Surgical instrument control mechanism and control method

Abstract

This application relates to the technical field of surgical instruments, specifically disclosing a surgical instrument control mechanism and control method. The control mechanism includes a mounting frame, an end effector, a drive motor, an operating handle, a sensing component, and a control component. The operating handle is pressed to the bottom multiple times to achieve the end effector's clamping and cutting operations, and the number of times the operating handle is pressed to the bottom corresponds to the end effector's cutting stroke. This application improves on the electric operation, enabling the user to achieve electric control by gripping the handle, facilitating stable suturing.

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 manual drive that they used 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 enables the user to achieve electric control by holding the handle, thereby facilitating stable suturing.

[0004] The embodiment of the present application is implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a surgical instrument control mechanism, comprising: a mounting frame;

[0006] An end effector, mounted on a mounting frame, for performing clamping and cutting operations on biological tissue to be operated on;

[0007] A drive motor is mounted on the mounting frame and is in transmission connection with the end effector for driving the movement of the end effector;

[0008] An operating handle is movably coordinated with the mounting frame; the operating handle is pressed to the bottom multiple times to achieve the end effector clamping and cutting operations, and the number of times the operating handle is pressed to the bottom corresponds to the cutting stroke of the end effector;

[0009] The sensing component is installed on the mounting frame and is used to sense the position of the operating handle;

[0010] 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 thus control the operation of the end actuator based on the information about the position of the operating handle sent by the sensing component.

[0011] As an optional implementation, a transmission mechanism is also included.

[0012] As an optional implementation, the transmission mechanism is a contact transmission mechanism or a non-contact transmission mechanism.

[0013] As an optional embodiment, 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.

[0014] As an optional embodiment, 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.

[0015] As an optional embodiment, a linkage mechanism is further included, and the linkage mechanism is used to connect the transmission mechanism and the sensing component.

[0016] 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 pressed.

[0017] 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.

[0018] As an optional implementation, the potentiometer is a linear potentiometer.

[0019] As an optional embodiment, the linkage mechanism includes a connecting rod having one end hinged to an eccentric rotating shaft provided 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 the 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.

[0020] 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 retract action.

[0021] As an optional implementation, the potentiometer is a disk-type potentiometer.

[0022] 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 feeding 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 retraction action.

[0023] 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 abuts against the ratchet, used to generate a force to prevent the ratchet from rotating in the opposite direction; one end of the spring clip is fixed to the mounting frame, and the other end abuts against the stop pawl, generating a force to push the stop pawl close to the ratchet.

[0024] As an optional embodiment, the operating handle is rotatably mounted on the mounting frame; the operating handle is provided with a pawl shaft perpendicular to the plane where the ratchet 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.

[0025] As an optional embodiment, a torsion spring is sleeved on the pawl shaft, one end of the torsion spring is fixed, and the other end abuts against the pawl, for generating an elastic force that causes the pawl to abut against the pushing portion.

[0026] As an optional implementation, a safety mechanism is provided on the operating handle for locking the operating handle.

[0027] In a second aspect, an embodiment of the present application provides a surgical instrument control method, which uses the above-mentioned surgical instrument control mechanism, including:

[0028] The operating handle is pressed, and the sensing component detects the position of the operating handle and generates an electrical signal;

[0029] 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.

[0030] As an optional embodiment, the operating handle is pressed, and the sensing component detects the position of the operating handle and generates an electrical signal, including:

[0031] 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.

[0032] As an optional embodiment, 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:

[0033] The operating handle is pressed to cause the pawl to drive the ratchet to rotate one tooth, and the ratchet drives the sliding contact part to move a preset distance on the potentiometer;

[0034] The control component receives the electrical signal from the sensing component and drives the drive motor to rotate a corresponding preset number of turns according to the electrical signal to drive the end effector to open and close and / or the cutting knife to advance and retreat, including:

[0035] The drive motor rotates forward for a preset number of turns to drive the end actuator to close.

[0036] As an optional embodiment, pressing the operating handle until the pawl drives the ratchet to rotate multiple teeth, and the sliding contact portion moves multiple preset distances on the potentiometer in sequence. The method further includes:

[0037] The control component obtains the opening and closing signals of the end effector;

[0038] When the end effector is in the closed state, the drive motor is driven to rotate forward for a preset number of turns according to the electrical signal generated by the movement of the potentiometer, driving the cutting knife of the end effector to step forward and complete the feed action.

[0039] As an optional embodiment, pressing the operating handle until the pawl drives the ratchet to rotate multiple teeth, and the sliding contact portion moves multiple preset distances on the potentiometer in sequence. The method further includes:

[0040] The controller obtains a position signal of a cutting knife of the end effector;

[0041] When the cutting knife of the end effector is in the position where the feed action is completed, the drive motor is driven to reverse according to the electrical signal generated by the movement of the potentiometer, driving the cutting knife to retract to the initial position and driving the end effector to open.

[0042] The beneficial effects of the embodiments of the present application include:

[0043] 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 characteristics of convenient operation but also has the advantage of labor saving, making the cutting and suturing process more stable.

[0044] 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

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. 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 relevant drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 This is one of the structural diagrams of the surgical instrument control mechanism according to an embodiment of the present application;

[0047] Figure 2 This is the second structural diagram of the surgical instrument control mechanism according to an embodiment of the present application;

[0048] Figure 3 This is the third structural diagram of the surgical instrument control mechanism according to an embodiment of the present application;

[0049] Figure 4 This is the fourth structural diagram of the surgical instrument control mechanism according to an embodiment of the present application;

[0050] Figure 5 This is the fifth structural diagram of the surgical instrument control mechanism according to the embodiment of the present application;

[0051] Figure 6 This is the sixth structural diagram of the surgical instrument control mechanism according to an embodiment of the present application;

[0052] Figure 7 This is the seventh structural diagram of the surgical instrument control mechanism according to the embodiment of the present application;

[0053] Figure 8 This is the eighth structural diagram of the surgical instrument control mechanism according to an embodiment of the present application;

[0054] Figure 9 This is one of the module diagrams of the surgical instrument control method according to an embodiment of the present application;

[0055] Figure 10 This is the second module diagram of the surgical instrument control method according to an embodiment of the present application.

[0056] icon:

[0057] 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

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0059] 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 protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0060] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. In addition, the terms "first," "second," "third," etc. are used only to distinguish the descriptions and are not to be understood as indicating or implying relative importance.

[0061] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0062] 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 manual drive that they used 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.

[0063] In order to solve the above technical problems, the embodiments of the present application provide a surgical instrument control mechanism and an anastomosis device.

[0064] Reference Figure 1 、 Figure 2 As shown, the embodiment of the present application provides a surgical instrument control mechanism, including a mounting frame 100;

[0065] An end effector, mounted on a mounting frame, for performing clamping and cutting operations on biological tissue to be operated on;

[0066] The drive 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;

[0067] Operating handle 101, the operating handle 101 and the mounting frame 100 are movable together; the operating handle 101 is pressed multiple times to the bottom to achieve the end effector clamping and cutting operation, and the number of times the operating handle 101 is pressed to the bottom corresponds to the cutting stroke of the end effector;

[0068] Sensing assembly, mounted on the mounting frame 100, for sensing the position of the operating handle 101;

[0069] 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 thus control the operation of the end actuator based on the information about the position of the operating handle sent by the sensing component.

[0070] The sensing assembly includes a potentiometer mounted on the mounting frame 100; the potentiometer is provided with a sliding contact portion 106 electrically connected to the control assembly. The potentiometer is used to sense the position of the operating handle 101. It should be noted that the sensing assembly may also include a Hall position detection module, a photoelectric position detection module, and a microswitch module, and those skilled in the art may select the appropriate module based on their needs.

[0071] The transmission mechanism 116 is also included, and the transmission mechanism 116 can be a contact transmission mechanism or a non-contact transmission mechanism.

[0072] Exemplarily, the transmission mechanism 116 includes a ratchet 104 and a pawl 105 connected to the ratchet 104; the ratchet 104 is provided with a linkage mechanism connected to the sliding contact portion 106 on the potentiometer; the user pulls the operating handle 101, and drives the ratchet 104 to rotate a preset angle through the pawl 105. 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 move.

[0073] 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 thus control the operation of the end actuator based on the information about the position of the operating handle 101 sent by the sensing component.

[0074] 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.

[0075] It should be noted that the operating handle 101 of the embodiment of the present application is rotatably set 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, while driving the pawl 105 and the ratchet 104 to move.

[0076] It should be noted that the mounting frame 100 is also provided with an elastic damping structure that resets the operating handle 101. The elastic damping structure is compressed and stores elastic potential energy during the rotation of the pawl 105 and the ratchet 104 driven by the operating handle 101. When the user releases the operating handle 101, the elastic damping structure releases the elastic potential energy, pushing the operating handle 101 to rotate in the opposite direction. At this time, the pawl 105 returns to its previous state, while the ratchet 104 does not rotate in the opposite direction.

[0077] 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.

[0078] The embodiment of the present application prevents the ratchet 104 from rotating in the reverse direction when the operating handle 101 is reset through the above-mentioned structural arrangement.

[0079] 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 perpendicular to the plane where the ratchet 104 is located, and the pawl 105 is mounted on the pawl shaft 111; the operating handle 101 is provided with a pushing portion 112 located on one side of the pawl shaft 111 and abutting 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 shift the ratchet 104.

[0080] 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 that causes the pawl 105 to abut against the pushing portion 112 .

[0081] 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 rotate the ratchet 104 and a supporting tail portion that abuts the push portion 112. The rotation axis of the pawl 105 is located between the claw tip and the supporting tail portion.

[0082] Specifically, refer to Figure 3 、 Figure 4As shown, the user pulls the operating handle 101 to rotate it on the mounting frame 100, and the pushing portion 112 on the operating handle 101 abuts against the abutting tail, so that the pawl 105 cannot rotate toward the abutting tail on the operating handle 101. At this time, the tip of the pawl contacts the ratchet teeth on the ratchet wheel 104, and the ratchet wheel 104 rotates one tooth clockwise.

[0083] When the user releases the operating handle 101, 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 rotate the ratchet 104 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 the direction away from the ratchet 104, thereby releasing the rigid coupling between the pawl 105 and the ratchet 104 during the reset. After the pawl 105 is reset, the tail of the pawl 105 continues to contact the push portion 112 under the action of the torsion spring 113, and the next ratchet 104 can be dialed. Therefore, the embodiment of the present application performs intermittent rotation control as a whole to achieve step control of the drive motor 102.

[0084] The preset number of teeth on the ratchet 104 can be set by those skilled in the art as needed and is not particularly limited thereto.

[0085] For example, the ratchet 104 rotates 360°. If the ratchet 104 has 10 teeth, 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 revolutions or angles.

[0086] Explanation of preset angles and preset number of circles:

[0087] The preset angle can be equal to the angle produced by the ratchet 104 rotating one tooth, or can be equal to the angle produced by the ratchet 104 rotating multiple teeth. When the ratchet 104 rotates one tooth, the drive motor 102 rotates a corresponding angle in real time. The size of the corresponding angle can be set as needed by those skilled in the art. The preset number of rotations of the drive motor 102 can be pre-set in the controller. For example, for each rotation of the ratchet 104 tooth, the drive motor 102 can rotate three or six times. The specific number of rotations can be set as needed by those skilled in the art and is not specifically limited here.

[0088] 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. In other words, the specific value of the preset number of revolutions determines the unit moving distance of the cutting knife during the stepping motion.

[0089] The ratchet wheel 104 of the present embodiment is provided with a linkage mechanism connected to the sliding contact portion 106 on the potentiometer. In actual use, when the user pulls the operating handle 101, the pawl 105 drives the ratchet wheel 104 to rotate by a first preset angle. The ratchet wheel 104 drives the sliding contact portion 106 on the potentiometer through the linkage mechanism, and the drive motor 102 rotates by a corresponding second preset angle.

[0090] 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 not only has the characteristics of easy operation but also has the advantage of labor saving, making the cutting and suturing process more stable.

[0091] 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 provided 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.

[0092] 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 .

[0093] It should be noted that in the embodiment of the present application, an eccentric shaft 108 is provided on the ratchet 104. In other words, there is a distance 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 connecting rod 107 and the eccentric shaft 108 on the ratchet 104 form a crank-connecting rod 107 mechanism, thereby achieving movement control of the sliding contact portion 106.

[0094] In this embodiment, the ratchet 104 rotates half its teeth to cause the sliding contact portion 106 to complete a unidirectional movement on the linear potentiometer 103. A full rotation of the ratchet 104 causes the sliding contact portion 106 to complete a reciprocating motion. This embodiment can link the travel of the end effector and its cutting blade to the travel of the sliding contact portion 106, achieving control without the use of sensors.

[0095] For example, 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.

[0096] Furthermore, the total stroke of the cutting knife of the end actuator is related to the specifications of the stapler assembly used in conjunction 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.

[0097] For details, please refer to Figure 4 、 Figure 5 、 Figure 6 as well as Figure 7 As shown in the motion state of , the reciprocating motion of the sliding contact portion 106 on the linear potentiometer 103 is realized.

[0098] Reference Figure 4 As shown in the moving state of FIG, the sliding contact portion 106 moves to the end of the linear potentiometer 103 close to the ratchet 104.

[0099] Reference Figure 5 As shown in the motion state, the pawl 105 pushes the ratchet 104 to rotate. Figure 4 State movement to Figure 5 State, at this time, the sliding contact portion 106 gradually moves away from the ratchet 104, that is, moves in the reverse direction.

[0100] Reference Figure 6 As shown in the motion state shown, the pawl 105 continues to push the ratchet 104 to rotate. Figure 5 State movement to 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.

[0101] Reference Figure 7 As shown in the motion state shown, the pawl 105 continues to push the ratchet 104 to rotate. Figure 6 State movement to Figure 7 In this state, the sliding contact portion 106 gradually moves toward the ratchet 104 on the linear potentiometer 103, that is, moves in the positive direction.

[0102] Exemplarily, the ratchet 104 has 6 teeth, and the nail magazine assembly is selected to be a 30mm specification model.

[0103] 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 turns to drive the end actuator to close.

[0104] When the user pulls the operating handle 101 a second 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 revolutions, driving the end effector's cutting blade to move one unit of distance. When the user pulls the operating handle 101 a third time, the ratchet 104 rotates one tooth again, 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 revolutions, driving the end effector's cutting blade to move one unit of distance. The feed stroke is now complete. The single step feed stroke can be set to 15mm, and the two step feed strokes total 30mm, for a total feed stroke of 30mm. The ratchet 104 now rotates half a turn.

[0105] The user pulls the operating handle 101 a fourth time, causing the ratchet 104 to rotate one tooth, and the sliding contact 106 to move a preset distance in the opposite direction on the linear potentiometer 103. The drive motor 102 then reverses and moves the rear leg of the end effector's cutting blade one unit. Repeated pulls complete the blade retraction stroke, resetting the cutting blade.

[0106] After the sliding contact portion 106 moves in the reverse direction on the linear potentiometer 103 for at least a preset distance, the driving motor 102 is reversed and drives the end actuator to open.

[0107] It should be noted that, after completing the entire action, the ratchet wheel 104 rotates exactly one circle.

[0108] It should be noted that the ratchet 104 rotates one circle to complete the entire operation process, which is a preferred implementation method disclosed in the embodiment of this application, and is not the only control method of the above-mentioned mechanism.

[0109] 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 provided on the ratchet 104, the eccentric connecting portion being 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.

[0110] Different from the above embodiment, 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 .

[0111] Among them, 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 feeding action; 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.

[0112] As an optional implementation, a rotation angle sensor is installed at the output end of the drive motor 102 to detect the rotation angle of the drive motor 102 .

[0113] In the embodiment of the present application, the ratchet 104 can be rotated to a certain angle to cause the end effector and the cutting blade of the end effector to perform corresponding operating actions. In particular, the embodiment of the present application uses a rotation angle sensor to detect the rotation angle of the drive motor 102. The rotation angle sensor can also be provided in the above embodiment as needed to ensure control accuracy.

[0114] The present application provides a method for controlling a surgical instrument, which uses the above-mentioned surgical instrument control mechanism. The control method includes:

[0115] The operating handle 101 is pressed, and the sensing component detects the position of the operating handle 101 and generates an electrical signal;

[0116] 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;

[0117] 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 blade of the end actuator to move.

[0118] Reference Figure 9 As shown, the potentiometer serves as a sensing component and can generate an electrical signal according to the movement of the sliding contact portion 106 .

[0119] Furthermore, 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:

[0120] The operating handle 101 is pressed to cause the pawl 105 to drive the ratchet 104 to rotate one tooth, and the ratchet 104 drives the sliding contact portion 106 to move a preset distance on the potentiometer;

[0121] 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:

[0122] The drive motor 102 rotates forward for a corresponding preset number of turns to drive the end effector to close.

[0123] Furthermore, the operating handle 101 is pressed until the pawl 105 drives the ratchet 104 to rotate multiple teeth, and the sliding contact portion 106 moves multiple preset distances on the potentiometer in sequence. The method also includes:

[0124] The control component obtains the opening and closing signals of the end effector;

[0125] When the end effector 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 of the potentiometer, thereby driving the cutting blade of the end effector to step forward and complete the feed action.

[0126] Furthermore, the operating handle 101 is pressed until the pawl 105 drives the ratchet 104 to rotate multiple teeth, and the sliding contact portion 106 moves multiple preset distances on the potentiometer in sequence. The method also includes:

[0127] The controller obtains a position signal of a cutting knife of the end effector;

[0128] When the cutting knife of the end effector is in the position of completing the feed 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 retract to the initial position and drive the end effector to open.

[0129] 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 in conjunction with the stapler, a storage module for storing the values ​​of the preset number of motor turns or 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.

[0130] Reference Figure 10 As shown, the stapler detection module detects the specifications and models of the stapler assembly used with the stapler, and the electric signal generating mechanism transmits this 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 electric signal generating mechanism, and controls the actuator to perform the corresponding jaw opening and closing or cutting knife advance and retreat actions.

[0131] It should be noted that the specific type of the detection module can be selected by those skilled in the art as needed.

[0132] It should be noted that the controller can set the preset number of forward and reverse rotations of the drive motor 102 separately. During the feed stroke, the preset number of forward rotations can be set to a smaller value to ensure a more precise unit step distance of the cutting blade; for example, each step distance in the feed stroke is recorded as a, and a is 3-5mm, or other distances. The range of the entire feed stroke is an integer multiple of a, where the integer multiple depends on the number of times the operating wrench is pulled.

[0133] For example, when a is 10 mm, the tool is turned 4 times, and the tool feed stroke is 30 mm. For example, when a is 15 mm, the tool is turned 5 times, and the tool feed stroke is 60 mm.

[0134] During the retraction stroke, the same stepping distance as the feed stroke can be maintained, using the same setting as above. Alternatively, to increase the retraction rate, the motor can be rotated in reverse by a predetermined number of revolutions, causing the ratchet 104 to rotate one tooth. This ultimately allows the cutter to retract a greater distance at the end of the execution, thereby reducing the number of times the wrench is pressed during the retraction stroke.

[0135] Regarding the explanation of the operation of the operating handle 101, in the embodiment of the present application, the operating handle 101 is turned to the bottom each time, and the above-mentioned reset structure is used in the middle. After the operating handle 101 is reset, it can be turned again. In particular, the operating handle 101 of the embodiment of the present application is provided with a safety mechanism. The safety mechanism needs to be opened before the operating handle 101 is turned to improve the safety of the operation process and prevent accidental touch.

[0136] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A surgical instrument control mechanism, characterized in that: including: a mounting rack (100); An end effector, mounted on the mounting frame, for performing clamping and cutting operations on the biological tissue to be operated on; a drive motor (102), mounted on the mounting frame (100), and connected in transmission connection with the end effector for driving the movement of the end effector; An operating handle (101), the operating handle (101) being movably matched with the mounting frame (100); the operating handle (101) being pressed to the bottom multiple times to achieve the end effector clamping and cutting operations, 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); a control component, communicatively connected to the drive motor (102) and the sensing component, for controlling the operation of the drive motor (102) and thereby controlling the operation of the end effector based on information received from the sensing component regarding the position of the operating handle (101); A transmission mechanism (116) is installed between the operating handle (101) and the sensing component; the transmission mechanism (116) includes 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 through the pawl (105) when the operating handle (101) is pressed; The sensing component is a potentiometer; the potentiometer senses the position of the operating handle (101) through the transmission mechanism (116); the potentiometer is provided with a sliding contact portion (106) electrically connected to the control component; the operating handle (101) drives the ratchet (104) to rotate a preset angle through the pawl (105) according to a pressing operation, and the ratchet (104) drives the sliding contact portion (106) to move on the potentiometer; A stop pawl (109) and a spring piece (110) are provided on the mounting frame (100); the stop pawl (109) is used to generate a force that blocks the ratchet (104) from rotating in the opposite direction; and the spring piece (110) is used to generate a force that pushes the stop pawl (109) closer to the ratchet (104).

2. The surgical instrument control mechanism according to claim 1, wherein: It also includes a linkage mechanism, which is used to connect the transmission mechanism (116) and the sensing component.

3. The surgical instrument control mechanism according to claim 2, wherein: The potentiometer is a linear potentiometer (103).

4. The surgical instrument control mechanism according to claim 3, wherein: 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).

5. The surgical instrument control mechanism according to claim 3, wherein: 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 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 drive motor (102) rotates backward and drives the end actuator to perform an opening action and a cutting action.

6. The surgical instrument control mechanism according to claim 1, wherein: The potentiometer is a disk-type potentiometer (115).

7. The surgical instrument control mechanism according to claim 6, wherein: When the ratchet (104) rotates a first circle, the drive motor (102) rotates forward and drives the end actuator to complete the closing action and the cutting knife to complete the advance action; when the ratchet (104) rotates a second circle, the drive motor (102) rotates reversely and drives the end actuator to complete the opening action and the cutting knife to complete the retraction action.

8. The surgical instrument control mechanism according to any one of claims 1 to 7, characterized in that: The stop pawl (109) is rotatably mounted on the mounting frame (100), and one end thereof abuts against the ratchet (104); one end of the spring piece (110) is fixed on the mounting frame (100), and the other end thereof abuts against the stop pawl (109).

9. The surgical instrument control mechanism according to any one of claims 1 to 7, characterized in that: The operating handle (101) is rotatably mounted on the mounting frame (100); a pawl shaft (111) perpendicular to the plane where the ratchet (104) is located is provided on the operating handle (101), and the pawl (105) is mounted on the pawl shaft (111); a pushing portion (112) located on one side of the pawl shaft (111) and in contact with the pawl (105) is provided on the operating handle (101); the operating handle (101) drives the pawl (105) to move via the pushing portion (112), and causes the pawl (105) to shift the ratchet (104).

10. The surgical instrument control mechanism according to claim 9, wherein: A torsion spring (113) is sleeved on the ratchet shaft (111), one end of the torsion spring (113) is fixed, and the other end is in contact with the ratchet (105), for generating an elastic force that causes the ratchet (105) to contact the pushing portion (112).

11. The surgical instrument control mechanism according to any one of claims 1 to 7 and claim 10, characterized in that: The operating handle (101) is provided with a safety mechanism for locking the operating handle (101).

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