A control method for electric stapler and electric stapler

Abstract

The present application belongs to the field of medical device control technology, and provides a control method for an electric stapler and an electric stapler. The electric stapler includes a working part, a motor and a control board. The control method is applied to the control board. The control board is connected to the motor, and the motor is connected to the working part. The control board includes a control circuit, a motor drive circuit, a sampling circuit and a boost circuit. The method includes: determining the motor speed, tissue impedance, drive voltage and a first duty cycle of the motor control signal through a sampling signal and a speed Hall signal; and according to the comparison results of the motor speed and the preset motor speed, the tissue impedance and the impedance threshold, the first duty cycle and the duty cycle threshold, and the drive voltage and the drive voltage threshold, the motor can be adaptively controlled to stop working and reset, increase the motor speed or reduce the motor speed according to various tissue thickness conditions, and the motor can be controlled to rotate forward or reverse to drive the working part to work, thereby improving the working efficiency of the stapler.

Description

Technical Field

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

[0002] Currently, electric staplers are used to anastomose tissues in laparoscopic surgery. They have the advantages of simple and rapid operation and greatly shortened anastomosis time. They are widely used in general surgery, cardiothoracic, gastrointestinal and other surgical fields. They make anastomosis of deep tissues that are difficult to operate manually easier, anastomose tissues more accurately and reliably, accelerate wound recovery, and reduce the probability of anastomotic fistula.

[0003] When encountering thick tissue that causes the anastomotic power of the electric stapler to decrease, the battery capacity of the electric stapler is generally increased or an electric stapler with a high operating voltage is selected. However, increasing the capacity and raising the operating voltage will cause the battery volume to increase and the weight of the electric stapler to increase, accelerating the doctor's fatigue and increasing the manufacturing cost and anastomosis cost. In long-term anastomotic work, due to the large number of uses, anastomosis cannot be performed when the tissue thickness increases slightly in the later stage of the anastomosis, and the remaining battery power cannot be reasonably utilized, resulting in one electric stapler being insufficient and multiple electric staplers being required, which also increases the cost of the anastomosis work.

[0004] The prior art has the problem that the anastomosis efficiency of the electric stapler is reduced and the anastomosis cost is high when encountering thick tissue or when used for a long time. Summary of the invention

[0005] The embodiments of the present application provide a control method for an electric stapler and an electric stapler, which can, to a certain extent, solve the problem that the anastomosis efficiency of the electric stapler is reduced and the anastomosis cost is high when encountering thick tissue or long-term use.

[0006] In a first aspect, an embodiment of the present application provides a control method for an electric stapler, the electric stapler comprising a working part, a motor and a control board, the control method being applied to the control board, the control board being connected to the motor, the motor being connected to the working part, the control board comprising a control circuit, a motor drive circuit, a sampling circuit and a boost circuit, the control circuit being connected to the motor drive circuit, the motor, the sampling circuit and the boost circuit, the motor drive circuit being further connected to the motor, the sampling circuit and the boost circuit respectively, the sampling circuit being further connected to the boost circuit, the control circuit being used to receive a key signal, and controlling the motor to rotate forward or reverse according to the key signal, thereby controlling the working part to work, the key signal comprising an excitation key signal;

[0007] Control methods include:

[0008] Based on the excitation key signal, receiving the sampling signal sent by the sampling circuit and the speed Hall signal sent by the motor;

[0009] Determine the motor speed of the motor, the tissue impedance corresponding to the working part, the driving voltage across the motor driving circuit, and the first duty cycle of the motor control signal based on the sampling signal and the speed Hall signal;

[0010] If the motor speed is greater than the preset motor speed, reducing the first duty cycle until the difference between the motor speed and the preset motor speed is less than or equal to a preset speed threshold, so as to reduce the motor speed;

[0011] If the motor speed is less than the preset motor speed, determining the relationship between the tissue impedance and an impedance threshold, wherein the impedance threshold includes an impedance lower limit threshold and an impedance upper limit threshold;

[0012] If the tissue impedance is less than or equal to the impedance lower limit threshold, based on the first duty cycle and the duty cycle threshold, the motor is controlled to automatically reset after stopping working or the motor speed is increased;

[0013] If the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, based on the drive voltage and the drive voltage threshold, the motor is controlled to automatically reset after stopping working or the drive voltage is increased;

[0014] If the tissue impedance is greater than the impedance upper limit threshold, the motor is controlled to stop working and then automatically reset.

[0015] In one of the embodiments, the duty cycle threshold comprises a duty cycle upper limit threshold;

[0016] If the tissue impedance is less than or equal to the impedance lower limit threshold, based on the first duty cycle and the duty cycle threshold, controlling the motor to automatically reset after stopping working or increasing the motor speed includes:

[0017] If the tissue impedance is less than or equal to the impedance lower limit threshold, and the first duty cycle is greater than or equal to the duty cycle upper limit threshold, controlling the motor to stop working and then automatically reset;

[0018] If the tissue impedance is less than or equal to the impedance lower limit threshold, and the first duty cycle is less than the duty cycle upper limit threshold, the first duty cycle is increased until the difference between the motor speed and the preset motor speed is less than or equal to the preset speed threshold, so as to increase the motor speed.

[0019] In one of the embodiments, the driving voltage threshold comprises a driving voltage lower limit threshold and a driving voltage upper limit threshold;

[0020] If the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, based on the drive voltage and the drive voltage threshold, the motor is controlled to automatically reset after stopping working or the drive voltage is increased, including:

[0021] If the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, and the driving voltage is greater than the driving voltage lower limit threshold and less than the driving voltage upper limit threshold, controlling the driving voltage to increase to the driving voltage upper limit threshold;

[0022] If the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, and the driving voltage is less than or equal to the driving voltage lower limit threshold, the motor is controlled to stop working and then automatically reset.

[0023] In one embodiment, if the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, and the driving voltage is greater than the driving voltage lower limit threshold and less than the driving voltage upper limit threshold, controlling the driving voltage to increase to the driving voltage upper limit threshold includes:

[0024] If the motor speed is greater than or equal to the preset motor speed, reducing the first duty cycle until the difference between the motor speed and the preset motor speed is less than or equal to a preset speed threshold, so as to reduce the motor speed;

[0025] If the motor speed is less than the preset motor speed, the motor is automatically reset or the motor speed is increased after stopping based on the first duty cycle and the duty cycle threshold.

[0026] In one of the embodiments, the duty cycle threshold comprises a duty cycle upper limit threshold;

[0027] If the motor speed is less than the preset motor speed, the motor is automatically reset or the motor speed is increased after stopping based on the first duty cycle and the duty cycle threshold, including:

[0028] If the motor speed is less than the preset motor speed and the first duty cycle is greater than or equal to the duty cycle upper limit threshold, the motor is controlled to stop working and then automatically reset;

[0029] If the motor speed is less than the preset motor speed and the first duty cycle is less than the duty cycle upper limit threshold, the first duty cycle is increased until the motor speed is greater than or equal to the preset motor speed to increase the motor speed.

[0030] In a second aspect, an embodiment of the present application provides an electric stapler that uses any control method as described in the first aspect, the electric stapler also including a battery, a reset button and an excitation button, the working part including an excitation rod, a turning assembly, a manual reset switch and a barrel assembly, the control panel is also connected to the reset button, the excitation button and the battery, the motor is connected to the barrel assembly, and the barrel assembly is connected to the excitation rod, the turning assembly and the manual reset switch.

[0031] In one embodiment, the first end of the control circuit is connected to the reset button, the second end of the control circuit is connected to the excitation button, the third end of the control circuit is connected to the motor, the fourth end and the fifth end of the control circuit are connected to the motor drive circuit, the sixth end and the seventh end of the control circuit are connected to the sampling circuit, the eighth end, the ninth end and the tenth end of the control circuit are all connected to the boost circuit, and are configured to receive the button signal, the sampling signal and the speed Hall signal, and output the motor control signal and the boost control signal according to the sampling signal and the speed Hall signal;

[0032] The first end and the second end of the motor drive circuit are both connected to the control circuit, the third end and the fourth end of the motor drive circuit are both connected to the motor, the fifth end of the motor drive circuit is connected to the sampling circuit and the boost circuit, and the sixth end of the motor drive circuit is connected to the sampling circuit, and is configured to receive the motor control signal and control the motor to rotate forward or reverse according to the motor control signal;

[0033] The first and second ends of the sampling circuit are connected to the control circuit, the third end of the sampling circuit is connected to the motor drive circuit and the boost circuit, the fourth end of the sampling circuit is connected to the motor drive circuit, and the fifth end of the sampling circuit is connected to the boost circuit, and is configured to sample the motor drive circuit and output a sampling signal to the control circuit;

[0034] The first end of the boost circuit is connected to the sampling circuit, the second end of the boost circuit is connected to the sampling circuit and the motor drive circuit, the third end, the fourth end and the fifth end of the boost circuit are all connected to the control circuit, and are configured to receive the boost control signal to boost the voltage at both ends of the motor drive circuit.

[0035] In one of the embodiments, the sampling circuit includes a voltage sampling circuit and a current sampling circuit;

[0036] The first end of the voltage sampling circuit is connected to the control circuit as the first end of the sampling circuit, the second end of the voltage sampling circuit is connected to the motor drive circuit and the boost circuit as the third end of the sampling circuit, the third end of the voltage sampling circuit is also connected to the motor drive circuit as the fourth end of the sampling circuit, the third end of the voltage sampling circuit is also connected to the second end of the current sampling circuit, and is configured to perform voltage sampling on the motor drive circuit and output a voltage sampling signal to the control circuit;

[0037] The first end of the current sampling circuit is connected to the control circuit as the second end of the sampling circuit, the second end of the current sampling circuit is connected to the motor drive circuit as the fourth end of the sampling circuit, and the third end of the current sampling circuit is connected to the boost circuit as the fifth end of the sampling circuit, and is configured to perform current sampling on the motor drive circuit and output a current sampling signal to the control circuit.

[0038] In one embodiment, the control circuit includes a micro control unit, the motor control signal includes a forward control signal and a reverse control signal, and the motor drive circuit includes a first MOS tube driver chip, a first MOS tube, a second MOS tube, a third MOS tube and a fourth MOS tube;

[0039] The first end of the first MOS tube driver chip is connected to the fourth end of the micro control unit, and is configured to access the forward control signal; the second end of the first MOS tube driver chip is connected to the fifth end of the micro control unit, and is configured to access the reverse control signal; the third end of the first MOS tube driver chip is connected to the gate of the first MOS tube, and is configured to access the forward control signal to output a forward drive signal to control the conduction or disconnection of the first MOS tube; the fourth end of the first MOS tube driver chip is connected to the gate of the third MOS tube, and is configured to access the forward control signal to output a forward drive signal to control the conduction or disconnection of the third MOS tube; the fifth end of the first MOS tube driver chip is connected to the gate of the second MOS tube, and is configured to access the reverse control signal to output a reverse drive signal to control the conduction or disconnection of the second MOS tube; the sixth end of the first MOS tube driver chip is connected to the gate of the fourth MOS tube, and is configured to access the reverse control signal to output a reverse drive signal to control the conduction or disconnection of the fourth MOS tube;

[0040] The source of the first MOS transistor is connected to the source of the fourth MOS transistor, the third end of the voltage sampling circuit and the second end of the current sampling circuit, and the drain of the first MOS transistor is connected to the source of the second MOS transistor and the motor, and is configured to receive the forward drive signal to drive the motor to rotate forward;

[0041] The drain of the third MOS tube is connected to the drain of the second MOS tube, the second end of the voltage sampling circuit and the boost circuit, and the source of the third MOS tube is connected to the drain of the fourth MOS tube and the motor, and is configured to receive the forward drive signal to drive the motor to rotate forward;

[0042] The drain of the second MOS tube is connected to the drain of the third MOS tube, the second end of the voltage sampling circuit and the boost circuit, and the source of the second MOS tube is connected to the drain of the first MOS tube and the motor, and is configured to receive the reverse drive signal to drive the motor to reverse;

[0043] The source of the fourth MOS tube is connected to the source of the first MOS tube, the third end of the voltage sampling circuit and the second end of the current sampling circuit, and the drain of the fourth MOS tube is connected to the source of the third MOS tube and the motor, and is configured to receive the reverse drive signal to drive the motor to reverse.

[0044] In one embodiment, the boost circuit includes a second MOS tube driver chip, a third MOS tube driver chip, a fourth MOS tube driver chip, a fifth MOS tube, a sixth MOS tube, a seventh MOS tube, a capacitor, a diode and an inductor;

[0045] The first end of the second MOS transistor driving chip is connected to the tenth end of the micro control unit, and the second end is connected to the gate of the fifth MOS transistor, and is configured to receive the first boost control signal and output the first boost driving signal to control the conduction or disconnection of the fifth MOS transistor;

[0046] The first end of the third MOS tube driving chip is connected to the ninth end of the micro control unit, and the second end is connected to the gate of the sixth MOS tube, and is configured to receive the second boost control signal to output the second boost driving signal to control the conduction or disconnection of the sixth MOS tube;

[0047] The first end of the fourth MOS tube driving chip is connected to the eighth end of the micro control unit, and the second end is connected to the gate of the seventh MOS tube, and is configured to receive the third boost control signal to output the third boost driving signal to control the conduction or disconnection of the seventh MOS tube;

[0048] The drain of the fifth MOS tube is connected to the drain of the sixth MOS tube and the positive electrode of the battery, and the source of the fifth MOS tube is simultaneously connected to the drain of the second MOS tube, the drain of the third MOS tube, the second end of the voltage sampling circuit, the first end of the capacitor and the negative electrode of the diode;

[0049] The drain of the sixth MOS tube is connected to the drain of the fifth MOS tube and the positive electrode of the battery, and the source of the sixth MOS tube is connected to the first end of the inductor;

[0050] The source of the seventh MOS tube is connected to the second end of the inductor and the anode of the diode, and the drain of the seventh MOS tube is connected to the negative electrode of the battery, the second end of the capacitor and the third end of the current sampling current.

[0051] It can be understood that the beneficial effects of the second aspect mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0052] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0053] The electric stapler of the present application includes a working part, a motor and a control board, and the control method is applied to the control board. The control board is connected to the motor, and the motor is connected to the working part. The control board includes a control circuit, a motor drive circuit, a sampling circuit and a boost circuit. The control circuit is connected to the motor drive circuit, the motor, the sampling circuit and the boost circuit. The motor drive circuit is also connected to the motor, the sampling circuit and the boost circuit respectively, and the sampling circuit is also connected to the boost circuit; the motor speed, tissue impedance, driving voltage and the first duty cycle of the motor control signal are determined by the sampling signal sent by the sampling circuit and the speed Hall signal sent by the motor; and according to the motor speed and the preset motor speed, the tissue impedance and the impedance threshold, The comparison results between the first duty cycle and the duty cycle threshold and between the driving voltage and the driving voltage threshold can adaptively control the motor to automatically reset after stopping working, increase the motor speed or reduce the motor speed according to various tissue thickness conditions, and when the output voltage of the battery of the electric stapler cannot drive the motor to work, the battery output voltage can be increased through the boost circuit to control the motor to rotate forward or reverse to drive the working part to work, thereby extending the use time of a single electric stapler when encountering thick tissue and long-term anastomosis work, improving the working efficiency of the electric stapler, improving the battery power utilization efficiency without increasing the capacity and volume of the battery and reducing the anastomosis work cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0055] Figure 1 is a schematic diagram of the structure of the electric stapler provided in an embodiment of the present application;

[0056] Figure 2 is a schematic diagram of the circuit structure of the control board provided in the embodiment of the present application;

[0057] Figure 3 It is a flowchart of a control method of an electric stapler provided in one embodiment of the present application;

[0058] Figure 4 is a flowchart of step S500 provided in another embodiment of the present application;

[0059] Figure 5 is a flowchart of step S600 provided in another embodiment of the present application;

[0060] Figure 6 is a schematic diagram of a flow chart after step S610 provided in another embodiment of the present application;

[0061] Figure 7 is a flowchart of step S640 provided in another embodiment of the present application;

[0062] Figure 8 It is a logic diagram of power supply boosting and tissue adaptive motor speed regulation of a control method of an electric stapler provided in another embodiment of the present application;

[0063] Fig. 9 It is a control block diagram of power supply boost and tissue adaptive motor speed regulation of a control method for an electric stapler provided in another embodiment of the present application;

[0064] Fig.10 It is a schematic diagram of the circuit working principle of the control board provided in the embodiment of the present application;

[0065] Reference numerals:

[0066] 1. Trigger rod; 2. Turn assembly; 3. Manual reset switch; 4. Barrel assembly; 5. Motor; 6. Control panel; 7. Battery; 8. Reset button; 9. Trigger button;

[0067] 10. Control circuit; 20. Motor drive circuit; 30. Sampling circuit; 31. Voltage sampling circuit; 32. Current sampling circuit; 40. Boost circuit;

[0068] T1, microcontroller unit; U1, first MOS tube driver chip; U2, second MOS tube driver chip; U3, third MOS tube driver chip; U4, fourth MOS tube driver chip; Q1, first MOS tube; Q2, second MOS tube; Q3, third MOS tube; Q4, fourth MOS tube; Q5, fifth MOS tube; Q6, sixth MOS tube; Q7, seventh MOS tube;

[0069] C1, capacitor; L1, inductor; D1, diode. DETAILED DESCRIPTION

[0070] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0071] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0072] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0073] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0074] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0075] Due to the limited power supply capacity of the battery, when encountering thick tissue during the anastomosis process, the anastomosis power of the electric stapler decreases, causing the driving current required by the motor to increase, which in turn causes the output voltage of the battery to decrease, resulting in the motor being blocked or unable to drive the working part of the electric stapler to work when encountering thick tissue during the anastomosis work. At present, it is generally necessary to increase the battery capacity of the electric stapler or select an electric stapler with a high working voltage, but increasing the capacity and increasing the working voltage will cause the battery volume to increase and the weight of the electric stapler to increase, accelerate the fatigue of the doctor, and increase the manufacturing cost and the cost of the anastomosis work. In addition, in the anastomosis work that takes a long time, due to the large number of uses, when the tissue thickness increases slightly in the later stage of the anastomosis work, the anastomosis cannot be performed, causing the motor to be blocked, and the remaining power of the battery cannot be reasonably used, resulting in one electric stapler being insufficient and requiring multiple electric staplers, which also increases the cost of the anastomosis work. Moreover, when the battery outputs a large current and works for a long time, the output voltage drops, which is an inherent characteristic of the battery itself and cannot be changed.

[0076] In order to solve the above technical problems to a certain extent, Figure 1 As shown, the present application provides an electric stapler, including a working part, a motor 5, a control panel 6, a battery 7, a reset button 8 and an excitation button 9. The working part includes an excitation rod 1, a turning assembly 2, a manual reset switch 3 and a barrel assembly 4. The control panel 6 is connected to the motor 5, the reset button 8, the excitation button 9 and the battery 7. The motor 5 is connected to the barrel assembly 4 of the working part. The barrel assembly 4 is connected to the excitation rod 1, the turning assembly 2 and the manual reset switch 3. Figure 2 As shown, the control board 6 includes a control circuit 10, a motor drive circuit 20, a sampling circuit 30 and a boost circuit 40. The control circuit 10 is connected to the motor drive circuit 20, the motor 5, the sampling circuit 30 and the boost circuit 40. The motor drive circuit 20 is also connected to the motor 5, the sampling circuit 30 and the boost circuit 40 respectively. The sampling circuit 30 is also connected to the boost circuit 40. The control circuit 10 is used to receive a key signal and control the motor 5 to rotate forward or reverse according to the key signal, thereby controlling the working part to work. The key signal includes an excitation key signal. In the present application, the electric stapler includes an electric laparoscopic stapler.

[0077] The embodiment of the present application provides a control method for an electric stapler, which is applied to a control board 6, and includes: based on an excitation key signal, receiving a sampling signal sent by a sampling circuit 30 and a speed Hall signal sent by a motor 5; based on the sampling signal and the speed Hall signal, determining the motor speed of the motor 5, the tissue impedance corresponding to the working part, the driving voltage at both ends of the motor driving circuit 20, and the first duty cycle of the motor control signal; if the motor speed is greater than the preset motor speed, reducing the first duty cycle until the difference between the motor speed and the preset motor speed is less than or equal to the preset speed threshold, so as to reduce the motor speed; if the motor speed is less than the preset motor speed, determining the relationship between the tissue impedance and the impedance threshold, the impedance threshold including the impedance lower limit threshold and the impedance upper limit threshold; if the tissue impedance is less than or equal to the impedance lower limit threshold, based on the first duty cycle and the duty cycle threshold, controlling the motor 5 to automatically reset after stopping working or increase the motor speed; if the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, based on the driving voltage and the driving voltage threshold, controlling the motor 5 to automatically reset after stopping working or increase the driving voltage; if the tissue impedance is greater than the impedance upper limit threshold, controlling the motor 5 to automatically reset after stopping working.

[0078] The electric stapler of the present application determines the motor speed, tissue impedance, driving voltage and the first duty cycle of the motor control signal through the sampling signal sent by the sampling circuit and the speed Hall signal sent by the motor; and based on the comparison results of the motor speed and the preset motor speed, the tissue impedance and the impedance threshold, the first duty cycle and the duty cycle threshold, and the driving voltage and the driving voltage threshold, it can adaptively control the motor to automatically reset after stopping working, increase the motor speed or reduce the motor speed according to various tissue thickness conditions, and when the output voltage of the battery of the electric stapler cannot drive the motor to work, it can also increase the battery output voltage through the boost circuit to control the motor to rotate forward or reverse to drive the working part to work, thereby extending the use time of a single electric stapler when encountering thick tissue and long-term anastomosis work, thereby improving the working efficiency of the electric stapler, improving the power utilization efficiency of the battery without increasing the capacity and volume of the battery and reducing the anastomosis work cost.

[0079] The technical solution of the present application is described below through specific embodiments.

[0080] First, as Figure 3 As shown, the embodiment of the present application provides a control method for an electric stapler, the control method is applied to a control board 6, and the control method includes:

[0081] S100, based on the excitation key signal, receiving the sampling signal sent by the sampling circuit and the speed Hall signal sent by the motor.

[0082] In one embodiment, S100 is specifically based on the excitation button signal sent by the excitation button, the control circuit receives the sampling signal sent by the sampling circuit and the speed Hall signal sent by the motor, which is used for the motor speed, tissue impedance, driving voltage and the first duty cycle of the motor control signal.

[0083] S200, based on the sampling signal and the speed Hall signal, determine the motor speed of the motor, the tissue impedance corresponding to the working part, the driving voltage at both ends of the motor driving circuit and the first duty cycle of the motor control signal.

[0084] In one embodiment, the sampling signal includes a voltage sampling signal and a current sampling signal, and the speed Hall signal sends a pulse signal when the motor rotates one circle. S200 specifically obtains the motor speed according to the number of pulse signals received within one minute; obtains the motor torque corresponding to the current according to the current of the current sampling signal, and then determines the tissue impedance of the tissue based on the mapping relationship between the force applied to the tissue by the working part of the motor torque and the tissue thickness and the mapping relationship between the tissue thickness and the tissue impedance; determines the driving voltage at both ends of the motor driving circuit according to the voltage of the voltage sampling signal; obtains the first duty cycle according to the ratio of the conduction signal time in the motor control signal to the period of the motor control signal, and the first duty cycle is the duty cycle of the forward control signal.

[0085] In one embodiment, when the motor is working normally, the motor torque T applied to the motor by the working part is L The electromagnetic torque T generated by the motor e Equal, that is, T e = T L . The electromagnetic torque T e The current I flowing through the motor d In a linear proportional relationship, the current I flowing through the motor d is the sampling current, so the motor torque T L With the sampling current I d There is the following relationship, T L =C m ×I d , where C m is the torque coefficient of the DC motor at rated flux.

[0086] In one embodiment, the tissue impedance R tissue With motor torque T L Or tissue impedance R tissue With the sampling current I d The calculation formula of the mapping relationship is:

[0087]

[0088] Among them, R tissueis the tissue impedance of the tissue, k1 is the first impedance coefficient, k2 is the second impedance coefficient, k3 is the third impedance coefficient, C m is the torque coefficient of the DC motor at rated flux, is the first constant, is the second constant, R limit is the upper impedance threshold, R down is the impedance lower limit threshold, ΔR1 is the impedance lower limit range of the tissue when the stapler motor is working, and ΔR2 is the impedance upper limit range of the tissue when the stapler motor is working.

[0089] It should be noted that the first impedance coefficient, the second impedance coefficient, and the third impedance coefficient are coefficients corresponding to the impedance lower limit range value, the impedance middle range value, and the impedance upper limit range value of the tissue, respectively, and are set according to the type of stapler motor and tissue. The impedance lower limit range is the impedance range above the impedance lower limit threshold, and the impedance upper limit range is the impedance range below the impedance upper limit threshold. The impedance lower limit range and the impedance upper limit range are used to control the motor to work within a larger impedance range. Set ΔR1≦40Ω, ΔR2≦900Ω, that is, the motor can work within 40Ω above the impedance lower limit threshold, and the motor can work within 900Ω below the impedance upper limit threshold.

[0090] In one embodiment, if the torque coefficient C m =0.5, R down =10Ω,R limit = 2000 Ω, based on the battery product characteristics and the sampling current I when the motor is working stably d <=4A, tissue impedance R tissue With motor torque T L The calculation formula of the mapping relationship is:

[0091]

[0092] In this working scenario, the motor R down =10Ω, corresponding to the minimum sampling current I d_min =20mA; R limit =2000Ω, corresponding to the maximum sampling current I d_limit =4A.

[0093] It should be noted that in actual work, the motor working current I d_min It cannot be reduced to 20mA. In order to improve the fit between the stapler motor and the tissue, a segmented mapping relationship is used to increase the precision of impedance division and improve the efficiency of the stapler work.

[0094] In one embodiment, if k1=100, k2=700, k3=1800, C m=0.5, C1=-300, C2=-2500, ΔR1=40Ω, ΔR2=900Ω, R down =10Ω,R limit = 2000 Ω, then the tissue impedance R tissue The calculation formula for the mapping relationship with the sampling current is:

[0095]

[0096] In When R tissue =[0,50], in When R tissue =(50,1100), in When R tissue =[1100, 2000].

[0097] S300: If the motor speed is greater than the preset motor speed, reduce the first duty cycle until the difference between the motor speed and the preset motor speed is less than or equal to the preset speed threshold, so as to reduce the motor speed.

[0098] In one embodiment, S300 is specifically if the motor speed is greater than the preset motor speed, that is, N real >N ref , N real is the motor speed, N ref The preset speed of the motor indicates that the effective voltage applied to both ends of the motor by the current motor drive circuit is greater than the working voltage corresponding to the preset speed of the motor. Therefore, it is necessary to reduce the first duty cycle, that is, reduce the ratio of the conduction time to the motor control signal period, until the difference between the motor speed and the preset speed of the motor is less than or equal to the preset speed threshold, so that the motor speed approaches or is equal to the preset speed of the motor infinitely, so as to reduce the motor speed, avoid excessive battery power consumption, avoid unnecessary battery power consumption, and save battery power. Among them, the preset speed threshold is less than or equal to 10 r / min, so as to improve the accuracy of the difference between the motor speed and the preset speed of the motor, and further save the discharge power of the battery.

[0099] S400, if the motor speed is less than the preset motor speed, determine the relationship between the tissue impedance and the impedance threshold, where the impedance threshold includes an impedance lower threshold and an impedance upper threshold.

[0100] In one embodiment, S300 specifically means that if the motor speed is less than the preset motor speed, that is, Nreal < Nref, where Nreal is the motor speed and Nref is the preset motor speed, it indicates that the motor speed has not reached the preset motor speed. At this time, it is necessary to judge the relationship between the tissue impedance and the impedance threshold to determine the thickness of the tissue, and then adaptively control the motor to perform an action corresponding to the thickness of the tissue according to the thickness of the tissue, improving the working efficiency of the electric stapler and the energy efficiency of the battery power. Among them, the impedance threshold includes a lower impedance threshold and an upper impedance threshold. For example, the lower impedance threshold is less than or equal to 10 Ω, and the upper impedance threshold is greater than or equal to 2000 Ω.

[0101] S500, if the tissue impedance is less than or equal to the lower impedance threshold, based on the first duty cycle and the duty cycle threshold, control the motor to automatically reset or increase the motor speed after stopping.

[0102] In one embodiment, S500 specifically means that if the tissue impedance is less than or equal to the lower impedance threshold, that is, R tissue ≦R down ,R tissue is the tissue impedance, and R down is the lower impedance threshold, indicating that the thickness of the tissue object of the electric stapler is less than the thickness corresponding to R down . Compare the first duty cycle with the duty cycle threshold, and then control the motor to automatically reset or increase the motor speed according to the comparison result of the first duty cycle and the duty cycle threshold, thereby improving the utilization efficiency of the battery power and the working efficiency of the electric stapler.

[0103] In one embodiment, the duty cycle threshold includes an upper duty cycle threshold; as Figure 4 shown, S500, if the tissue impedance is less than or equal to the lower impedance threshold, based on the first duty cycle and the duty cycle threshold, control the motor to automatically reset or increase the motor speed after stopping, including:

[0104] S510, if the tissue impedance is less than or equal to the lower impedance threshold, and the first duty cycle is greater than or equal to the upper duty cycle threshold, control the motor to automatically reset after stopping.

[0105] In one embodiment, S510 specifically means that if the tissue impedance is less than or equal to the lower impedance threshold, that is, R tissue ≦R down ,R tissue is the tissue impedance, R down is the lower impedance threshold, and the first duty cycle is greater than or equal to the upper duty cycle threshold. In the case where the motor speed is less than the preset motor speed, and R tissue ≦R downThe first duty cycle is very high, indicating that the battery power is low, which causes the electric stapler to fail to perform anastomosis. Therefore, the control motor stops working and automatically resets, avoiding secondary damage to the patient caused by performing anastomosis when the electric stapler is out of power. Among them, the upper limit threshold of the duty cycle is greater than or equal to 0.9.

[0106] S520, if the tissue impedance is less than or equal to the impedance lower limit threshold, and the first duty cycle is less than the duty cycle upper limit threshold, increase the first duty cycle until the difference between the motor speed and the preset motor speed is less than or equal to the preset speed threshold, so as to increase the motor speed.

[0107] In one embodiment, S520 is specifically if the tissue impedance is less than or equal to the impedance lower limit threshold, that is, R tissue ≦R down , R tissue is tissue impedance, R down is the impedance lower limit threshold, and the first duty cycle is less than the duty cycle upper limit threshold, when the motor speed is less than the preset motor speed, and R tissue ≦R down The first duty cycle is lower than the duty cycle upper limit threshold, indicating that the battery still has power to continue to drive the electric stapler to work, so the first duty cycle is increased to approach the duty cycle upper limit threshold until the difference between the motor speed and the preset motor speed is less than or equal to the preset speed threshold to increase the motor speed, so that the electric stapler can continue to work without replacing a new electric stapler, thereby improving the working efficiency of the electric stapler and reducing the cost of stapler work.

[0108] S600: If the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, based on the drive voltage and the drive voltage threshold, the motor is controlled to automatically reset or increase the drive voltage after stopping working.

[0109] In one embodiment, S600 is specifically that if the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, when the motor speed is less than the motor preset speed, and R down <R tissue ≦R limit , R tissue is tissue impedance, R down is the impedance lower threshold, R limit is the impedance upper limit threshold, indicating that for the current tissue thickness, the motor speed cannot drive the electric stapler to perform anastomosis, and it is necessary to compare the driving voltage with the driving voltage threshold. According to the comparison result between the driving voltage and the driving voltage threshold, the motor is controlled to automatically reset or increase the driving voltage after stopping working, so as to down <R tissue ≦R limitIn this case, the electric stapler can adapt to the tissue thickness to work, thereby improving the working efficiency of the electric stapler.

[0110] In one embodiment, the driving voltage threshold includes a driving voltage lower limit threshold U min And the upper limit threshold of driving voltage U max ;like Figure 5 As shown, S600, if the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, based on the drive voltage and the drive voltage threshold, the motor is controlled to automatically reset or increase the drive voltage after stopping working, including:

[0111] S610: If the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, and the driving voltage is greater than the driving voltage lower limit threshold and less than the driving voltage upper limit threshold, the driving voltage is controlled to increase to the driving voltage upper limit threshold.

[0112] In one embodiment, S610 is specifically that if the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, the driving voltage is greater than the driving voltage lower limit threshold and less than the driving voltage upper limit threshold, and the motor speed is less than the motor preset speed, and R down <R tissue ≦R limit , U min <U<U max , R tissue is tissue impedance, R down is the impedance lower threshold, R limit is the upper impedance threshold, U is the driving voltage, U min is the lower limit threshold of driving voltage, U max The upper limit threshold of the driving voltage indicates that the battery still has power. The boost circuit is controlled to increase the driving voltage to the upper limit threshold of the driving voltage and then continue to drive the motor to allow the electric stapler to perform tissue stapler work, thereby avoiding the situation where the electric stapler cannot work when there is still power in the battery, improving the utilization efficiency of the battery power, and improving the working efficiency of the electric stapler.

[0113] S620: If the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, and the driving voltage is less than or equal to the driving voltage lower limit threshold, the control motor stops working and automatically resets.

[0114] In one embodiment, S610 is specifically: if the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, the driving voltage is less than or equal to the driving voltage lower limit threshold, and the motor speed is less than the preset motor speed, and R down <R tissue ≦R limit , U≦U min , R tissueis tissue impedance, R down is the impedance lower threshold, R limit is the upper impedance threshold, U is the driving voltage, U min It is the lower limit threshold of the driving voltage. If the driving voltage is too low, it means that the battery power is too low to drive the motor, so the motor is controlled to stop working and then automatically reset.

[0115] It should be noted that when the voltage of the motor drive circuit is too low, if the control boost circuit boosts the motor drive voltage to the drive voltage upper limit threshold U max , and then drive the motor, which will cause the current in the line between the battery and the boost circuit to be too large, and there is a risk of burning or short circuit. In addition, it is necessary to control the maximum boost duty cycle of the boost circuit to avoid excessive boost duty cycle causing large fluctuations in the driving voltage, affecting the stability of the electric stapler. In order to maintain the working stability of the electric stapler, it is necessary to control the driving voltage of the motor to be greater than or equal to the lower limit threshold of the driving voltage U min .

[0116] In one embodiment, Figure 6 As shown, S610, if the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, and the driving voltage is greater than the driving voltage lower limit threshold and less than the driving voltage upper limit threshold, after controlling the driving voltage to increase to the driving voltage upper limit threshold, the steps include:

[0117] S630, if the motor speed is greater than or equal to the preset motor speed, reduce the first duty cycle until the difference between the motor speed and the preset motor speed is less than or equal to the preset speed threshold, so as to reduce the motor speed.

[0118] In one embodiment, S630 specifically includes: down <R tissue ≦R limit , and boost the driving voltage to the upper limit threshold value U max Afterwards, if the motor speed is greater than or equal to the preset motor speed, in order to avoid wasting battery power and save battery power, the first duty cycle is reduced until the difference between the motor speed and the preset motor speed is less than or equal to the preset speed threshold to reduce the motor speed, thereby improving the utilization efficiency of the battery power and improving the working efficiency of the electric stapler.

[0119] S640: If the motor speed is less than the preset motor speed, the motor is automatically reset or the motor speed is increased after the motor stops working based on the first duty cycle and the duty cycle threshold.

[0120] In one embodiment, S640 specifically includes: down <R tissue ≦R limit, and boost the driving voltage to the upper limit threshold value U max Afterwards, if the motor speed is still lower than the preset speed of the motor, since the driving voltage has increased but the first duty cycle has not reached the duty cycle upper limit threshold, it is necessary to continue to compare the first duty cycle with the duty cycle threshold, and control the motor to automatically reset or increase the motor speed after stopping working according to the comparison result between the first duty cycle and the duty cycle threshold, thereby improving the working efficiency of the electric stapler.

[0121] In one embodiment, the duty cycle threshold includes a duty cycle upper limit threshold; Figure 7 As shown, S640, if the motor speed is less than the preset motor speed, the motor is automatically reset or the motor speed is increased after stopping based on the first duty cycle and the duty cycle threshold, including:

[0122] S641: If the motor speed is less than the preset motor speed and the first duty cycle is greater than or equal to the duty cycle upper limit threshold, the motor is controlled to stop working and then automatically reset.

[0123] In one embodiment, S641 is specifically down <R tissue ≦R limit , and boost the driving voltage to the upper limit threshold value U max Afterwards, if the motor speed is less than the preset motor speed and the first duty cycle is adjusted to be greater than or equal to the duty cycle upper limit threshold, it means that the battery power is exhausted and the motor can no longer be driven to allow the electric stapler to perform stapler work. At this time, the working range of the electric stapler has been exceeded, so the control motor stops working and then automatically resets, making maximum use of the battery power and improving the utilization efficiency of the battery power.

[0124] S642, if the motor speed is less than the preset motor speed and the first duty cycle is less than the duty cycle upper limit threshold, increase the first duty cycle until the motor speed is greater than or equal to the preset motor speed to increase the motor speed.

[0125] In one embodiment, S641 is specifically down <R tissue ≦R limit , and boost the driving voltage to the upper limit threshold value U max Afterwards, if the motor speed is less than the preset speed of the motor and the first duty cycle is less than the upper limit threshold of the duty cycle, the battery may still have power to drive the motor, so the first duty cycle is increased to approach the upper limit threshold of the duty cycle until the motor speed is greater than or equal to the preset speed of the motor to increase the motor speed. After the motor speed increases, it can continuously drive the electric stapler to perform anastomosis, thereby adapting to the thickness of the tissue for anastomosis and improving the utilization efficiency of the battery.

[0126] S700, if the tissue impedance is greater than the impedance upper limit threshold, the control motor stops working and automatically resets.

[0127] In one embodiment, S700 specifically means that when the motor speed is less than the preset motor speed, if the tissue impedance is greater than the impedance upper limit threshold, it means that the tissue thickness has exceeded the upper limit of the stapler's stapler operation, so the motor is controlled to stop working and then automatically reset.

[0128] In one embodiment, the power supply boost and tissue adaptive motor speed regulation logic diagram of the control method of the electric stapler is as follows: Figure 8 As shown, the control block diagram of the power supply boost and tissue adaptive motor speed regulation of the control method of the electric stapler is as follows Fig. 9 shown.

[0129] In the second aspect, an embodiment of the present application provides an electric stapler that uses any control method as described in the first aspect. The electric stapler also includes a battery 7, a reset button 8 and an excitation button 9. The working part includes an excitation rod 1, a turning assembly 2, a manual reset switch 3 and a barrel assembly 4. The control panel 6 is also connected to the reset button 8, the excitation button 9 and the battery 7. The motor 5 is connected to the barrel assembly 4. The barrel assembly 4 is connected to the excitation rod 1, the turning assembly 2 and the manual reset switch 3.

[0130] In one embodiment, Figure 2As shown, the first end of the control circuit 10 is connected to the reset button 8, the second end of the control circuit 10 is connected to the excitation button 9, the third end of the control circuit 10 is connected to the motor 5, the fourth end and the fifth end of the control circuit 10 are connected to the motor drive circuit 20, the sixth end and the seventh end of the control circuit 10 are connected to the sampling circuit 30, the eighth end, the ninth end and the tenth end of the control circuit 10 are all connected to the boost circuit 40, and are configured to receive the key signal, the sampling signal and the speed Hall signal, and output the motor control signal and the boost control signal according to the sampling signal and the speed Hall signal; the first end and the second end of the motor drive circuit 20 are both connected to the control circuit 10, the third end and the fourth end of the motor drive circuit 20 are both connected to the motor 5, the fifth end of the motor drive circuit 20 is connected to the sampling circuit 30 and the boost circuit 40, the motor drive circuit 20 The sixth end of the sampling circuit 30 is connected to the sampling circuit 30, which is configured to receive the motor control signal and control the motor 5 to rotate forward or reverse according to the motor control signal; the first end and the second end of the sampling circuit 30 are connected to the control circuit 10, the third end of the sampling circuit 30 is connected to the motor drive circuit 20 and the boost circuit 40, the fourth end of the sampling circuit 30 is connected to the motor drive circuit 20, and the fifth end of the sampling circuit 30 is connected to the boost circuit 40, which is configured to sample the motor drive circuit 20 and output the sampling signal to the control circuit 10; the first end of the boost circuit 40 is connected to the sampling circuit 30, the second end of the boost circuit 40 is connected to the sampling circuit 30 and the motor drive circuit 20, the third end, the fourth end and the fifth end of the boost circuit 40 are all connected to the control circuit 10, which are configured to receive the boost control signal and boost the voltage at both ends of the motor drive circuit 20.

[0131] In one embodiment, Fig.10As shown, the control circuit 10 includes a micro control unit T1, a first end a1 of the micro control unit T1 is connected to a reset button signal sent by a reset button 8, and a second end a2 of the micro control unit T1 is connected to an excitation button signal sent by an excitation button 9. The sampling circuit 30 includes a voltage sampling circuit 31 and a current sampling circuit 32; the first end of the voltage sampling circuit 31 is connected to the control circuit 10 as the first end of the sampling circuit 30, that is, the first end of the voltage sampling circuit 31 is connected to the sixth end a6 of the micro control unit T1, the second end of the voltage sampling circuit 31 is connected to the motor drive circuit 20 and the boost circuit 40 as the third end of the sampling circuit 30, the third end of the voltage sampling circuit 31 is also connected to the motor drive circuit 20 as the fourth end of the sampling circuit 30, and the third end of the voltage sampling circuit 31 is also connected to the second end of the current sampling circuit 32, and is configured as follows: The voltage of the motor drive circuit 20 is sampled, and a voltage sampling signal is output to the control circuit 10; the first end of the current sampling circuit 32 is connected to the control circuit 10 as the second end of the sampling circuit 30, that is, the first end of the current sampling circuit 32 is connected to the seventh end a7 of the micro control unit T1, the second end of the current sampling circuit 32 is connected to the motor drive circuit 20 as the fourth end of the sampling circuit 30, and the third end of the current sampling circuit 32 is connected to the boost circuit 40 as the fifth end of the sampling circuit 30, and is configured to sample the current of the motor drive circuit 20 and output the current sampling signal to the control circuit 10.

[0132] In one embodiment, Fig.10As shown, the control circuit 10 includes a micro control unit T1, a third terminal a3 of the micro control unit T1 is connected to a speed Hall signal sent by a motor 5, the motor control signal includes a forward control signal and a reverse control signal, and the motor drive circuit 20 includes a first MOS transistor driver chip U1, a first MOS transistor Q1, a second MOS transistor Q2, a third MOS transistor Q3 and a fourth MOS transistor Q4; a first terminal p1 of the first MOS transistor driver chip U1 is connected to a fourth terminal a4 of the micro control unit T1, and is configured to be connected to the forward control signal; a second terminal p2 of the first MOS transistor driver chip U1 is connected to a fifth terminal a5 of the micro control unit T1, and is configured to be connected to the reverse control signal The third terminal p3 of the first MOS tube driver chip U1 is connected to the gate of the first MOS tube Q1, and is configured to receive the forward control signal to output the forward drive signal to control the conduction or disconnection of the first MOS tube Q1; the fourth terminal p4 of the first MOS tube driver chip U1 is connected to the gate of the third MOS tube Q3, and is configured to receive the forward control signal to output the forward drive signal to control the conduction or disconnection of the third MOS tube Q3; the fifth terminal p5 of the first MOS tube driver chip U1 is connected to the gate of the second MOS tube Q2, and is configured to receive the reverse control signal to output the reverse drive signal to control the conduction or disconnection of the second MOS tube Q2; the first terminal p6 of the first MOS tube driver chip U1 is connected to the gate of the second MOS tube Q2, and is configured to receive the reverse control signal to output the reverse drive signal to control the conduction or disconnection of the second MOS tube Q2; the The sixth terminal p6 is connected to the gate of the fourth MOS transistor Q4, and is configured to receive the reverse control signal and output the reverse drive signal to control the conduction or disconnection of the fourth MOS transistor Q4; the source of the first MOS transistor Q1 is connected to the source of the fourth MOS transistor Q4, the third terminal of the voltage sampling circuit 31 and the second terminal of the current sampling circuit 32, the drain of the first MOS transistor Q1 is connected to the source of the second MOS transistor Q2 and the motor 5, and is configured to receive the forward drive signal to drive the motor 5 to rotate forward; the drain of the third MOS transistor Q3 is connected to the drain of the second MOS transistor Q2, the second terminal of the voltage sampling circuit 31 and the boost circuit 40, and the source of the third MOS transistor Q3 is connected to the fourth MOS transistor Q4 The drain of the second MOS tube Q2 is connected to the drain of the third MOS tube Q3, the second end of the voltage sampling circuit 31 and the boost circuit 40, the source of the second MOS tube Q2 is connected to the drain of the first MOS tube Q1 and the motor 5, and is configured to be connected to the reverse drive signal to drive the motor 5 to reverse; the source of the fourth MOS tube Q4 is connected to the source of the first MOS tube Q1, the third end of the voltage sampling circuit 31 and the second end of the current sampling circuit 32, the drain of the fourth MOS tube Q4 is connected to the source of the third MOS tube Q3 and the motor 5, and is configured to be connected to the reverse drive signal to drive the motor 5 to reverse.

[0133] In one embodiment, Fig.10As shown, the boost circuit 40 includes a second MOS transistor driver chip U2, a third MOS transistor driver chip U3, a fourth MOS transistor driver chip U4, a fifth MOS transistor Q5, a sixth MOS transistor Q6, a seventh MOS transistor Q7, a capacitor C1, a diode D1 and an inductor L1; a first end of the second MOS transistor driver chip U2 is connected to the tenth end a10 of the micro control unit T1, and a second end is connected to the gate of the fifth MOS transistor Q5, and is configured to receive a first boost control signal to output a first boost drive signal to control the conduction or disconnection of the fifth MOS transistor Q5; a first end of the third MOS transistor driver chip U3 is connected to the ninth end a9 of the micro control unit T1, and a second end is connected to the gate of the sixth MOS transistor Q6, and is configured to receive a second boost control signal to output a second boost drive signal to control the conduction or disconnection of the sixth MOS transistor Q6; a first end of the fourth MOS transistor driver chip U4 is connected to the micro control unit T1, and a second end is connected to the gate of the fifth MOS transistor Q5, and a second end is connected to the gate of the sixth MOS transistor Q6 ... The eighth end a8 of the element T1, the second end is connected to the gate of the seventh MOS transistor Q7, and is configured to receive the third boost control signal to output the third boost driving signal to control the conduction or disconnection of the seventh MOS transistor Q7; the drain of the fifth MOS transistor Q5 is connected to the drain of the sixth MOS transistor Q6 and the positive electrode of the battery 7, and the source of the fifth MOS transistor Q5 is simultaneously connected to the drain of the second MOS transistor Q2, the drain of the third MOS transistor Q3, the second end of the voltage sampling circuit 31, the first end of the capacitor C1 and the negative electrode of the diode D1; the drain of the sixth MOS transistor Q6 is connected to the drain of the fifth MOS transistor Q5 and the positive electrode of the battery 7, and the source of the sixth MOS transistor Q6 is connected to the first end of the inductor L1; the source of the seventh MOS transistor Q7 is connected to the second end of the inductor L1 and the positive electrode of the diode D1, and the drain of the seventh MOS transistor Q7 is connected to the negative electrode of the battery 7, the second end of the capacitor C1 and the third end of the current sampling circuit.

[0134] In one embodiment, the first MOS transistor Q1 , the second MOS transistor Q2 , the third MOS transistor Q3 , the fourth MOS transistor Q4 , the fifth MOS transistor Q5 , and the seventh MOS transistor Q7 are all N-type MOS transistors, and the sixth MOS transistor Q6 is a P-type MOS transistor.

[0135] In one embodiment, when the first MOS tube Q1 and the third MOS tube Q3 are turned on, the motor 5 rotates forward. In a switching cycle T, the turn-on time of the first MOS tube Q1 and the third MOS tube Q3 is t on , the disconnection time is t off , the voltage across capacitor C1 (also the voltage across motor drive circuit 20) is U, T=t on +t off , then the driving voltage U at both ends of motor 5 motor The calculation formula is:

[0136] U motor =U×t on / T, where D1 = t on / T, D1 is the first duty cycle of the motor forward control signal PWM waveform. According to the calculation formula of the driving voltage, the motor speed of the motor 5 can be controlled by adjusting the first duty cycle. If the on-time is short, the first duty cycle is small, and the corresponding motor speed is also slow. Conversely, if the on-time is long, the first duty cycle is large, and the corresponding motor speed is also fast.

[0137] In one embodiment, the fourth MOS transistor driver chip U4 receives the boost control signal PWM1 sent by the micro control unit T1, and outputs the boost drive signal PWM_Q7 of the seventh MOS transistor Q7. The high level conduction time of the seventh MOS transistor Q7 is t on1 During the boosting process, the period T1 of the boost control signal PWM1 remains unchanged, and the boost driving voltage U0 applied to both ends of the motor driving circuit 20 by the output voltage Vbat of the battery 7 after passing through the boost circuit 40 is calculated as follows:

[0138]

[0139] in, is the driving voltage across the motor driving circuit 20; is the output voltage of battery 7; is the period of the boost control signal PWM1; t on1 is the high level conduction time of the seventh MOS tube Q7.

[0140] In one embodiment, D 升 =t on1 / T1,D 升 is the boost duty ratio of the boost drive signal PWM_Q7. According to the boost drive voltage U0 calculation formula, the output voltage Vbat of the battery 7 can be boosted in a wide range by adjusting the boost duty ratio.

[0141] In one embodiment, the microcontroller unit T1 receives a reset button signal from the reset button 8, and then receives a voltage sampling signal sent by the voltage sampling circuit 31, a current sampling signal sent by the current sampling circuit 32, and a speed Hall signal sent by the motor 5, and obtains a second duty cycle of the motor reversal control signal PWM_B. The second duty cycle is the duty cycle of the reset control signal of the electric stapler. The first MOS tube driver chip U1 controls the motor 5 to reverse to complete the resetting of the electric stapler.

[0142] The working principle of the control board 6 is as follows:

[0143] The microcontrol unit T1 receives the excitation key signal of the excitation key 9, the voltage sampling circuit 31 samples the driving voltage at both ends of the motor 5 in real time, and outputs the voltage sampling signal to the seventh end a7 of the microcontrol unit T1 through the first end of the voltage sampling circuit 31, and the current sampling circuit 32 samples the driving current flowing through the motor 5 in real time, and outputs the current sampling signal to the sixth end a6 of the microcontrol unit T1 through the first end of the current sampling circuit 32. The microcontrol unit T1 receives the voltage sampling signal Vsense sent by the voltage sampling circuit 31, the current sampling signal Isense sent by the current sampling circuit 32, and the speed Hall signal sent by the motor 5, and the microcontrol unit T1 determines the motor speed N of the motor 5. real , tissue impedance R tissue The microcontroller unit T1 controls the motor speed N according to the driving voltage U at both ends of the motor driving circuit 20. real With the motor preset speed N ref , tissue impedance R tissueAccording to the comparison result of the impedance threshold, the driving voltage U and the driving voltage threshold, the fourth terminal a4 of the micro control unit T1 outputs the motor forward control signal PWM_F to the first terminal p1 of the first MOS tube driving chip U1, and the fifth terminal a5 of the micro control unit T1 outputs the motor reverse control signal PWM_B to the second terminal p2 of the first MOS tube driving chip U1. The first MOS tube driving chip U1 is connected to the motor forward control signal PWM_F and the motor reverse control signal PWM_B, and outputs the motor forward drive signals PWM_Q1 and PWM_Q3 to respectively control the conduction and disconnection of the first MOS tube Q1 and the third MOS tube Q3, and outputs the motor reverse drive signals PWM_Q2 and PWM_Q4 to respectively control the conduction and disconnection of the second MOS tube Q2 and the fourth MOS tube Q4. The motor forward drive signals PWM_Q1 and PWM_Q3 are both high level, and when the first MOS tube Q1 and the third MOS tube Q3 are controlled to be in the conducting state, the motor reverse drive signals PWM_Q2 and PWM_Q4 are both low level, the second MOS tube Q2 and the fourth MOS tube Q4 are in the disconnected state, and the motor 5 rotates forward. According to the comparison result, when there is no need to boost the output voltage of the battery 7, the micro control unit T1 outputs a high-level power supply selection signal Power select1 to the second MOS tube driver chip U2, and the second MOS tube driver chip U2 then outputs a corresponding high-level first boost drive signal MOS_driver1 to control the fifth MOS tube Q5 to be turned on. At the same time, the micro control unit T1 outputs a low-level power supply selection signal Power select2 to the third MOS tube driver chip U3, and the third MOS tube driver chip U3 then outputs a corresponding low-level second boost drive signal MOS_driver2 to control the sixth MOS tube Q6 to be turned off. When the output voltage of the battery 7 needs to be boosted according to the comparison result, the micro control unit T1 outputs a low-level power supply selection signal Powerselect1 to the second MOS tube driver chip U2, and the second MOS tube driver chip U2 then outputs a corresponding low-level first boost drive signal MOS_driver1 to control the fifth MOS tube Q5 to be disconnected. At the same time, the micro control unit T1 outputs a high-level power supply selection signal Power select2 to the third MOS tube driver chip U3, and the third MOS tube driver chip U3 then outputs a corresponding high-level second boost drive signal MOS_driver2 to control the sixth MOS tube Q6 to be turned on. The micro control unit T1 also outputs a boost control signal PWM1 to the fourth MOS tube driver chip U4, and the fourth MOS tube driver chip U4 outputs a corresponding boost drive signal PWM_Q7 to control the conduction and disconnection of the seventh MOS tube, thereby controlling the boosted voltage range.

[0144] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0145] It should be noted that the information interaction, execution process, etc. between the above-mentioned circuits / components are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0146] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0147] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A control method for an electric stapler, characterized in that: The electric stapler comprises a working part, a motor and a control board, the control method is applied to the control board, the control board is connected to the motor, the motor is connected to the working part, the control board comprises a control circuit, a motor drive circuit, a sampling circuit and a boost circuit, the control circuit is connected to the motor drive circuit, the motor, the sampling circuit and the boost circuit, the motor drive circuit is also connected to the motor, the sampling circuit and the boost circuit respectively, the sampling circuit is also connected to the boost circuit, the control circuit is used to receive a key signal, and control the motor to rotate forward or reverse according to the key signal, so as to control the working part to work, the key signal comprises an excitation key signal; Control methods include: Based on the excitation key signal, receiving the sampling signal sent by the sampling circuit and the speed Hall signal sent by the motor; Determine the motor speed of the motor, the tissue impedance corresponding to the working part, the driving voltage across the motor driving circuit, and the first duty cycle of the motor control signal based on the sampling signal and the speed Hall signal; If the motor speed is greater than the preset motor speed, reducing the first duty cycle until the difference between the motor speed and the preset motor speed is less than or equal to a preset speed threshold, so as to reduce the motor speed; If the motor speed is less than the preset motor speed, determining the relationship between the tissue impedance and an impedance threshold, wherein the impedance threshold includes an impedance lower limit threshold and an impedance upper limit threshold; If the tissue impedance is less than or equal to the impedance lower limit threshold, based on the first duty cycle and the duty cycle threshold, the motor is controlled to automatically reset after stopping working or the motor speed is increased; If the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, based on the drive voltage and the drive voltage threshold, the motor is controlled to automatically reset after stopping working or the drive voltage is increased; If the tissue impedance is greater than the impedance upper limit threshold, the motor is controlled to stop working and then automatically reset; Wherein, the sampling signal includes a voltage sampling signal and a current sampling signal, and the speed Hall signal is a pulse signal sent when the motor rotates one circle; Determine the motor speed according to the number of pulse signals of the speed Hall signal received within one minute; Determine the motor torque corresponding to the current according to the current of the current sampling signal, and then determine the tissue impedance of the tissue based on the mapping relationship between the force applied by the motor torque on the tissue through the working part and the tissue thickness, and the mapping relationship between the tissue thickness and the tissue impedance; Determining the driving voltage at both ends of the motor driving circuit according to the voltage of the voltage sampling signal; The motor control signal is output according to the sampling signal and the speed Hall signal, and a first duty cycle is obtained according to a ratio of a conduction signal time in the motor control signal to a period of the motor control signal.

2. The method according to claim 1, characterized in that The duty cycle threshold comprises a duty cycle upper limit threshold; If the tissue impedance is less than or equal to the impedance lower limit threshold, based on the first duty cycle and the duty cycle threshold, controlling the motor to automatically reset after stopping working or increasing the motor speed includes: If the tissue impedance is less than or equal to the impedance lower limit threshold, and the first duty cycle is greater than or equal to the duty cycle upper limit threshold, controlling the motor to stop working and then automatically reset; If the tissue impedance is less than or equal to the impedance lower limit threshold, and the first duty cycle is less than the duty cycle upper limit threshold, the first duty cycle is increased until the difference between the motor speed and the preset motor speed is less than or equal to the preset speed threshold, so as to increase the motor speed.

3. The method according to claim 1, characterized in that The driving voltage threshold comprises a driving voltage lower limit threshold and a driving voltage upper limit threshold; If the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, based on the drive voltage and the drive voltage threshold, the motor is controlled to automatically reset after stopping working or the drive voltage is increased, including: If the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, and the driving voltage is greater than the driving voltage lower limit threshold and less than the driving voltage upper limit threshold, controlling the driving voltage to increase to the driving voltage upper limit threshold; If the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, and the driving voltage is less than or equal to the driving voltage lower limit threshold, the motor is controlled to stop working and then automatically reset.

4. The method according to claim 3, characterized in that If the tissue impedance is greater than the impedance lower limit threshold and less than or equal to the impedance upper limit threshold, and the driving voltage is greater than the driving voltage lower limit threshold and less than the driving voltage upper limit threshold, controlling the driving voltage to increase to the driving voltage upper limit threshold includes: If the motor speed is greater than or equal to the preset motor speed, reducing the first duty cycle until the difference between the motor speed and the preset motor speed is less than or equal to a preset speed threshold, so as to reduce the motor speed; If the motor speed is less than the preset motor speed, the motor is automatically reset or the motor speed is increased after stopping based on the first duty cycle and the duty cycle threshold.

5. The method according to claim 4, characterized in that The duty cycle threshold comprises a duty cycle upper limit threshold; If the motor speed is less than the preset motor speed, the motor is automatically reset or the motor speed is increased after stopping based on the first duty cycle and the duty cycle threshold, including: If the motor speed is less than the preset motor speed and the first duty cycle is greater than or equal to the duty cycle upper limit threshold, the motor is controlled to stop working and then automatically reset; If the motor speed is less than the preset motor speed and the first duty cycle is less than the duty cycle upper limit threshold, the first duty cycle is increased until the motor speed is greater than or equal to the preset motor speed to increase the motor speed.

6. An electric stapler using the control method according to any one of claims 1 to 5, characterized in that: The electric stapler also includes a battery, a reset button and an excitation button. The working part includes an excitation rod, a turning assembly, a manual reset switch and a barrel assembly. The control panel is also connected to the reset button, the excitation button and the battery. The motor is connected to the barrel assembly, and the barrel assembly is connected to the excitation rod, the turning assembly and the manual reset switch.

7. The electric stapler according to claim 6, characterized in that: The first end of the control circuit is connected to the reset button, the second end of the control circuit is connected to the excitation button, the third end of the control circuit is connected to the motor, the fourth end and the fifth end of the control circuit are connected to the motor drive circuit, the sixth end and the seventh end of the control circuit are connected to the sampling circuit, the eighth end, the ninth end and the tenth end of the control circuit are all connected to the boost circuit, and are configured to receive the button signal, the sampling signal and the speed Hall signal, and output the motor control signal and the boost control signal according to the sampling signal and the speed Hall signal; The first end and the second end of the motor drive circuit are both connected to the control circuit, the third end and the fourth end of the motor drive circuit are both connected to the motor, the fifth end of the motor drive circuit is connected to the sampling circuit and the boost circuit, and the sixth end of the motor drive circuit is connected to the sampling circuit, and is configured to receive the motor control signal and control the motor to rotate forward or reverse according to the motor control signal; The first and second ends of the sampling circuit are connected to the control circuit, the third end of the sampling circuit is connected to the motor drive circuit and the boost circuit, the fourth end of the sampling circuit is connected to the motor drive circuit, and the fifth end of the sampling circuit is connected to the boost circuit, and is configured to sample the motor drive circuit and output a sampling signal to the control circuit; The first end of the boost circuit is connected to the sampling circuit, the second end of the boost circuit is connected to the sampling circuit and the motor drive circuit, the third end, the fourth end and the fifth end of the boost circuit are all connected to the control circuit, and are configured to receive the boost control signal to boost the voltage at both ends of the motor drive circuit.

8. The electric stapler according to claim 6, characterized in that: The sampling circuit includes a voltage sampling circuit and a current sampling circuit; The first end of the voltage sampling circuit is connected to the control circuit as the first end of the sampling circuit, the second end of the voltage sampling circuit is connected to the motor drive circuit and the boost circuit as the third end of the sampling circuit, the third end of the voltage sampling circuit is also connected to the motor drive circuit as the fourth end of the sampling circuit, the third end of the voltage sampling circuit is also connected to the second end of the current sampling circuit, and is configured to perform voltage sampling on the motor drive circuit and output a voltage sampling signal to the control circuit; The first end of the current sampling circuit is connected to the control circuit as the second end of the sampling circuit, the second end of the current sampling circuit is connected to the motor drive circuit as the fourth end of the sampling circuit, and the third end of the current sampling circuit is connected to the boost circuit as the fifth end of the sampling circuit, and is configured to perform current sampling on the motor drive circuit and output a current sampling signal to the control circuit.

9. The electric stapler according to claim 8, characterized in that: The control circuit includes a micro control unit, the motor control signal includes a forward control signal and a reverse control signal, and the motor drive circuit includes a first MOS tube drive chip, a first MOS tube, a second MOS tube, a third MOS tube and a fourth MOS tube; The first end of the first MOS tube driver chip is connected to the fourth end of the micro control unit, and is configured to access the forward control signal; the second end of the first MOS tube driver chip is connected to the fifth end of the micro control unit, and is configured to access the reverse control signal; the third end of the first MOS tube driver chip is connected to the gate of the first MOS tube, and is configured to access the forward control signal to output a forward drive signal to control the conduction or disconnection of the first MOS tube; the fourth end of the first MOS tube driver chip is connected to the gate of the third MOS tube, and is configured to access the forward control signal to output a forward drive signal to control the conduction or disconnection of the third MOS tube; the fifth end of the first MOS tube driver chip is connected to the gate of the second MOS tube, and is configured to access the reverse control signal to output a reverse drive signal to control the conduction or disconnection of the second MOS tube; the sixth end of the first MOS tube driver chip is connected to the gate of the fourth MOS tube, and is configured to access the reverse control signal to output a reverse drive signal to control the conduction or disconnection of the fourth MOS tube; The source of the first MOS transistor is connected to the source of the fourth MOS transistor, the third end of the voltage sampling circuit and the second end of the current sampling circuit, and the drain of the first MOS transistor is connected to the source of the second MOS transistor and the motor, and is configured to receive the forward drive signal to drive the motor to rotate forward; The drain of the third MOS tube is connected to the drain of the second MOS tube, the second end of the voltage sampling circuit and the boost circuit, and the source of the third MOS tube is connected to the drain of the fourth MOS tube and the motor, and is configured to receive the forward drive signal to drive the motor to rotate forward; The drain of the second MOS tube is connected to the drain of the third MOS tube, the second end of the voltage sampling circuit and the boost circuit, and the source of the second MOS tube is connected to the drain of the first MOS tube and the motor, and is configured to receive the reverse drive signal to drive the motor to reverse; The source of the fourth MOS tube is connected to the source of the first MOS tube, the third end of the voltage sampling circuit and the second end of the current sampling circuit, and the drain of the fourth MOS tube is connected to the source of the third MOS tube and the motor, and is configured to receive the reverse drive signal to drive the motor to reverse.

10. The electric stapler according to claim 9, characterized in that: The boost circuit includes a second MOS tube driver chip, a third MOS tube driver chip, a fourth MOS tube driver chip, a fifth MOS tube, a sixth MOS tube, a seventh MOS tube, a capacitor, a diode and an inductor; The first end of the second MOS transistor driving chip is connected to the tenth end of the micro control unit, and the second end is connected to the gate of the fifth MOS transistor, and is configured to receive the first boost control signal and output the first boost driving signal to control the conduction or disconnection of the fifth MOS transistor; The first end of the third MOS tube driving chip is connected to the ninth end of the micro control unit, and the second end is connected to the gate of the sixth MOS tube, and is configured to receive the second boost control signal to output the second boost driving signal to control the conduction or disconnection of the sixth MOS tube; The first end of the fourth MOS tube driving chip is connected to the eighth end of the micro control unit, and the second end is connected to the gate of the seventh MOS tube, and is configured to receive the third boost control signal to output the third boost driving signal to control the conduction or disconnection of the seventh MOS tube; The drain of the fifth MOS tube is connected to the drain of the sixth MOS tube and the positive electrode of the battery, and the source of the fifth MOS tube is simultaneously connected to the drain of the second MOS tube, the drain of the third MOS tube, the second end of the voltage sampling circuit, the first end of the capacitor and the negative electrode of the diode; The drain of the sixth MOS tube is connected to the drain of the fifth MOS tube and the positive electrode of the battery, and the source of the sixth MOS tube is connected to the first end of the inductor; The source of the seventh MOS tube is connected to the second end of the inductor and the anode of the diode, and the drain of the seventh MOS tube is connected to the negative electrode of the battery, the second end of the capacitor and the third end of the current sampling current.

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