear 41 can avoid interference with the meshing of the first gear 41 and the rack 42 .

[0085] In some other embodiments of the present application, the electric stapler further comprises:

[0086] The second monitor 52 includes a main body and a contact portion, wherein the main body is mounted on the frame 10, and the contact portion protrudes from the main body; the second monitor 52 is used to generate second information representing the position of the rack 42 through the touch received by the contact portion, and the control component determines the state of the jaw assembly based on the second information to determine whether to stop the motor operation and start the feed of the cutting knife assembly; the rack 42 is provided with a preset structure that touches the contact portion to trigger the second monitor 52.

[0087] Since the end effector 30 includes two sequential processes, namely the closing of the jaw assembly and the advancing of the cutting knife assembly, a clear prompt message needs to be given after the jaw assembly is closed in order to better execute the advancing of the cutting knife assembly. However, the rotation of the first gear 41 is continuous, and giving a message of the closing of the jaw assembly may disrupt the rotation stroke of the first gear 41. Therefore, this embodiment separately sets a second monitor 52, which is used to prompt the closing of the jaw assembly through the position of the rack 42. The movement of the rack 42 can directly drive the movement of the end effector 30. Therefore, the position of the rack 42 corresponds to the closing position of the jaw assembly.

[0088] In other embodiments of the present application, the second monitor 52 is a micro switch, and the preset structure is a spring groove 421 for the spring 521 of the micro switch to extend into; the spring 521 extends into the spring groove 421 from a direction intersecting with the first direction; the first direction is the direction in which the rack 42 moves.

[0089] Before the rack 42 moves, the spring 521 of the micro switch is located in the spring groove 421, and the micro switch is not triggered. After the rack 42 starts to move, the spring 521 leaves the spring groove 421 and hits the first plane 422 of the rack 42, and the micro switch is triggered. The first plane 422 is the surface outside the spring groove 421. Figure 1 and Figure 2 This is a schematic diagram when the micro switch is not triggered. Figure 3 and Figure 4 This is a schematic diagram of the micro switch after it is triggered.

[0090] Specifically, the side wall of the spring sheet groove 421 in the moving direction of the rack 42 is an inclined wall with a groove width gradually increasing outwards, so as to facilitate the spring sheet 521 to better escape from the spring sheet groove 421 when the rack 42 moves.

[0091] In some other embodiments of the present application, the electric stapler further comprises:

[0092] A display screen (not shown in the figure) is used to display the movement stroke of the end effector 30 acquired by the control component.

[0093] This helps the operator to clearly understand the movement range of the end effector 30, thereby increasing the operator's sense of control over the process. In addition, it also helps to more accurately control the movement range of the end effector 30 through other means, such as through manual intervention.

[0094] Specifically, the display method can be text, or a combination of graphics and text, etc., without limitation.

[0095] In some other embodiments of the present application, the electric stapler further comprises:

[0096] The input component (not shown in the figure) is used to input the preset movement stroke of the end effector 30 to the control component.

[0097] In this way, the preset movement stroke of the end effector 30 can be input according to the situation, and the preset movement stroke of the end effector 30 can also be adjusted during the test or the specific execution.

[0098] Specifically, the input component may be a button, a voice recognizer, etc., or the display screen mentioned above may be set as a touch screen, and the input component may be a touch screen.

[0099] In some other embodiments of the present application, the electric stapler further comprises:

[0100] The storage component 81 (not shown in the figure) is used to store the first information acquired by the control component and the corresponding movement stroke of the end effector 30 .

[0101] The first information and the corresponding movement stroke of the end effector 30 are stored and analyzed by statistical methods to obtain the law of the corresponding relationship between the two, thereby providing a basis for improving the preset movement stroke and even improving the product.

[0102] In some other embodiments of the present application, the electric stapler further comprises:

[0103] The transmission component (not shown in the figure) can upload the data stored in the storage component 81 to the host computer, which can be a local server or a cloud server.

[0104] Specifically, the transmission component may include a preset program and a virtual private network (Virtual Private Network, VPN), for example, under the control of the preset program, the stored data is transmitted through the VPN. Embodiment 2

[0105] The present application embodiment provides a control method for an electric stapler, which can be implemented by a computer, which can be a computing device configured with a processor, which can be a general-purpose processor, a digital signal processor (DSP), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It can be understood that the computer can correspond to the control component described in the first embodiment.

[0106] refer to Figure 5 , the method comprising:

[0107] Step 601: Acquire first information representing the rotation stroke of the first gear 41 generated by the first monitor 51;

[0108] Step 602: Determine the movement stroke of the end effector 30 according to the first information;

[0109] Step 603: When it is determined that the jaw assembly is closed, the motor 20 is controlled to stop running to prepare for the cutting blade assembly to advance;

[0110] Step 604: After determining that the cutting blade assembly starts to advance, the advance stroke of the cutting blade assembly is obtained according to the first information.

[0111] It is understandable that the movement stroke of the end effector 30 can be determined by comparing with a preset rule or by calculation. The preset rule can be a comparison table of the first information obtained by multiple experiments combined with calculation and the movement stroke of the end effector 30.

[0112] It should be noted that the role of the first information is slightly different before and after the jaw assembly is closed. Before the jaw assembly is closed, the first information is mainly used to confirm the state of the jaw assembly, that is, whether it is closed. After the jaw assembly is closed and the cutting knife assembly starts to advance, the first information is mainly used to characterize the cutting knife's advance stroke, that is, the tool movement length, etc.

[0113] Before entering the cutting knife assembly, it is necessary to confirm again. Because the stapler acts on the human body, the cutting operation can only be started after full confirmation to avoid medical accidents. Before the confirmation is completed, the motor 20 needs to be controlled to stop to avoid affecting the confirmation process and avoiding misoperation.

[0114] The control method of the electric stapler of the embodiment of the present application is provided with a first monitor 51 and a control component, and the position change of the first gear 41 when the end effector 30 moves is monitored, and first information representing the rotation stroke of the first gear 41 is generated; then the control component determines the movement stroke of the end effector 30 according to the first information. The movement stroke of the end effector 30 can be monitored more accurately to control the movement stroke of the end effector 30 more accurately.

[0115] In some other embodiments of the present application, the first monitor includes a rotary rheostat;

[0116] The obtaining of first information generated by the first monitor and indicative of the rotational travel of the first gear includes:

[0117] Obtaining the output resistance of the rotary rheostat;

[0118] Determining the movement stroke of the end effector according to the first information includes:

[0119] The moving distance of the rack is determined according to the output resistance of the rotary rheostat, thereby determining the opening and closing degree of the jaw assembly and the feed stroke of the cutting knife assembly; the moving distance of the rack is linearly related to the output resistance of the rotary rheostat.

[0120] That is, according to the output resistance of the rotary rheostat, it is determined whether the jaw assembly is closed and the feed stroke of the cutting knife assembly. The resistance of the rotary rheostat changes continuously within the set range, and the monitoring is more accurate.

[0121] In some other embodiments of the present application, the method further includes:

[0122] Acquire second information generated by the second monitor 52 that represents the position of the rack 42;

[0123] According to the first information and the second information, it is determined that the movement stroke of the end effector 30 is that the jaw assembly is closed.

[0124] By acquiring the second information and combining the first information and the second information to determine the movement stroke of the end effector 30, the movement stroke of the end effector 30 can be determined more accurately. In this way, a strong guarantee is provided for the cutting of the cutting assembly in the next step.

[0125] The technical content of this embodiment is related to the technical content of Embodiment 1 and has similar beneficial effects. For technical details not disclosed in this embodiment, please refer to the description of Embodiment 1 for understanding. Embodiment 3

[0126] The present application embodiment provides a control device 70 for an electric stapler, Figure 6 The control device 70 of the electric stapler comprises:

[0127] A first acquisition module 71 is used to acquire first information representing the rotation stroke of the first gear 41 generated by the first monitor 51;

[0128] A determination module 72, configured to determine a movement stroke of the end effector 30 according to the first information;

[0129] The control module 73 is used to control the motor to stop running when it is determined that the jaw assembly is closed, so as to prepare for the cutting knife assembly to advance;

[0130] The second acquisition module 74 is used to acquire the feed stroke of the cutting blade assembly according to the first information after determining that the cutting blade assembly starts to feed.

[0131] In some embodiments, the first monitor comprises a rotary rheostat;

[0132] The first acquisition module 71 is further used for:

[0133] Obtaining the output resistance of the rotary rheostat;

[0134] The determination module 72 is further used for:

[0135] The moving distance of the rack is determined according to the output resistance of the rotary rheostat, thereby determining the opening and closing degree of the jaw assembly and the feed stroke of the cutting knife assembly; the moving distance of the rack is linearly related to the output resistance of the rotary rheostat.

[0136] In some embodiments, the determination module 72 is further configured to:

[0137] Acquire second information representing the position of the rack 42 generated by the second monitor 52;

[0138] According to the first information and the second information, it is determined that the movement stroke of the end effector 30 is that the jaw assembly is closed.

[0139] Each module included in this embodiment can be implemented by a processor in a computer; of course, it can also be implemented by a logic circuit in a computer. The processor can be a general-purpose processor, a digital signal processor (DSP), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a central processing unit (CPU), a microprocessor (MPU) or any other conventional processor.

[0140] The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiment of this application, please refer to the description of the method embodiment in this application for understanding. Embodiment 4

[0141] The present application embodiment provides a computing device 80, referring to Figure 7 , the computing device 80 comprises: a storage component 81, a communication bus 82 and a processing component 83, wherein:

[0142] The storage component 81 is used to store the control method program of the electric stapler;

[0143] The communication bus 82 is used to realize the connection and communication between the storage component 81 and the processing component 83;

[0144] The processing component 83 is used to execute the control method program of the electric stapler to implement the steps of the method described in the second embodiment.

[0145] The type or structure of the storage component 81 can be found in the storage medium below, and will not be described in detail here.

[0146] The processing component 83 may be a general-purpose processor, a digital signal processor (DSP), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a central processing unit (CPU), a microprocessor (MPU) or any other conventional processor.

[0147] In some embodiments, the computing device 80 may further include: an input device 84, an output device 85, and an external communication interface 86, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown in the figure). In this embodiment, the input device may be a network connector, an analog-to-digital converter, etc., and the output device may be a display, a speaker, etc.

[0148] The description of the computing device embodiment above is similar to the description of the method embodiment above, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the computing device embodiment of this application, please refer to the description of the method embodiment in this application for understanding. Embodiment 5

[0149] An embodiment of the present application provides a computer-readable storage medium, on which an executable program is stored. When the executable program is executed by a processor, the steps of the method described in Embodiment 2 are implemented.

[0150] Exemplarily, the computer-readable storage medium may adopt any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A computer-readable storage medium is a tangible device that can hold and store instructions used by an instruction execution device. The readable storage medium may include, for example, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), flash memory, portable compact disc read-only memory (CD-ROM, Compact Disc Read-Only Memory), digital versatile discs (DVD, Digital Versatile Disc), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or raised structures in grooves on which instructions are stored, and any suitable combination of the above. Among them:

[0151] The RAM includes: static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).

[0152] The ROM includes: Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM).

[0153] The description of the above computer-readable storage medium embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the computer-readable storage medium of this embodiment, please refer to the description of the method embodiment in this application for understanding.

[0154] It should be noted that the various embodiments provided in the embodiments of the present application belong to the same concept; the various technical features in the technical solutions recorded in the various embodiments can be arbitrarily combined without conflict.

[0155] It should be understood that the above embodiments are exemplary and are not intended to include all possible implementations included in the claims. Various modifications and changes may be made on the basis of the above embodiments without departing from the scope disclosed in the present application. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form other embodiments of the present application that may not be explicitly described. Therefore, the above embodiments only express several implementations of the present application and do not limit the scope of protection of the patent of this application.

Claims

1. An electric stapler, characterized in that: include: frame; A motor, mounted on the frame; An end effector is movably mounted on the frame and includes a jaw assembly and a cutting knife assembly; The transmission assembly comprises a first gear and a rack, wherein the first gear is rotatably mounted on the frame, connected to the output shaft of the motor, and rotates under the drive of the motor; the rack is movably mounted on the frame and meshes with the first gear; The rack is connected to the end effector, and the movement of the rack can drive the movement of the end effector; the movement of the end effector includes the opening and closing of the jaw assembly and the advance and retreat of the cutting knife assembly; A first monitor, mounted on the frame, for monitoring a position change of the first gear when the end effector moves, and generating first information representing a rotation stroke of the first gear; a control component, mounted on the frame and in communication with the first monitor, for acquiring the first information and determining a motion stroke of the end effector according to the first information; A second monitor, mounted on the rack, for monitoring the position of the rack and generating second information representing the position of the rack; The control component determines, based on the first information and the second information, that the movement stroke of the end effector is that the jaw assembly is closed.

2. The electric stapler according to claim 1, characterized in that: The first monitor includes a fixed part and a movable part, the fixed part is installed on the frame, and the movable part rotates following the rotation of the first gear; the rotation of the movable part relative to the fixed part can generate the first information.

3. The electric stapler according to claim 2, characterized in that: The first monitor includes a rotary rheostat, and the movable part includes a moving contact piece of the rotary rheostat. The rotation of the moving contact piece can change the output resistance of the rotary rheostat to generate the first information.

4. The electric stapler according to claim 3, characterized in that: The activity section also includes: a third gear, the third gear being connected to the movable contact piece and rotating in conjunction with it; The transmission assembly further includes a fourth gear meshing with the third gear, and the fourth gear is coaxial with the first gear.

5. The electric stapler according to any one of claims 1 to 4, characterized in that: The second monitor includes a main body and a contact portion, wherein the main body is mounted on the frame and the contact portion protrudes from the main body; the second monitor is used to generate second information representing the position of the rack through the touch received by the contact portion; and a preset structure is provided on the rack to trigger the second monitor by touching the contact portion.

6. The electric stapler according to claim 5, characterized in that: The second monitor is a micro switch, and the preset structure is a spring groove for the spring of the micro switch to extend into; the spring extends into the spring groove from a direction intersecting with the first direction; the first direction is the direction in which the rack moves.

7. The electric stapler according to any one of claims 1 to 4, characterized in that: The electric stapler also includes: An input component is used to input a preset motion stroke of the end effector to the control component.

8. A control method for an electric stapler according to any one of claims 1 to 7, characterized in that: The method comprises: Acquire first information generated by a first monitor and indicative of a rotational travel of a first gear; determine a motion travel of an end effector according to the first information; Acquire second information representing the position of the rack generated by the second monitor; According to the first information and the second information, determining that the movement stroke of the end effector is that the jaw assembly is closed; When it is determined that the jaw assembly is closed, the motor is controlled to stop running to prepare for the cutting knife assembly to advance; After determining that the cutting blade assembly starts to advance, the advance stroke of the cutting blade assembly is acquired according to the first information.

9. The control method of the electric stapler according to claim 8, characterized in that: The first monitor includes a rotary rheostat; The obtaining of first information generated by the first monitor and indicative of the rotational travel of the first gear includes: Obtaining the output resistance of the rotary rheostat; Determining the movement stroke of the end effector according to the first information includes: The moving distance of the rack is determined according to the output resistance of the rotary rheostat, thereby determining the opening and closing degree of the jaw assembly and the feed stroke of the cutting knife assembly; the moving distance of the rack is linearly related to the output resistance of the rotary rheostat.

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