Surgical instrument control mechanism and control method

Abstract

The invention relates to the technical field of surgical instruments, and particularly discloses a surgical instrument control mechanism and a control method.The control mechanism comprises a mounting rack, an end actuator, a driving motor, an operating handle, a sensing assembly and a control assembly; the operation handle is pressed to the bottom for many times to achieve clamping and cutting operation of the end executor, and the number of times of pressing the operation handle to the bottom corresponds to the cutting stroke of the end executor. Electric operation is improved, a user can achieve electric control through handle holding operation, and stable suturing is facilitated.

Description

Technical Field

[0001] The present application relates to the technical field of surgical instruments, and in particular, to a surgical instrument control mechanism and control method. Background Art

[0002] Since smaller incisions can often shorten postoperative recovery time and reduce complications, staplers have become the most commonly used minimally invasive surgical instruments, which have actions such as opening and closing the jaws and advancing and retracting the cutting knife. Common staplers are manually driven, and this type of stapler has a long history of use. Compared with traditional manual drive solutions, the electric staplers currently available are more labor-saving and easy to operate, and the cutting and suturing process is also more stable. Since the current electric staplers use button-type electric control, surgeons do not have the operating feel of using manual drive for many years when performing operations such as jaw closing and cutting and anastomosis. Therefore, many surgeons do not choose to use electric staplers in clinical practice. Summary of the invention

[0003] The purpose of the present application is to provide a shell instrument control mechanism and control method, which improves the electric operation, and the user can achieve electric control by holding the handle to facilitate stable suturing.

[0004] The embodiment of the present application is implemented as follows: In a first aspect, an embodiment of the present application provides a surgical instrument control mechanism, comprising: a mounting frame; An end effector, mounted on a mounting frame, for performing clamping and cutting operations on biological tissue to be operated on; A driving motor is mounted on the mounting frame and is drivingly connected to the end effector to drive the movement of the end effector; An operating handle, which is movably coordinated with the mounting frame; the operating handle is pressed to the bottom for multiple times to realize the clamping and cutting operations of the end actuator, and the number of times the operating handle is pressed to the bottom corresponds to the cutting stroke of the end actuator; A sensing component, mounted on the mounting frame, for sensing the position of the operating handle; The control component is communicatively connected to the drive motor and the sensing component, and is used to control the operation of the drive motor and further control the operation of the end actuator based on the information about the position of the operating handle sent by the sensing component.

[0005] As an optional implementation, a transmission mechanism is also included.

[0006] As an optional implementation, the transmission mechanism is a contact transmission mechanism or a non-contact transmission mechanism.

[0007] As an optional implementation, the transmission mechanism is a contact transmission mechanism, which is installed between the operating handle and the sensing component, and the sensing component senses the position of the operating handle through the transmission mechanism.

[0008] As an optional implementation, the transmission mechanism is a non-contact transmission mechanism, which is installed between the operating handle and the fixed handle, and between the operating handle and the sensing component. The sensing component senses the position of the operating handle through the transmission mechanism.

[0009] As an optional implementation, a linkage mechanism is also included, and the linkage mechanism is used to connect the transmission mechanism and the sensing component.

[0010] As an optional embodiment, the transmission mechanism includes a ratchet and a pawl connected to the ratchet; the operating handle is used to drive the ratchet to rotate a preset angle through the pawl when the operating handle is pressed.

[0011] As an optional implementation, the sensing component is a potentiometer; the potentiometer is provided with a sliding contact portion electrically connected to the control component.

[0012] As an optional implementation, the potentiometer is a linear potentiometer.

[0013] As an optional embodiment, the linkage mechanism includes a connecting rod having one end hinged to an eccentric rotating shaft arranged on the ratchet and the other end hinged to the sliding contact part; a sliding guide structure connected to the sliding contact part is provided on the linear potentiometer, and the sliding guide structure is arranged along an extension path of the linear potentiometer; when the ratchet is driven to rotate, the connecting rod drives the sliding contact part to move back and forth on the extension path of the linear potentiometer.

[0014] As an optional embodiment, when the sliding contact part is driven to move forward on the linear potentiometer, the drive motor rotates forward and drives the end actuator to perform a closing action and a feed action; or, when the sliding contact part is driven to move reversely on the linear potentiometer, the drive motor rotates reversely and drives the end actuator to perform an opening action and a retracting action.

[0015] As an optional implementation, the potentiometer is a disk-type potentiometer.

[0016] As an optional embodiment, when the ratchet rotates the first circle, the drive motor rotates forward and drives the end actuator to complete the closing action and the cutting knife to complete the advancing action; when the ratchet rotates the second circle, the drive motor rotates reversely and drives the end actuator to complete the opening action and the cutting knife to complete the retracting action.

[0017] As an optional embodiment, a stop pawl and a spring clip are provided on the mounting frame; the stop pawl is rotatably mounted on the mounting frame, and one end of the stop pawl abuts against the ratchet, so as to generate a force to prevent the ratchet from rotating in the opposite direction; one end of the spring clip is fixed on the mounting frame, and the other end abuts against the stop pawl, so as to generate a force to push the stop pawl close to the ratchet.

[0018] As an optional embodiment, an operating handle is rotatably mounted on a mounting frame; the operating handle is provided with a pawl shaft perpendicular to the plane where the ratchet wheel is located, and the pawl is mounted on the pawl shaft; the operating handle is provided with a pushing portion located on one side of the pawl shaft and abutting against the pawl; the operating handle drives the pawl to move through the pushing portion, and causes the pawl to move the ratchet wheel.

[0019] As an optional implementation, a torsion spring is sleeved on the pawl shaft, one end of the torsion spring is fixed, and the other end is in contact with the pawl, so as to generate an elastic force that causes the pawl to contact with the pushing portion.

[0020] As an optional implementation, a safety mechanism is provided on the operating handle for locking the operating handle.

[0021] In a second aspect, an embodiment of the present application provides a surgical instrument control method, which adopts the above-mentioned surgical instrument control mechanism, including: The operating handle is pressed, and the sensing component detects the position of the operating handle and generates an electrical signal; The control component receives the electrical signal from the sensing component and drives the drive motor to rotate a corresponding preset number of circles according to the electrical signal to drive the end actuator to open and close and / or the cutting knife to advance and retreat.

[0022] As an optional implementation, the operating handle is pressed, and the sensing component detects the position of the operating handle and generates an electrical signal, including: The operating handle drives the ratchet wheel to rotate to a preset angle through the ratchet pawl according to the pressing operation, and the ratchet wheel drives the sliding contact part to move on the potentiometer.

[0023] As an optional implementation, the operating handle drives the ratchet to rotate a preset angle through the pawl according to the pressing operation, and the ratchet drives the sliding contact part to move on the potentiometer. Specifically: The operating handle causes the pawl to drive the ratchet wheel to rotate one tooth according to the pressing operation, and the ratchet wheel drives the sliding contact part to move a preset distance on the potentiometer; The control component receives the electrical signal from the sensing component and drives the drive motor to rotate a corresponding preset number of circles according to the electrical signal to drive the end effector to open and close and / or the cutting knife to advance and retreat, including: The drive motor rotates forward a preset number of turns to drive the end actuator to close.

[0024] As an optional implementation, pressing the operating handle until the pawl drives the ratchet to rotate multiple teeth, and the sliding contact part moves multiple preset distances on the potentiometer in sequence, and the method also includes: The control component obtains an opening and closing signal of the end effector; When the end effector is in a closed state, the drive motor is driven to rotate forward for a preset number of turns corresponding to the electric signal generated by the movement of the potentiometer, thereby driving the cutting knife of the end effector to step forward and complete the feeding action.

[0025] As an optional implementation, pressing the operating handle until the pawl drives the ratchet to rotate multiple teeth, and the sliding contact part moves multiple preset distances on the potentiometer in sequence, and the method also includes: The controller obtains a position signal of a cutting knife of the end effector; When the cutting knife of the end effector is in the position of completing the feeding action, the driving motor is driven to reverse according to the electrical signal generated by the movement of the potentiometer, so as to drive the cutting knife to retract to the initial position and drive the end effector to open.

[0026] The beneficial effects of the embodiments of the present application include: Compared with the existing button-type electric stapler, the surgical instrument control mechanism provided in the embodiment of the present application can simulate the operating actions in manual control through the operating handle to achieve electric control. It not only has the characteristic of convenient operation but also has the advantage of labor saving, making the cutting and suturing process more stable.

[0027] The surgical instrument control method provided in the embodiment of the present application adopts the above-mentioned surgical instrument control mechanism. The surgical instrument control method provided in the embodiment of the present application enables the user to realize step control of the cutting knife and flexible control of the cutting knife stroke, which is convenient for realizing different feed strokes according to needs, greatly expanding the application range of the cutting knife of the end actuator and enhancing the flexibility of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 This is one of the structural schematic diagrams of the surgical instrument control mechanism of the embodiment of the present application; Figure 2 This is the second structural diagram of the surgical instrument control mechanism of the embodiment of the present application; Figure 3This is the third structural diagram of the surgical instrument control mechanism of the embodiment of the present application; Figure 4 This is the fourth structural diagram of the surgical instrument control mechanism of the embodiment of the present application; Figure 5 This is the fifth structural diagram of the surgical instrument control mechanism of the embodiment of the present application; Figure 6 This is the sixth structural diagram of the surgical instrument control mechanism of the embodiment of the present application; Figure 7 This is the seventh structural diagram of the surgical instrument control mechanism of the embodiment of the present application; Figure 8 This is the eighth structural diagram of the surgical instrument control mechanism of the embodiment of the present application; Fig. 9 This is one of the module diagrams of the surgical instrument control method according to an embodiment of the present application; Fig.10 This is the second module diagram of the surgical instrument control method according to an embodiment of the present application.

[0030] icon: 100-mounting frame; 101-operating handle; 102-driving motor; 103-linear potentiometer; 104-ratchet; 105-pawl; 106-sliding contact portion; 107-connecting rod; 108-eccentric shaft; 109-stop claw; 110-spring; 111-pawl shaft; 112-pushing portion; 113-torsion spring; 114-sliding guide structure; 115-disc potentiometer; 116-transmission mechanism. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0033] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0034] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0035] Since smaller incisions can often shorten postoperative recovery time and reduce complications, staplers have become the most commonly used minimally invasive surgical instruments, which have actions such as opening and closing the jaws and advancing and retracting the cutting knife. Common staplers are manually driven, and this type of stapler has a long history of use. Compared with traditional manual drive solutions, the electric staplers currently available are more labor-saving and easy to operate, and the cutting and suturing process is also more stable. Since the current electric staplers use button-type electric control, surgeons do not have the operating feel of using manual drive for many years when performing operations such as jaw closing and cutting and anastomosis. Therefore, many surgeons do not choose to use electric staplers in clinical practice.

[0036] In order to solve the above technical problems, the embodiments of the present application provide a surgical instrument control mechanism and an anastomosis device.

[0037] Reference Figure 1 , Figure 2 As shown, the embodiment of the present application provides a surgical instrument control mechanism, including a mounting frame 100; An end effector, mounted on a mounting frame, for performing clamping and cutting operations on biological tissue to be operated on; The driving motor 102 is mounted on the mounting frame 100 and is in driving connection with the end effector to drive the movement of the end effector; it is used to control the opening and closing of the end effector and the linear movement of the cutting blade of the end effector; The operating handle 101 is movably matched with the mounting frame 100; the operating handle 101 is pressed to the bottom several times to realize the clamping and cutting operation of the end effector, and the number of times the operating handle 101 is pressed to the bottom corresponds to the cutting stroke of the end effector; A sensing component, mounted on the mounting frame 100, for sensing the position of the operating handle 101; The control component is communicatively connected to the drive motor and the sensing component, and is used to control the operation of the drive motor and further control the operation of the end actuator based on the information about the position of the operating handle sent by the sensing component.

[0038] The sensing component includes a potentiometer installed on the mounting frame 100; the potentiometer is provided with a sliding contact portion 106 electrically connected to the control component. The potentiometer is used to sense the position of the operating handle 101. It should be noted that the sensing component may also include a Hall position detection module, a photoelectric position detection module and a micro switch module, which can be selected by those skilled in the art according to their needs.

[0039] The transmission mechanism 116 is also included, and the transmission mechanism 116 can be a contact transmission mechanism or a non-contact transmission mechanism.

[0040] Exemplarily, the transmission mechanism 116 includes a ratchet 104 and a pawl 105 connected to the ratchet 104; a linkage mechanism connected to the sliding contact portion 106 on the potentiometer is provided on the ratchet 104; the user pulls the operating handle 101, and drives the ratchet 104 to rotate a preset angle through the pawl 105, and the ratchet 104 drives the sliding contact portion 106 to move on the potentiometer through the linkage mechanism, and the potentiometer generates a control signal to cause the drive motor 102 to rotate a preset number of circles to enable the end actuator to operate.

[0041] The control component of the embodiment of the present application is communicatively connected to the drive motor 102 and the sensing component, and is used to control the operation of the drive motor 102 and further control the operation of the end actuator based on the information about the position of the operating handle 101 sent by the sensing component.

[0042] It should be noted that the operating handle 101 of the embodiment of the present application replaces the button electric control method in the prior art. The embodiment of the present application can simulate the operating action of the handle in the manual drive method to achieve more stable electric control of the cutting and suturing process.

[0043] It should be noted that the operating handle 101 of the embodiment of the present application is rotatably arranged on the mounting frame 100. The user can rotate the operating handle 101 on the mounting frame 100 by pulling the main part of the operating handle 101, and at the same time drive the pawl 105 and the ratchet wheel 104 to move.

[0044] It should be noted that an elastic damping structure is also provided on the mounting frame 100 to reset the operating handle 101. The elastic damping structure is compressed to store elastic potential energy when the operating handle 101 drives the pawl 105 and the ratchet 104 to rotate. When the user releases the operating handle 101, the elastic damping structure releases the elastic potential energy and pushes the operating handle 101 to rotate in the reverse direction. At this time, the pawl 105 is reset to the previous state, and the ratchet 104 does not rotate in the reverse direction.

[0045] Exemplarily, a stop pawl 109 and a spring clip 110 are provided on the mounting frame 100; the stop pawl 109 is rotatably mounted on the mounting frame 100, and one end abuts against the ratchet 104, for generating a force to prevent the ratchet 104 from rotating in the opposite direction; one end of the spring clip 110 is fixed on the mounting frame 100, and the other end abuts against the stop pawl 109, generating a force to push the stop pawl 109 close to the ratchet 104.

[0046] The embodiment of the present application prevents the ratchet 104 from rotating in the opposite direction when the operating handle 101 is reset through the above-mentioned structural arrangement.

[0047] For example, refer to Figure 3 As shown, the operating handle 101 is rotatably mounted on the mounting frame 100; the operating handle 101 is provided with a pawl shaft 111 which is perpendicular to the plane where the ratchet 104 is located, and the pawl 105 is installed on the pawl shaft 111; the operating handle 101 is provided with a pushing portion 112 which is located on one side of the pawl shaft 111 and abuts against the pawl 105; the operating handle 101 drives the pawl 105 to move through the pushing portion 112, and causes the pawl 105 to turn the ratchet 104.

[0048] A torsion spring 113 is sleeved on the pawl shaft 111 , one end of the torsion spring 113 is fixed, and the other end abuts against the pawl 105 , so as to generate an elastic force to abut the pawl 105 against the pushing portion 112 .

[0049] It should be noted that the pawl 105 is rotatably mounted on the operating handle 101, and the rotation plane of the pawl 105 is arranged parallel to the rotation plane of the ratchet 104. The pawl 105 has a claw tip portion that can drive the ratchet 104 to rotate and a butting tail portion that abuts against the push portion 112, and the rotation axis of the pawl 105 is located between the claw tip portion and the butting tail portion.

[0050] Specifically, refer to Figure 3 , Figure 4 As shown, the user pulls the operating handle 101 to rotate it on the mounting frame 100, and the push portion 112 on the operating handle 101 abuts against the abutting tail, so that the ratchet 105 cannot rotate toward the abutting tail on the operating handle 101. At this time, the pawl tip contacts the ratchet teeth on the ratchet wheel 104, and the ratchet wheel 104 rotates one tooth clockwise.

[0051] The user releases the operating handle 101, and the operating handle 101 is reset under the action of the elastic damping structure. Specifically, the pawl 105 will also contact the ratchet 104 when resetting, and generate a force to drive the ratchet 104 to rotate counterclockwise. The embodiment of the present application prevents the ratchet 104 from rotating counterclockwise by setting the stop pawl 109 and the spring 110, and the torsion spring 113 is set to enable the pawl tip of the pawl 105 to rotate on the operating handle 101 in a direction away from the ratchet 104, thereby achieving the release of the rigid coupling between the pawl 105 and the ratchet 104 during resetting. After the pawl 105 is reset, the tail portion continues to contact the push portion 112 under the action of the torsion spring 113, and the ratchet 104 can be dialed next time. Therefore, the embodiment of the present application performs intermittent rotation control as a whole to achieve step control of the drive motor 102.

[0052] The preset number of teeth on the ratchet 104 can be set by those skilled in the art as required, and is not particularly limited thereto.

[0053] For example, the ratchet 104 rotates 360°, and there are 10 teeth on the ratchet 104. Each time a tooth is turned, the ratchet 104 rotates 36°. At this time, the sliding contact portion 106 moves a corresponding distance on the potentiometer, thereby generating an electrical signal, which causes the drive motor 102 to rotate a corresponding number of circles or angles.

[0054] Explanation of preset angles and preset number of circles: The preset angle may be equal to the angle generated by the ratchet 104 rotating one tooth, or may be equal to the angle generated by the ratchet 104 rotating multiple teeth. When the ratchet 104 rotates one tooth, the drive motor 102 rotates a corresponding angle in time, and the size of the corresponding angle may be set as required by a person skilled in the art. The preset number of revolutions of the drive motor 102 may be pre-set in the controller. For example, for each rotation of the ratchet 104 by one tooth, the drive motor 102 may rotate 3 revolutions or 6 revolutions, wherein the specific number of revolutions may be set as required by a person skilled in the art, and is not specifically limited here.

[0055] The purpose of the preset number of revolutions of the driving motor 102 is to control the distance of each step of the cutting knife during the stepping motion of the cutting knife. That is to say, the setting of the specific value of the preset number of revolutions determines the unit moving distance of the cutting knife during the stepping motion.

[0056] The ratchet 104 of the embodiment of the present application is provided with a linkage mechanism connected to the sliding contact portion 106 on the potentiometer. In specific use, the user pulls the operating handle 101, drives the ratchet 104 to rotate a first preset angle through the pawl 105, and the ratchet 104 drives the sliding contact portion 106 to move on the potentiometer through the linkage mechanism, and drives the motor 102 to rotate a second preset angle accordingly.

[0057] Compared with the existing button-type electric stapler, the embodiment of the present application can simulate the operating actions in manual control through the operating handle 101 to achieve electric control. It is not only easy to operate but also has the advantage of labor saving, making the cutting and suturing process more stable.

[0058] Reference Figure 1 , Figure 2 As shown, as an optional embodiment, the potentiometer is a linear potentiometer 103; the linkage mechanism includes a connecting rod 107, one end of the connecting rod 107 is hinged to the eccentric rotating shaft 108 arranged on the ratchet 104, and the other end is hinged to the sliding contact part 106; the linear potentiometer 103 is provided with a sliding guide structure 114 connected to the sliding contact part 106, and the sliding guide structure 114 is arranged along the extension path of the linear potentiometer 103; when the ratchet 104 is driven to rotate, the connecting rod 107 drives the sliding contact part 106 to move back and forth on the extension path of the linear potentiometer 103.

[0059] Furthermore, the potentiometer in the embodiment of the present application is a linear potentiometer 103 , and the sliding contact portion 106 can slide linearly on the linear potentiometer 103 .

[0060] It should be noted that, in the embodiment of the present application, an eccentric shaft 108 is provided on the ratchet 104, that is, there is a spacing between the hinge axis between the end of the connecting rod 107 and the eccentric shaft 108 and the rotation axis of the ratchet 104. In the embodiment of the present application, the crank connecting rod 107 mechanism is formed by the connecting rod 107 and the eccentric shaft 108 on the ratchet 104, thereby realizing the movement control of the sliding contact part 106.

[0061] In the embodiment of the present application, the ratchet 104 rotates half the number of teeth to make the sliding contact part 106 complete a unidirectional movement on the linear potentiometer 103, and the sliding contact part 106 completes a reciprocating motion when the ratchet 104 rotates one circle. In the embodiment of the present application, the movement stroke of the end effector and the cutting knife of the end effector can be connected to the movement stroke of the sliding contact part 106, and control can be achieved without using a sensor.

[0062] Exemplarily, when the sliding contact portion 106 is driven to move forward on the linear potentiometer 103, the drive motor 102 rotates forward and drives the end actuator to close and the cutting knife of the end actuator to advance; or, when the sliding contact portion 106 is driven to move reversely on the linear potentiometer 103, the drive motor 102 rotates reversely and drives the end actuator to open and the cutting knife of the end actuator to retract.

[0063] Furthermore, the total stroke of the cutting knife of the end actuator is related to the specifications of the stapler assembly used with the stapler body. The specifications of the stapler assembly are different, and the total stroke of the corresponding cutting knife in advancing or retracting is different.

[0064] For details, please refer to Figure 4 , Figure 5 , Figure 6 as well as Figure 7 As shown in the motion state, the reciprocating motion of the sliding contact part 106 on the linear potentiometer 103 is realized.

[0065] Reference Figure 4 As shown in the moving state, the sliding contact portion 106 moves to an end of the linear potentiometer 103 close to the ratchet 104.

[0066] Reference Figure 5 As shown in the motion state, the pawl 105 pushes the ratchet wheel 104 to rotate. Figure 4 Status Movement Figure 5 state, at which time the sliding contact portion 106 gradually moves away from the ratchet wheel 104, that is, moves in the reverse direction.

[0067] Reference Figure 6 As shown in the motion state shown in FIG. 1 , the pawl 105 continues to push the ratchet wheel 104 to rotate. Figure 5 Status Movement Figure 6 State, at this time, the sliding contact portion 106 moves on the linear potentiometer 103 to the end away from the ratchet 104.

[0068] Reference Figure 7 As shown in the motion state shown in FIG. 1 , the pawl 105 continues to push the ratchet wheel 104 to rotate. Figure 6 Status Movement Figure 7 In this state, the sliding contact portion 106 gradually moves in the linear potentiometer 103 toward the ratchet wheel 104, that is, moves in the positive direction.

[0069] Exemplarily, the ratchet 104 has 6 teeth, and the nail magazine assembly is selected to be a 30mm specification model.

[0070] When the user pulls the operating handle 101 for the first time, the ratchet 104 rotates one tooth, the sliding contact portion 106 moves forward a preset distance on the linear potentiometer 103, and the drive motor 102 rotates forward a corresponding preset number of circles to drive the end actuator to close.

[0071] When the user pulls the operating handle 101 for the second time, the ratchet 104 rotates one tooth, the sliding contact part 106 moves forward a preset distance on the linear potentiometer 103, and the driving motor 102 rotates forward a corresponding preset number of circles, driving the cutting knife of the end actuator to step a unit of movement distance; when the user pulls the operating handle 101 for the third time, the ratchet 104 rotates one tooth again, the sliding contact part 106 moves forward a preset distance on the linear potentiometer 103, and the driving motor 102 rotates forward a corresponding preset number of circles, driving the cutting knife of the end actuator to step a unit of movement distance again. At this time, the feed stroke is completed. The single step feed stroke can be set to 15mm, and the two step feed strokes are 30mm in total, and the entire feed stroke is 30mm. At this time, the ratchet 104 rotates half a circle.

[0072] The user pulls the operating handle 101 for the fourth time, the ratchet 104 rotates one tooth, the sliding contact portion 106 moves in the opposite direction a preset distance on the linear potentiometer 103, the drive motor 102 reverses and drives the rear leg of the cutting knife of the end effector to move a unit of distance. Continuous multiple pulls realize the retraction stroke, so that the cutting knife is reset.

[0073] After the sliding contact portion 106 moves in the opposite direction on the linear potentiometer 103 for at least a preset distance, the driving motor 102 reverses and drives the end actuator to open at the same time.

[0074] It should be noted that, after completing the entire action, the ratchet wheel 104 rotates exactly one circle.

[0075] It should be noted that the ratchet wheel 104 rotates one circle to complete the entire operation process, which is a preferred implementation method disclosed in the embodiment of the present application, and is not the only control method of the above-mentioned mechanism.

[0076] Reference Figure 8 As shown, as an optional embodiment, the potentiometer is a disk-type potentiometer 115; the central axis of the ratchet 104 coincides with the central axis of the disk-type potentiometer 115; the linkage mechanism includes an eccentric connecting portion arranged on the ratchet 104, and the eccentric connecting portion is connected to the sliding contact portion 106 on the disk-type potentiometer 115, and the ratchet 104 is driven to drive the sliding contact portion 106 to rotate around the central axis on the disk-type potentiometer 115. Different from the above-mentioned implementation, the embodiment of the present application adopts a disk-type potentiometer 115 to control the driving motor 102 through the rotational movement of the sliding contact portion 106 .

[0077] Among them, when the ratchet 104 rotates the first circle, the drive motor 102 rotates forward and drives the end actuator to complete the closing action and the cutting knife of the end actuator to complete the advancing action; when the ratchet 104 rotates the second circle, the drive motor 102 rotates reversely and drives the end actuator to complete the opening action and the cutting knife of the end actuator to complete the retracting action.

[0078] As an optional implementation, a rotation angle sensor is installed at the output end of the driving motor 102 to detect the rotation angle of the driving motor 102 .

[0079] In the embodiment of the present application, the ratchet 104 can be rotated to a certain angle so that the end effector and the cutting knife of the end effector can perform corresponding operation actions. In particular, the embodiment of the present application detects the rotation angle of the drive motor 102 through an angle sensor, and the angle sensor can also be set in the above embodiment as needed to ensure control accuracy.

[0080] The embodiment of the present application provides a surgical instrument control method, which adopts the above-mentioned surgical instrument control mechanism, and the control method includes: The operating handle 101 is pressed, and the sensing component detects the position of the operating handle 101 and generates an electrical signal; The operating handle 101 drives the ratchet 104 to rotate a preset angle through the pawl 105, and the ratchet 104 drives the sliding contact part 106 to move on the potentiometer; The controller receives the electrical signal from the sensing component and drives the drive motor 102 to rotate a corresponding preset number of circles according to the electrical signal to drive the end actuator to open and close and / or the cutting knife of the end actuator to move.

[0081] Reference Fig. 9 As shown, the potentiometer is used as a sensing component and can generate an electrical signal according to the movement of the sliding contact portion 106.

[0082] Further, the operating handle 101 drives the ratchet 104 to rotate a preset angle through the pawl 105 according to the pressing operation, and the ratchet 104 drives the sliding contact part 106 to move on the potentiometer. Specifically: The operating handle 101 causes the pawl 105 to drive the ratchet 104 to rotate one tooth according to the pressing operation, and the ratchet 104 drives the sliding contact part 106 to move a preset distance on the potentiometer; The control component receives the electrical signal from the sensing component and drives the drive motor 102 to rotate a corresponding preset number of circles according to the electrical signal to drive the end effector to open and close and / or the cutting knife to advance and retreat, including: The driving motor 102 rotates forward a corresponding preset number of turns to drive the end actuator to close.

[0083] Further, the operating handle 101 is pressed to drive the ratchet 105 to rotate a plurality of teeth of the ratchet wheel 104, and the sliding contact portion 106 moves a plurality of preset distances on the potentiometer in sequence. The method further includes: The control component obtains an opening and closing signal of the end effector; When the end effector is in a closed state, the drive motor 102 is driven to rotate forward for a corresponding preset number of circles according to the electrical signal of the potentiometer, thereby driving the cutting knife of the end effector to step forward and complete the feeding action.

[0084] Further, the operating handle 101 is pressed to drive the ratchet 105 to rotate a plurality of teeth of the ratchet wheel 104, and the sliding contact portion 106 moves a plurality of preset distances on the potentiometer in sequence. The method further includes: The controller obtains a position signal of a cutting knife of the end effector; When the cutting knife of the end effector is in the position of completing the feeding action, the driving motor 102 is driven to reverse according to the electrical signal of the potentiometer, so as to drive the cutting knife to retreat to the initial position and drive the end effector to open.

[0085] It should be noted that the surgical instrument control mechanism also includes a nail magazine detection module for detecting the specifications and models of the nail magazine assembly used with the stapler, a storage module for storing the values ​​of the preset number of motor turns or the preset angles according to different nail magazine assemblies, an electrical signal generating mechanism for receiving the standard model of the nail magazine assembly detected by the nail magazine detection module, and an actuator composed of a jaw assembly and a cutting knife assembly.

[0086] Reference Fig.10 As shown, the stapler detection module detects the specifications and models of the stapler assembly used with the stapler, and the electrical signal generating mechanism transmits the information to the controller. The controller selects the stored information of the preset number of motor turns or preset angles stored in the storage module according to the information of the specifications and models of the stapler assembly sent by the electrical signal generating mechanism, and controls the actuator to perform the corresponding jaw opening and closing or cutting knife advancing and retreating actions.

[0087] It should be noted that the specific type of the detection module can be selected by those skilled in the art according to needs.

[0088] It should be noted that the preset number of forward and reverse rotations of the drive motor 102 can be set separately in the controller. In the feed stroke, the preset number of forward rotations can be set smaller to ensure the refinement of the unit step distance of the cutting knife; for example, each step distance in the feed stroke is recorded as a, a is 3-5mm, or other distances, then the range of the entire feed stroke is an integer multiple of a, where the size of the integer multiple depends on the number of times the operating wrench is pulled.

[0089] Exemplarily, when a is 10 mm, the knife feed stroke is 30 mm after 4 turns. Exemplarily, when a is 15 mm, the knife feed stroke is 60 mm after 5 turns.

[0090] In the retracting stroke, the same stepping distance as the advancing stroke can be maintained, and the setting is the same as the above example. It is also possible to consider the direction of increasing the retracting rate, and increase the preset number of revolutions of the motor when it rotates in the reverse direction, so that the ratchet 104 rotates one tooth, and finally reflects at the execution end that the cutting knife can be retracted a large distance, so as to reduce the number of times the wrench is pressed in the retracting stroke.

[0091] Regarding the explanation of the operation of the operating handle 101, the embodiment of the present application turns the operating handle 101 to the bottom each time, and the above-mentioned reset structure is used in the middle, and the operating handle 101 is reset before the second turning. Among them, the operating handle 101 of the embodiment of the present application is provided with a safety mechanism, and the safety mechanism needs to be opened before turning the operating handle 101, so as to improve the safety of the operation process and prevent accidental touch.

[0092] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A surgical instrument control mechanism, characterized in that: including: a mounting frame (100); An end effector, mounted on the mounting frame, for performing clamping and cutting operations on the biological tissue to be operated on; A driving motor (102) is mounted on the mounting frame (100) and is drivingly connected to the end actuator for driving the movement of the end actuator; An operating handle (101), the operating handle (101) being movably matched with the mounting frame (100); the operating handle (101) is pressed to the bottom multiple times to realize the clamping and cutting operations of the end actuator, and the number of times the operating handle (101) is pressed to the bottom corresponds to the cutting stroke of the end actuator; A sensing component, mounted on the mounting frame (100) and used for sensing the position of the operating handle (101); A control component is communicatively connected to the drive motor (102) and the sensing component, and is used to control the operation of the drive motor (102) based on information about the position of the operating handle (101) received from the sensing component, thereby controlling the operation of the end actuator.

2. The surgical instrument control mechanism according to claim 1, characterized in that: Also included is a transmission mechanism (116).

3. The surgical instrument control mechanism according to claim 2, characterized in that: The transmission mechanism (116) is a contact transmission mechanism or a non-contact transmission mechanism.

4. The surgical instrument control mechanism according to claim 3, characterized in that: The transmission mechanism (116) is a contact-type transmission mechanism, which is installed between the operating handle (101) and the sensing component, and the sensing component senses the position of the operating handle (101) through the transmission mechanism (116).

5. The surgical instrument control mechanism according to claim 3, characterized in that: The transmission mechanism (116) is a non-contact transmission mechanism, which is installed between the operating handle (101) and the fixed handle, and between the operating handle (101) and the sensing component. The sensing component senses the position of the operating handle (101) through the transmission mechanism (116).

6. The surgical instrument control mechanism according to claim 4, characterized in that: It also includes a linkage mechanism, which is used to connect the transmission mechanism (116) and the sensing component.

7. The surgical instrument control mechanism according to claim 6, characterized in that: The transmission mechanism (116) comprises a ratchet (104) and a pawl (105) connected to the ratchet (104); the operating handle (101) is used to drive the ratchet (104) to rotate a preset angle via the pawl (105) when the operating handle (101) is pressed.

8. The surgical instrument control mechanism according to claim 7, characterized in that: The sensing component is a potentiometer; the potentiometer is provided with a sliding contact portion (106) electrically connected to the control component.

9. The surgical instrument control mechanism according to claim 8, characterized in that: The potentiometer is a linear potentiometer (103).

10. The surgical instrument control mechanism according to claim 9, characterized in that: The linkage mechanism comprises a connecting rod (107) having one end hinged to an eccentric rotating shaft (108) provided on the ratchet (104) and the other end hinged to a sliding contact portion (106); a sliding guide structure (114) connected to the sliding contact portion (106) is provided on the linear potentiometer (103), and the sliding guide structure (114) is arranged along an extension path of the linear potentiometer (103); when the ratchet (104) is driven to rotate, the connecting rod (107) drives the sliding contact portion (106) to move back and forth on the extension path of the linear potentiometer (103).

11. The surgical instrument control mechanism according to claim 8, characterized in that: When the sliding contact portion (106) is driven to move forward on the linear potentiometer (103), the driving motor (102) rotates forward and drives the end actuator to perform a closing action and a cutting action; or, when the sliding contact portion (106) is driven to move backward on the linear potentiometer (103), the driving motor (102) rotates backward and drives the end actuator to perform an opening action and a cutting action.

12. The surgical instrument control mechanism according to claim 8, characterized in that: The potentiometer is a disk-type potentiometer (115).

13. The surgical instrument control mechanism according to claim 7, characterized in that: When the ratchet wheel (104) rotates a first circle, the drive motor (102) rotates in the forward direction and drives the end actuator to complete the closing action and the cutting knife to complete the advancing action; when the ratchet wheel (104) rotates a second circle, the drive motor (102) rotates in the reverse direction and drives the end actuator to complete the opening action and the cutting knife to complete the retracting action.

14. The surgical instrument control mechanism according to any one of claims 1 to 13, characterized in that: A stop pawl (109) and a spring sheet (110) are provided on the mounting frame (100); the stop pawl (109) is rotatably mounted on the mounting frame (100), and one end of the stop pawl abuts against the ratchet (104) to generate a force for blocking the ratchet (104) from rotating in the opposite direction; one end of the spring sheet (110) is fixed to the mounting frame (100), and the other end abuts against the stop pawl (109), generating a force for pushing the stop pawl (109) closer to the ratchet (104).

15. The surgical instrument control mechanism according to any one of claims 7 to 13, characterized in that: The operating handle (101) is rotatably mounted on the mounting frame (100); a pawl rotating shaft (111) perpendicular to the plane where the ratchet wheel (104) is located is provided on the operating handle (101), and the pawl (105) is mounted on the pawl rotating shaft (111); a pushing portion (112) located on one side of the pawl rotating shaft (111) and abutting against the pawl (105) is provided on the operating handle (101); the operating handle (101) drives the pawl (105) to move through the pushing portion (112), and causes the pawl (105) to move the ratchet wheel (104).

16. The surgical instrument control mechanism according to claim 15, characterized in that: A torsion spring (113) is sleeved on the ratchet rotating shaft (111), one end of the torsion spring (113) is fixed and the other end is in contact with the ratchet (105), and is used to generate an elastic force that causes the ratchet (105) to contact the pushing portion (112).

17. The surgical instrument control mechanism according to any one of claims 1 to 13 and claim 16, characterized in that: The operating handle (101) is provided with a safety mechanism for locking the operating handle (101).

18. A surgical instrument control method, using the surgical instrument control mechanism according to any one of claims 1 to 17, characterized in that: include: The operating handle (101) is pressed, and the sensing component detects the position of the operating handle (101) and generates an electrical signal; The control component receives the electrical signal from the sensing component and drives the drive motor (102) to rotate a corresponding preset number of turns according to the electrical signal, so as to drive the end actuator to open and close and / or the cutting knife to advance and retreat.

19. The surgical instrument control method according to claim 18, characterized in that: The operating handle (101) is pressed, and the sensing component detects the position of the operating handle (101) and generates an electrical signal, comprising: The operating handle (101) drives the ratchet (104) to rotate to a preset angle through the ratchet pawl (105) according to a pressing operation, and the ratchet (104) drives the sliding contact part (106) to move on the potentiometer.

20. The surgical instrument control method according to claim 19, characterized in that: The operating handle (101) drives the ratchet (104) to rotate to a preset angle through the ratchet (105) according to a pressing operation, and the ratchet (104) drives the sliding contact part (106) to move on the potentiometer. Specifically: The operating handle (101) causes the pawl (105) to drive the ratchet (104) to rotate one tooth according to a pressing operation, and the ratchet (104) drives the sliding contact portion (106) to move a preset distance on the potentiometer; The control component receives the electrical signal from the sensing component and drives the drive motor (102) to rotate a corresponding preset number of turns according to the electrical signal, so as to drive the end effector to open and close and / or the cutting knife to advance and retreat, including: The drive motor (102) rotates forward a corresponding preset number of turns to drive the end actuator to close.

21. The surgical instrument control method according to claim 20, characterized in that: The operating handle (101) is pressed until the pawl (105) drives the ratchet (104) to rotate a plurality of teeth, and the sliding contact portion (106) moves a plurality of preset distances on the potentiometer in sequence, wherein the method further comprises: The control component obtains the opening and closing signal of the end actuator; When the end actuator is in a closed state, the drive motor (102) is driven to rotate forward for a corresponding preset number of turns according to the electrical signal generated by the movement of the potentiometer, thereby driving the cutting knife of the end actuator to step forward and complete the feeding action.

22. The surgical instrument control method according to claim 21, wherein the operating handle (101) is pressed until the pawl (105) drives the ratchet (104) to rotate a plurality of teeth, and the sliding contact portion (106) moves a plurality of preset distances on the potentiometer in sequence, characterized in that: The method further comprises: The controller obtains a position signal of a cutting knife of the end effector; When the cutting knife of the end actuator is in the position where the cutting action is completed, the driving motor (102) is driven to reverse according to the electrical signal generated by the movement of the potentiometer, so as to drive the cutting knife to retreat to the initial position and drive the end actuator to open.

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