Electric surgical instrument and control method thereof

Abstract

The present application relates to an electric surgical instrument and a control method thereof, belonging to the technical field of medical instruments. It includes: a frame; an end effector, which is movably mounted on the frame, including a cutting knife for performing cutting operations on biological tissues to be operated on; a motor, which is mounted on the frame and connected to the end effector; a movable handle, which is movably connected to the frame and can move between a first position and a second position; when the movable handle is in the first position, the cutting knife is in the initial position; after the movable handle leaves the first position, the cutting knife starts to advance; a sensing component, which is mounted on the frame and is used to sense the position of the movable handle; a control component, which is mounted on the frame and is communicatively connected to the motor and the sensing component, and is used to control the operation of the motor according to the position information about the position of the handle sent by the sensing component, and then control the operation of the end effector. The technical solution of the present application can increase the surgeon's sense of control over the process.

Description

Technical Field

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

[0002] A surgical stapler (hereinafter referred to as a stapler) is a commonly used surgical instrument in medicine that replaces manual suturing. Its main working principle is to use a cutting blade to separate tissue and titanium staples to staple it together, similar to a stapler. Staplers are divided into various types based on their suitability for different body parts. A surgical stapler's working principle is to enter the patient's body through a cannula precisely positioned at the surgical site, then create a longitudinal incision in the tissue and apply staples on the opposite side of the incision, thereby separating and staplering the tissue.

[0003] Staplers can be operated manually or electrically for both cutting and stapling. Compared to manual methods, electric staplers are more labor-saving and convenient to use, and the cutting and stapling process is more stable. However, as a new automated medical device, electric staplers lack a sense of control over the process, making their use difficult for many surgeons. Summary of the Invention

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

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

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

[0007] frame;

[0008] an end effector movably mounted on the frame and comprising a cutting blade for performing a cutting operation on the biological tissue to be operated on;

[0009] a motor, mounted on the frame and connected to the end effector, for driving the end effector to execute;

[0010] a movable handle movably connected to the frame and movable between a first position and a second position; when the movable handle is in the first position, the cutting knife is in an initial position; after the movable handle leaves the first position, the cutting knife begins to advance, and the distance the movable handle leaves the first position corresponds to the cutting stroke of the cutting knife;

[0011] a sensing component, mounted on the frame, for sensing the position of the movable handle;

[0012] A control component is installed on the frame and is communicatively connected to the motor and the sensing component. It is used to control the operation of the motor and further control the operation of the end actuator based on the position information about the position of the movable handle sent by the sensing component.

[0013] Optionally, the sensing component is a contact sensing device, and the movable handle is provided with a contact piece that contacts the sensing component; when the movable handle moves relative to the frame, the contact piece follows the movement of the movable handle and contacts different parts of the sensing component, so that the sensing component senses the position information of the movable handle.

[0014] Optionally, the sensing component is a potentiometer, the contact member includes a conductor, and the contact member changes the output resistance of the sensing component by contacting different parts of the sensing component, thereby changing the position information of the movable handle obtained by the sensing component.

[0015] Optionally, the movable handle is hinged to the frame, and the movable handle can swing relative to the frame.

[0016] Optionally, the electric surgical instrument further comprises a gear indicating mechanism, which is mounted on the frame; the gear indicating mechanism is provided with a plurality of gears corresponding to the cutting stroke of the end effector, and the gears are triggered by the movement of the movable handle.

[0017] Optionally, the electric surgical instrument further comprises:

[0018] A safety trigger is swingably connected to the frame to switch between the engaged and released states by swinging; the safety trigger is provided with a cam groove connected to the contact member, and the contact member includes a push rod extending into the cam groove, so that: during the engagement of the safety trigger, the safety trigger swings relative to the frame, and the swing is converted into movement of the push rod toward the sensing component through the cam groove, so that the contact member contacts the sensing component; otherwise, the safety trigger is released and the contact member loses contact with the sensing component.

[0019] Optionally, the electric surgical instrument further comprises:

[0020] a trigger elastic member, one end of which abuts against the contact member, and when the safety trigger is engaged, the trigger elastic member is compressed; otherwise, the trigger elastic member rebounds to push the contact member out of contact with the sensing component;

[0021] The trigger locking member locks the safety trigger when the safety trigger is engaged.

[0022] Optionally, the sensing component is a non-contact sensing device, and the movable handle is provided with a triggering member for non-contact triggering of the sensing component; when the movable handle moves relative to the frame, the triggering member follows the movement of the movable handle to change the intensity of the trigger signal received by the sensing component, so that the sensing component obtains the position information of the movable handle.

[0023] Optionally, the sensing component is a photoelectric sensor, and the triggering member is a light source; alternatively, the sensing component is a Hall sensor, and the triggering member is a magnetic member.

[0024] In a second aspect, an embodiment of the present application provides a method for controlling the electric surgical instrument described above, the method comprising:

[0025] receiving position information about the position of the movable handle sent by the sensing component;

[0026] According to the position information, the operation of the motor is controlled, thereby controlling the cutting stroke of the end actuator.

[0027] The electric surgical instrument and control method thereof provided in the embodiment of the present application include: a frame; an end actuator movably mounted on the frame, including a cutting knife for performing a cutting operation on a biological tissue to be operated on; a motor mounted on the frame, connected to the end actuator, and used to drive the execution of the end actuator; a movable handle, movably connected to the frame, and movable between a first position and a second position; when the movable handle is in the first position, the cutting knife is in an initial position; after the movable handle leaves the first position, the cutting knife starts to advance, and the distance the movable handle leaves the first position corresponds to the cutting stroke of the cutting knife; a sensing component mounted on the frame, and used to sense the position of the movable handle; a control component mounted on the frame, and communicatively connected to the motor and the sensing component, and used to control the operation of the motor and thereby control the operation of the end actuator based on the position information about the position of the movable handle sent by the sensing component. Thus, the electric surgical instrument and control method provided by the embodiments of the present application can control the operation of the motor, and thus the operation of the end effector, by manually operating the movable handle, thereby increasing the surgeon's sense of control over the procedure and making it more convenient for the surgeon to use. Therefore, the electric surgical instrument and control method provided by the embodiments of the present application are more convenient for the surgeon to use.

[0028] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0030] Figure 1 A schematic diagram of the appearance of an electric surgical instrument provided in an embodiment of the present application;

[0031] Figure 2 A schematic diagram (exploded view) of a partial structure of an electric surgical instrument provided in an embodiment of the present application;

[0032] Figure 3 Schematic diagram of the relationship between the sensing component and the movable handle in the electric surgical instrument provided in the embodiment of the present application Figure 1 ;

[0033] Figure 4 for Figure 3 A partial enlarged schematic diagram of point A in the middle;

[0034] Figure 5 Schematic diagram of the relationship between the sensing component and the movable handle in the electric surgical instrument provided in the embodiment of the present application Figure 2 (Remove the trigger elastic part and contact part);

[0035] Figure 6 A schematic diagram of a sensing component in an electric surgical instrument provided in an embodiment of the present application;

[0036] Figure 7 A schematic diagram of a contact member in an electric surgical instrument provided in an embodiment of the present application;

[0037] Figure 8 A schematic diagram of a gear position indicating mechanism in an electric surgical instrument provided in an embodiment of the present application;

[0038] Figure 9 A schematic diagram of a gear block in an electric surgical instrument provided in an embodiment of the present application;

[0039] Figure 10 Schematic diagram of the movable handle of the electric surgical instrument provided in the embodiment of the present application in the first gear Figure 1 (The safety trigger is released);

[0040] Figure 11 Schematic diagram of the movable handle of the electric surgical instrument provided in the embodiment of the present application in the first gear Figure 2 (The safety trigger is engaged);

[0041] Figure 12 A schematic diagram of a movable handle in an electric surgical instrument provided in an embodiment of the present application in the second gear position;

[0042] Figure 13 A schematic diagram of the movable handle of the electric surgical instrument provided in an embodiment of the present application in the third gear position;

[0043] Figure 14 A schematic diagram of releasing a safety trigger in an electric surgical instrument provided by an embodiment of the present application;

[0044] Figure 15 A schematic diagram of the safety trigger engaged in the electric surgical instrument provided in an embodiment of the present application;

[0045] Figure 16 A schematic diagram of a safety trigger in an electric surgical instrument provided in an embodiment of the present application;

[0046] Figure 17 A flow chart of a control method for an electric surgical instrument provided in an embodiment of the present application.

[0047] Reference numerals:

[0048] 10. Frame; 11. Fixed handle; 20. End actuator; 30. Motor; 40. Movable handle; 41. Contact member; 411. Conductor; 412. Push rod; 42. Shift protrusion; 50. Sensing component; 51. Electrical contact groove; 71. Shift block; 711. Shift groove; 72. Shift elastic member; 80. Safety trigger; 81. Cam groove; 82. Trigger elastic member; 83. Trigger locking member. DETAILED DESCRIPTION

[0049] To make the technical solutions and beneficial effects of this application more clearly understood, the following detailed description is given by way of specific embodiments. The accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly illustrate the details of the local features. Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0050] In the description of this application, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of a simplified description of this application, and do not indicate that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be understood as a limitation to this application.

[0051] In this application, the terms "first" and "second" are used solely for descriptive purposes and should not be construed as indicating the relative importance of the features indicated or the quantity of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly include at least one of such features. Throughout this application, "plurality" means at least two, such as two or three, and "several" means at least one, such as one, two, or three, unless otherwise specifically defined.

[0052] In this application, unless otherwise expressly defined, the terms "installed," "connected," "connect," "fixed," and "disposed" should be interpreted broadly. For example, "connection" can mean fixed, removable, or integrated; it can mean mechanical or electrical; it can mean direct or indirect connection through an intermediary; it can also mean internal communication between two components or an interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0053] In the present application, unless otherwise explicitly defined, when a first feature is “on,” “above,” “above,” “above,” “below,” “below,” or “below” a second feature, the first feature and the second feature may be in direct contact, or the first feature and the second feature may be in indirect contact via an intermediate medium. Moreover, when a first feature is “on,” “above,” or “above” a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than the horizontal height of the second feature. When a first feature is “below,” “below,” or “below” a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than the horizontal height of the second feature.

[0054] In order to fully understand the present application, detailed steps and detailed structures will be presented in the following description to illustrate the technical solution of the present application. The preferred embodiments of the present application are described in detail below, but in addition to these detailed descriptions, the present application may also have other implementation methods.

[0055] During research and development, the inventors of this application discovered that the motor's operating range, such as the number of revolutions or angles, can be controlled by selecting the appropriate motor and controller. This allows the motor to be controlled to control the end effector's operating range, giving the surgeon a sense of control over the procedure.

[0056] Therefore, after further research and development, the inventor proposed the following technical solution. Example 1

[0057] The present application provides an electric surgical instrument. Figure 1and Figure 2 , the electric surgical instrument comprises:

[0058] Rack 10;

[0059] An end effector 20 is movably mounted on the frame 10 and includes a cutting blade (not shown in the figure) for performing a cutting operation on the biological tissue to be operated on;

[0060] a motor 30 mounted on the frame 10 and connected to the end effector 20 to drive the end effector 20;

[0061] A movable handle 40 is movably connected to the frame 10 and can move between a first position and a second position; when the movable handle 40 is in the first position, the cutting knife is in an initial position; after the movable handle 40 leaves the first position, the cutting knife begins to advance, and the distance the movable handle 40 leaves the first position corresponds to the cutting stroke of the cutting knife;

[0062] a sensing assembly 50 , mounted on the frame 10 , for sensing the position of the movable handle 40 ;

[0063] A control component (not shown in the figure) is installed on the frame 10 and is communicatively connected to the motor 30 and the sensing component 50. It is used to control the operation of the motor 30 based on the position information about the position of the handle sent by the sensing component 50, thereby controlling the operation of the end actuator 20.

[0064] In the embodiment of the present application, the electric surgical instrument may be an electric stapler. The following mainly introduces the electric stapler as an example. It can be understood that the above technical solution can also be applied to other electric surgical instruments.

[0065] It is understood that the frame 10 can be composed of not only one component but also a combination of multiple components. For example, the frame 10 can be composed of a base plate, a frame, a plastic shell, a plastic cover, etc. The frame 10 can be relatively fixed relative to the movable handle 40 and other moving components to support the movable handle 40 and other moving components.

[0066] The inventors of this application have found that selecting a stepper motor or a servo motor as the motor can achieve more precise and sensitive control with a simple structure. It is understood that similar control can be achieved with other motors by adding corresponding control components.

[0067] As will be appreciated, the electric surgical instrument may also include a fixed handle 11. Corresponding to the movable handle 40, the fixed handle 11 is fixedly mounted on the frame 10 and cannot be moved after installation. The operator operates the electric surgical instrument by gripping the fixed handle 11. If the movable handle 40 is used, the operator grips the fixed handle 11 with the palm of the hand and operates the movable handle 40 with the fingers.

[0068] The first position can be the initial position, i.e., the position where cutting has not yet begun. The second position is controlled by the operator through grip force. The greater the distance the movable handle 40 is from the first position (hereinafter referred to as the degree of closing), the longer the cutting stroke of the end effector 20. It should be noted that the degree of closing of the movable handle 40 is related to the length of the cutting stroke, but not to the cutting speed, which is generally set to a uniform speed. That is, the greater the degree of closing of the movable handle 40, the longer the cutting stroke of the end effector 20. However, this cutting stroke is not achieved immediately, but rather proceeds at a constant speed according to the preset cutting speed. The operator can gradually increase the degree of closing of the movable handle 40 to further increase the sense of control over the process.

[0069] It can be understood that the sensing component 50 can be a photoelectric sensor, a contact sensor, a pressure sensor, etc., without limitation.

[0070] Specifically, the control component may be a microcontroller unit (MCU), which has powerful processing and control capabilities and a simple structure.

[0071] The electric surgical instrument provided in the embodiment of the present application can control the operation of the motor 30 and further control the operation of the end effector 20 by manually operating the movable handle 40, which can increase the surgeon's sense of control over the process and make it more convenient for the surgeon to use.

[0072] Furthermore, since the operation of the cutting knife is controlled by manually operating the movable handle 40, the knife can be withdrawn during the cutting process without having to complete the entire process.

[0073] Furthermore, the sensor assembly 50 can also monitor the movement speed of the movable handle. Based on changes in the movement speed of the movable handle, the motor output power can be adjusted to increase the cutting force of the cutter. In this way, if the surgeon observes thicker tissue, they can adjust the cutting process by increasing the operating force and the movement speed of the movable handle to cope with the thicker tissue.

[0074] In some other embodiments of the present application, the sensing component 50 is a contact sensing device, and the movable handle 40 is provided with a contact member 41 that contacts the sensing component 50; when the movable handle 40 moves relative to the frame 10, the contact member 41 follows the movement of the movable handle 40 and contacts different parts of the sensing component 50, so that the sensing component 50 senses the position information of the movable handle 40, Figure 3-Figure 5 .

[0075] Understandably, contact-type sensing devices are more reliable and will not lose sensitivity due to dirt, obstruction, etc.

[0076] In other embodiments of the present application, reference is made to Figure 6 and Figure 7 The sensing component 50 is a potentiometer, and the contact member 41 includes a conductor 411. The contact member 41 changes the output resistance of the sensing component 50 by contacting different parts of the sensing component 50 through the conductor 411, thereby changing the position information of the movable handle 40 obtained by the sensing component 50.

[0077] Potentiometers are common electronic components with reliable performance and low cost.

[0078] Specifically, refer to Figure 6 The potentiometer can be a rotary potentiometer suitable for the swinging operation of the movable handle 40. In this embodiment, the rotation angle of the potentiometer is less than 90 degrees, which facilitates the operator to easily operate the movable handle 40. Therefore, more specifically, the trajectory of the contact member 41 contacting the sensing component 50 is an arc of less than 90 degrees. Accordingly, the sensing component 50 can have a smooth electrical contact groove 51 at the portion in contact with the contact member 41, which facilitates smooth movement and good contact of the contact member 41.

[0079] In some other embodiments of the present application, the movable handle 40 is hinged to the frame 10 , and the movable handle 40 can swing relative to the frame 10 .

[0080] When the rotation angle of the potentiometer is less than 90 degrees, the swinging arrangement of the movable handle 40 is convenient for the operator to operate.

[0081] Specifically, the hinged structure may be a combination of a pin and a pin hole, etc. The movable handle 40 includes a hinged end and a free end.

[0082] In other embodiments of the present application, reference is made to Figure 8The electric surgical instrument also includes a gear indicating mechanism, which is mounted on the frame 10; the gear indicating mechanism is provided with a plurality of gears corresponding to the cutting stroke of the end effector 20, and the gears are triggered by the movement of the movable handle 40.

[0083] This can further increase the operator's sense of control over the process. Since the cutting process is not as clear as the open one, a gear indicator mechanism is provided so that the cutting stroke of the cutting knife can be more clearly seen during manual operation.

[0084] In other embodiments of the present application, reference is made to Figure 8 , the gear position indicating mechanism includes:

[0085] The shift block 71 is provided with a plurality of shift grooves 711 corresponding to the respective movement positions of the movable handle 40, and the movable handle 40 is provided with a shift protrusion 42 corresponding to the shift grooves 711; when the movable handle 40 moves relative to the frame 10, the shift protrusion 42 sequentially enters or exits the plurality of shift grooves 711 to generate a sound or vibration of the shift change, refer to Figure 9 ;

[0086] The shift elastic member 72 elastically supports the shift block 71 to adjust the position of the shift block 71 when the shift protrusion 42 enters or exits the shift groove 711; when the shift protrusion 42 enters or exits the multiple shift grooves 711 in sequence, the shift elastic member 72 is compressed or released in sequence.

[0087] Figure 10-13 Schematic diagram of the movable handle 40 in various gear positions.

[0088] It is understood that the combination of the shift block 71 and the shift elastic member 72 is a design that confirms the shift position through mechanical collision. Mechanical methods are more reliable. It is also understood that the shift position can also be indicated by means of photoelectric sensors, limit switches, etc., and the indication media can not only be sound or vibration, but also light, voice, etc., and a display screen can also be provided to directly display the corresponding gear position, without limitation.

[0089] Specifically, the shift grooves 711 are distributed in an arc shape on the shift block 71 to adapt to the swing stroke of the movable handle 40 .

[0090] Specifically, the gear elastic member 72 may be a compression spring. The compression spring can more conveniently control the elastic force of the compression spring according to parameters such as wire diameter and pitch, and has low cost.

[0091] In other embodiments of the present application, reference is made to Figure 14 and Figure 15, the electric surgical instrument further comprises:

[0092] The safety trigger 80 is swingably connected to the frame 10 so as to switch between the two states of engagement and release by swinging.

[0093] This is to avoid misoperation of the structure. Because the stapler acts on the human body, the cutting operation can only be started after full confirmation to avoid medical accidents.

[0094] Specifically, the swing direction of the safety trigger 80 is the same as the movable handle 40. Like this, it is convenient for the operator's operation. For example, the operator holds the fixed handle 11 with his palm and can easily operate the safety trigger 80 by pulling with his fingers.

[0095] More specifically, the length of the safety trigger 80 is much shorter than the movable handle 40 , so that misoperation can be avoided.

[0096] In other embodiments of the present application, reference is made to Figure 16 The safety trigger 80 is provided with a cam groove 81 connected to the contact member 41, and the contact member 41 includes a push rod 412 extending into the cam groove 81, so that: when the safety trigger 80 is engaged, the safety trigger 80 swings relative to the frame 10, and the cam groove 81 converts the swing into movement of the push rod 412 toward the sensing component, so that the contact member 41 contacts the sensing component; otherwise, the safety trigger 80 is released, and the contact member 41 is out of contact with the sensing component.

[0097] The swing of the safety trigger 80 can be converted into the movement of the push rod 412 through the cam groove 81. While maintaining the swing direction of the safety trigger 80, the structure is simplified.

[0098] Specifically, the cam groove 81 can be a curved groove, and the lateral trajectory of the groove is from away from the sensing component to gradually approaching the sensing component, pushing the push rod 412 from away from the sensing component to gradually approaching the sensing component, that is, the lateral trajectory change of the curved groove will inevitably cause the inner wall of the curved groove to change accordingly in the lateral direction, and the inner wall contacts the push rod 412, pushing the push rod 412 to move toward the sensing component.

[0099] In other embodiments of the present application, reference is made to Figure 4 and Figure 10 , the electric surgical instrument further comprises:

[0100] a trigger elastic member 82 , one end of which abuts against the contact member 41 . When the safety trigger 80 is engaged, the trigger elastic member 82 is compressed. Otherwise, the trigger elastic member 82 rebounds, pushing the contact member 41 out of contact with the sensing component;

[0101] The trigger locking member 83 locks the safety trigger 80 when the safety trigger 80 is engaged.

[0102] The trigger elastic member 82 allows the contact member 41 to be reset and stabilized in position after the safety trigger 80 is released, and also allows the safety trigger 80 to be engaged more smoothly.

[0103] Specifically, the trigger elastic member 82 can be a compression spring. The compression spring can more conveniently control the elastic force of the compression spring according to parameters such as wire diameter and pitch, and has low cost.

[0104] In other embodiments of the present application, the trigger locking member 83 includes:

[0105] A fixed end, fixedly connected to the safety trigger 80;

[0106] The free end is the other end opposite to the fixed end, and the end of the free end is provided with a transverse elastic structure; the free end passes through the movable handle 40 and is clamped on the movable handle 40 through the transverse elastic structure to lock the safety trigger 80; the movable handle 40 is provided with a through hole for the free end to pass through.

[0107] Specifically, the cross-section of the trigger locking member 83 can be circular, and the transverse direction can be radial. A snap-fit ​​structure can be formed between the transverse elastic structure and the through-hole, i.e., the free end of the trigger locking member 83 serves as a snap-fit ​​head, and the through-hole serves as a snap-fit ​​groove. To release the lock, simply pinch the trigger locking member 83 radially, where the through-hole is exposed. The trigger locking member 83 will disengage from the through-hole under the elastic force of the trigger elastic member 82.

[0108] In other embodiments of the present application, the sensing component is a non-contact sensing device, and the movable handle is provided with a triggering member for non-contact triggering of the sensing component; when the movable handle moves relative to the frame, the triggering member follows the movement of the movable handle to change the intensity of the trigger signal received by the sensing component, so that the sensing component obtains the position information of the movable handle.

[0109] It can be understood that the non-contact sensing device is a wireless communication method, that is, the non-contact sensing device arranged on the frame is a receiver or controller, and the triggering member arranged on the movable handle is a transmitter.

[0110] Setting up a non-contact sensing device is simpler in structure, does not cause contact wear, and has a longer service life.

[0111] In other embodiments of the present application, the sensing component is a photoelectric sensor, and the triggering element is a light source; alternatively, the sensing component is a Hall sensor, and the triggering element is a magnetic element.

[0112] Photoelectric sensors are more sensitive, reliable, and energy-efficient. Hall effect sensors maintain their sensitivity even when exposed to dust, dirt, and other contaminants, making them adaptable to a wider range of environments. Example 2

[0113] The present application provides a method for controlling an electric surgical instrument. The method can be implemented by a computer. The computer can be a computing device equipped with a processor. The processor can be a general-purpose processor, a digital signal processor (DSP), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is understood that the computer can correspond to the control component in the first embodiment.

[0114] refer to Figure 17 , the method comprising:

[0115] Step 901: receiving position information about the position of the movable handle sent by the sensing component;

[0116] Step 902: Based on the position information, control the operation of the motor, thereby controlling the cutting stroke of the end effector.

[0117] It is understood that the location information sent by the sensing component can be received via a wired or wireless method. The reception can be continuous, timed, or based on a trigger signal, etc., without limitation.

[0118] The operation of controlling the motor can be direct control or indirect control, without limitation.

[0119] The control method of the electric surgical instrument in the embodiment of the present application can control the operation of the motor by manually operating the movable handle, and then control the operation of the end actuator, which can increase the surgeon's sense of control over the process and make it more convenient for the surgeon to use.

[0120] The technical content of this embodiment is related to the technical content of Example 1 and has similar beneficial effects. For technical details not disclosed in this embodiment, please refer to the description of Example 1 for understanding. Example 3

[0121] An embodiment of the present application provides a control device for an electric surgical instrument, the control device for an electric surgical instrument comprising:

[0122] a receiving module, configured to receive position information about the position of the movable handle sent by the sensing component;

[0123] The control module is used to control the operation of the motor according to the position information, thereby controlling the cutting stroke of the end actuator.

[0124] Each module included in this embodiment can be implemented by a processor in a computer; of course, it can also be implemented by a logic circuit in the computer. The processor can be a general-purpose processor, a digital signal processor (DSP), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a central processing unit (CPU), a microprocessor (MPU), or any other conventional processor.

[0125] The description of the above device embodiment is similar to the description of the above method embodiment and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiment of this application, please refer to the description of the method embodiment in this application for understanding. Example 4

[0126] An embodiment of the present application provides a computing device, comprising: a storage component, a communication bus, and a processing component, wherein:

[0127] The storage component is used to store the control method program of the electric surgical instrument;

[0128] The communication bus is used to realize the connection and communication between the storage component and the processing component;

[0129] The processing component is used to execute the control method program of the electric surgical instrument to implement the steps of the method described in the second embodiment.

[0130] The type or structure of the storage component can be found in the storage medium below and will not be described in detail here.

[0131] The processing unit may be a general-purpose processor, a digital signal processor (DSP), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a central processing unit (CPU), a microprocessor (MPU), or any other conventional processor.

[0132] In some embodiments, the computing device may further include input devices, output devices, and external communication interfaces. These components are interconnected via a bus system and / or other connection mechanisms (not shown). In this embodiment, the input devices may include network connectors, analog-to-digital converters, and the like, and the output devices may include displays, speakers, and the like.

[0133] The description of the computing device embodiment above is similar to the description of the method embodiment above, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the computing device embodiment of this application, please refer to the description of the method embodiment in this application for understanding. Example 5

[0134] An embodiment of the present application provides a computer-readable storage medium having an executable program stored thereon. When the executable program is executed by a processor, the steps of the method described in the second embodiment are implemented.

[0135] Exemplarily, the computer-readable storage medium may adopt any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A computer-readable storage medium is a tangible device that can hold and store instructions used by an instruction execution device. The readable storage medium may include, for example, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), a flash memory, a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the above. Among them:

[0136] The RAM includes: static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).

[0137] The ROM includes: Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM).

[0138] The description of the computer-readable storage medium embodiment above is similar to the description of the method embodiment above, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the computer-readable storage medium of this embodiment, please refer to the description of the method embodiment in this application for understanding.

[0139] It should be noted that the various embodiments provided in the embodiments of the present application belong to the same concept; the various technical features in the technical solutions recorded in the various embodiments can be arbitrarily combined without conflict.

[0140] It should be understood that the above embodiments are exemplary and are not intended to encompass all possible implementations of the claims. Various modifications and variations may be made to the above embodiments without departing from the scope disclosed herein. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form additional embodiments of the present application that may not be explicitly described. Therefore, the above embodiments merely illustrate several implementations of the present application and do not limit the scope of protection of the patent application.

Claims

1. An electric surgical instrument, characterized in that: include: frame; An end effector, movably mounted on the frame, comprising a cutting knife for performing a cutting operation on the biological tissue to be operated on; A motor, mounted on the frame, connected to the end actuator, and used to drive the end actuator to execute; A movable handle is movably connected to the frame and can move between a first position and a second position; when the movable handle is in the first position, the cutting knife is in an initial position; after the movable handle leaves the first position, the cutting knife starts to advance, and the distance that the movable handle leaves the first position corresponds to the cutting stroke of the cutting knife; A sensing component, mounted on the frame, for sensing the position of the movable handle; A control component is installed on the frame, communicatively connected to the motor and the sensing component, and is used to control the operation of the motor and further control the operation of the end actuator based on the position information about the position of the movable handle sent by the sensing component.

2. The electric surgical instrument according to claim 1, characterized in that: The sensing component is a contact sensing device, and the movable handle is provided with a contact piece that contacts the sensing component; when the movable handle moves relative to the frame, the contact piece follows the movement of the movable handle and contacts different parts of the sensing component, so that the sensing component senses the position information of the movable handle.

3. The electric surgical instrument according to claim 2, characterized in that: The sensing component is a potentiometer, the contact member includes a conductor, and the contact member changes the output resistance of the sensing component by contacting different parts of the sensing component, thereby changing the position information of the movable handle obtained by the sensing component.

4. The electric surgical instrument according to claim 1, characterized in that: The movable handle is hinged on the frame, and the movable handle can swing relative to the frame.

5. The electric surgical instrument according to claim 1, characterized in that: The electric surgical instrument further comprises a gear indicating mechanism, which is mounted on the frame; the gear indicating mechanism is provided with a plurality of gears corresponding to the cutting stroke of the end actuator, and the gears are triggered by the movement of the movable handle.

6. The electric surgical instrument according to claim 2, characterized in that: The electric surgical instrument further comprises: A safety trigger is swingably connected to the frame to switch between the two states of engagement and release by swinging; the safety trigger is provided with a cam groove connected to the contact piece, and the contact piece includes a push rod extending into the cam groove, so that: during the engagement of the safety trigger, the safety trigger swings relative to the frame, and the swing is converted into movement of the push rod toward the sensing component through the cam groove, so that the contact piece contacts the sensing component; otherwise, the safety trigger is released, and the contact piece is out of contact with the sensing component.

7. The electric surgical instrument according to claim 6, characterized in that: The electric surgical instrument further comprises: a trigger elastic member, one end of which abuts against the contact member, and when the safety trigger is engaged, the trigger elastic member is compressed; otherwise, the trigger elastic member rebounds to push the contact member out of contact with the sensing component; The trigger locking member locks the safety trigger when the safety trigger is engaged.

8. The electric surgical instrument according to claim 1, characterized in that: The sensing component is a non-contact sensing device, and the movable handle is provided with a trigger member for non-contact triggering of the sensing component; when the movable handle moves relative to the frame, the trigger member follows the movement of the movable handle to change the intensity of the trigger signal received by the sensing component, so that the sensing component obtains the position information of the movable handle.

9. The electric surgical instrument according to claim 8, characterized in that: The sensing component is a photoelectric sensor, and the triggering element is a light source; alternatively, the sensing component is a Hall sensor, and the triggering element is a magnetic element.

10. A control method for an electric surgical instrument according to any one of claims 1 to 9, characterized in that: The method comprises: receiving position information about the position of the movable handle sent by the sensing component; According to the position information, the operation of the motor is controlled, thereby controlling the cutting stroke of the end actuator.

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