Surgical operating instrument

Abstract

The embodiment of the invention provides a surgical operating instrument. The surgical operating instrument comprises a handle assembly, a gun barrel assembly, a jaw assembly and a nail bin assembly. The nail bin assembly comprises a nail bin base and a percussion component, and a driving device in the handle assembly drives the percussion component to move relative to the nail bin base through a transmission mechanism in the gun barrel assembly. Before the tissue of a patient is sutured, the transmission mechanism drives the percussion component to move from the percussion initial position to the percussion ending position, and percussion of the nail bin assembly is completed. A resistance adjusting position and an adjusting component are arranged between a firing initial position and a firing ending position, so that resistance borne by a firing component in the firing advancing process is changed, and a driving current of a driving device generates a current characteristic corresponding to the resistance adjusting position; therefore, the type of the staple cartridge assembly or the driving mode of the driving device to the transmission mechanism is determined. The nail bin assembly can be recognized safely and reliably, and the suturing effect on tissue of a patient is guaranteed.

Description

Technical Field

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

[0002] During a surgical operation, clinicians can use surgical suturing instruments to cut and sew patient tissue. The surgical suturing instrument may include a staple cartridge, and the staples in the staple cartridge are deployed into the patient tissue through a firing drive device to perform suturing. In actual clinical practice, it is necessary to select staple cartridges with different types of staple heights according to the characteristics of the patient's tissue. When the surgical suturing instrument is fired to perform cutting and suturing, if the type of staple cartridge is unknown, the final cutting and suturing effect may be affected.

[0003] Currently, the smart chips, sensors, and wireless identification systems commonly used in the market are used to identify the nail magazine. However, the sensor layout requires electrical wiring, which makes it difficult to route the wiring inside the narrow gun barrel. Another important reason is that the wiring cannot be waterproof and prevent corrosion through the moving joints. Once water stains or dirt enter, the electrical circuit will be blocked, which will affect the identification of the nail magazine, and ultimately lead to loss of function, affecting the surgical effect of clinicians, and even causing medical accidents. Therefore, how to safely and reliably identify the nail magazine in surgical suturing instruments and use a suitable driving method for the driving device of the nail magazine to ensure the suturing effect has become a problem that needs to be solved urgently. Summary of the invention

[0004] The following is a summary of the subject matter described in detail in this application. This summary is not intended to limit the scope of the claims.

[0005] The embodiment of the present application provides a surgical instrument that can safely and reliably identify the staple cartridge assembly and ensure the suturing effect on the patient's tissue.

[0006] On the one hand, an embodiment of the present application provides a surgical instrument, including a handle assembly, a barrel assembly, a jaw assembly, and a nail cartridge assembly, wherein:

[0007] The handle assembly includes a drive device and a control device;

[0008] One end of the barrel assembly is connected to the handle assembly, and the barrel assembly includes a transmission mechanism connected to the drive device;

[0009] The other end of the barrel assembly is connected to the jaw assembly, the jaw assembly includes a first jaw and a second jaw, the first jaw is movably connected to the second jaw, the first jaw and the second jaw can move relative to each other to achieve closing and opening, and a mounting cavity is formed between the first jaw and the second jaw;

[0010] The staple cartridge assembly is installed in the installation cavity, the staple cartridge assembly comprises a staple cartridge seat and a firing member, the firing member is arranged on the staple cartridge seat, the staple cartridge seat has a mounting groove for mounting suture staples, a firing initial position away from the mounting groove, and a firing end position close to the mounting groove, the transmission mechanism can drive the firing member to move from the firing initial position to the firing end position, a first resistance adjustment position and a second resistance adjustment position are arranged between the firing initial position and the firing end position, and the first resistance adjustment position and the second resistance adjustment position are provided with adjustment members for changing the resistance encountered by the firing member when passing through;

[0011] The control device is configured to:

[0012] Acquiring a driving current of the driving device, and extracting a first current feature corresponding to the first resistance adjustment position and a second current feature corresponding to the second resistance adjustment position from the driving current;

[0013] The type of the staple cartridge assembly is determined according to the first current characteristic and the second current characteristic, or the driving mode of the driving device on the transmission mechanism is determined according to the first current characteristic and the second current characteristic.

[0014] In one embodiment of the present application, for different types of the staple cartridge assemblies, the first resistance adjustment position and / or the second resistance adjustment position generate different resistances on the firing member; the first current characteristic and the second current characteristic both include a plurality of continuous current values;

[0015] The determining the type of the staple cartridge assembly according to the first current characteristic and the second current characteristic includes:

[0016] Determine a first characteristic value according to a range within which a current peak value or a current average value in the first current characteristic falls;

[0017] Determine a second characteristic value according to a range within which a current peak value or a current average value in the second current characteristic falls;

[0018] The type of the staple cartridge assembly is determined according to a combination of the first characteristic value and the second characteristic value.

[0019] In one embodiment of the present application, the adjustment member is a protrusion provided on the nail magazine seat.

[0020] In one embodiment of the present application, a groove matching the protrusion is provided on the firing member.

[0021] In one embodiment of the present application, for different types of staple cartridge assemblies, at least one of the following conditions is met:

[0022] The shape, length or thickness of the protrusions at the first resistance adjustment position are different;

[0023] The shape, length or thickness of the protrusion at the second resistance adjustment position is different.

[0024] In one embodiment of the present application, the adjustment member is a groove arranged on the nail magazine seat, and the firing member is provided with a protrusion matching the groove.

[0025] In one embodiment of the present application, for different types of staple cartridge assemblies, at least one of the following conditions is met:

[0026] The shape, length or thickness of the protrusions at the first resistance adjustment position are different;

[0027] The number of matching between the protrusions and the grooves at the first resistance adjustment position is different;

[0028] The shape, length or thickness of the protrusion at the second resistance adjustment position is different;

[0029] The number of matching between the protrusions and the grooves at the second resistance adjustment position is different.

[0030] In one embodiment of the present application, the firing component includes a slider and a cutting knife, one end of the cutting knife is connected to the slider, and the other end is connected to the transmission mechanism; the groove is arranged on the slider or on the cutting knife.

[0031] In one embodiment of the present application, the firing component includes a slider and a cutting knife, one end of the cutting knife is connected to the slider, and the other end is connected to the transmission mechanism; the protrusion is arranged on the slider or on the cutting knife.

[0032] In one embodiment of the present application, for different types of staple cartridge assemblies, at least one of the following conditions is met:

[0033] The distance between the first resistance adjustment position and the initial firing position is different;

[0034] The distance between the second resistance adjustment position and the firing initial position is different;

[0035] The first resistance adjustment position is different from the second resistance adjustment position in distance.

[0036] In one embodiment of the present application, the first current feature and the second current feature both include a plurality of continuous current values, and determining the type of the staple cartridge assembly according to the first current feature and the second current feature includes any one of the following:

[0037] determining the type of the staple cartridge assembly according to a time interval between a current peak in the first current feature and a current peak in the second current feature;

[0038] The type of the nail magazine assembly is determined based on a first time length corresponding to when the firing component starts to move to the current peak in the first current feature and a second time length corresponding to when the firing component starts to move to the current peak in the second current feature.

[0039] On the other hand, an embodiment of the present application provides a surgical instrument, including a handle assembly, a barrel assembly, a jaw assembly, and a staple cartridge assembly, wherein:

[0040] The handle assembly includes a drive device and a control device;

[0041] One end of the barrel assembly is connected to the handle assembly, and the barrel assembly includes a transmission mechanism connected to the drive device;

[0042] The other end of the barrel assembly is connected to the jaw assembly, the jaw assembly includes a first jaw and a second jaw, the first jaw is movably connected to the second jaw, the first jaw and the second jaw can move relative to each other to achieve closing and opening, and a mounting cavity is formed between the first jaw and the second jaw;

[0043] The staple cartridge assembly is installed in the installation cavity, the staple cartridge assembly comprises a staple cartridge seat and a firing member, the firing member is arranged on the staple cartridge seat, the staple cartridge seat has a mounting slot for mounting suture staples, a firing initial position away from the mounting slot, and a firing end position close to the mounting slot, the transmission mechanism can drive the firing member to move from the firing initial position to the firing end position, at least one resistance adjustment position is arranged between the firing initial position and the firing end position, and the resistance adjustment position is provided with an adjustment member for changing the resistance encountered by the firing member when passing through;

[0044] The control device is configured to:

[0045] Acquiring a driving current of the driving device, and extracting a current characteristic corresponding to the at least one resistance adjustment position from the driving current;

[0046] The type of the staple cartridge assembly is determined according to the current characteristics, or the driving mode of the driving device on the transmission mechanism is determined according to the current characteristics.

[0047] In one embodiment of the present application, for different types of the staple cartridge assemblies, the number of the resistance adjustment positions is different;

[0048] The determining the type of the staple cartridge assembly according to the current characteristics includes:

[0049] The type of the staple cartridge assembly is determined according to the number of the current characteristics.

[0050] On the other hand, an embodiment of the present application provides a surgical instrument, including a handle assembly, a barrel assembly, a jaw assembly, and a staple cartridge assembly, wherein:

[0051] The handle assembly includes a drive device and a control device;

[0052] One end of the barrel assembly is connected to the handle assembly, and the barrel assembly includes a transmission mechanism connected to the drive device;

[0053] The other end of the barrel assembly is connected to the jaw assembly, the jaw assembly includes a first jaw and a second jaw, the first jaw is movably connected to the second jaw, the first jaw and the second jaw can move relative to each other to achieve closing and opening, and a mounting cavity is formed between the first jaw and the second jaw;

[0054] The staple cartridge assembly is installed in the installation cavity, the staple cartridge assembly comprises a staple cartridge seat and a firing member, the firing member is arranged on the staple cartridge seat, the staple cartridge seat has a mounting groove for mounting suture staples, a firing initial position away from the mounting groove, and a firing end position close to the mounting groove, the transmission mechanism can drive the firing member to move from the firing initial position to the firing end position, a first resistance adjustment position and a second resistance adjustment position are arranged between the firing initial position and the firing end position, and the first resistance adjustment position and the second resistance adjustment position are provided with adjustment members for changing the resistance encountered by the transmission mechanism when passing through;

[0055] The control device is configured to:

[0056] Acquiring a driving current of the driving device, and extracting a first current feature corresponding to the first resistance adjustment position and a second current feature corresponding to the second resistance adjustment position from the driving current;

[0057] The type of the staple cartridge assembly is determined according to the first current characteristic and the second current characteristic, or the driving mode of the driving device on the transmission mechanism is determined according to the first current characteristic and the second current characteristic.

[0058] On the other hand, an embodiment of the present application provides a surgical instrument, including a handle assembly, a barrel assembly, a jaw assembly, and a staple cartridge assembly, wherein:

[0059] The handle assembly includes a drive device and a control device;

[0060] One end of the barrel assembly is connected to the handle assembly, and the barrel assembly includes a transmission mechanism connected to the drive device;

[0061] The other end of the barrel assembly is connected to the jaw assembly, the jaw assembly includes a first jaw and a second jaw, the first jaw is movably connected to the second jaw, the first jaw and the second jaw can move relative to each other to achieve closing and opening, and a mounting cavity is formed between the first jaw and the second jaw;

[0062] The staple cartridge assembly is installed in the installation cavity, the staple cartridge assembly comprises a staple cartridge seat and a firing member, the firing member is arranged on the staple cartridge seat, the staple cartridge seat has a mounting slot for mounting suture staples, a firing initial position away from the mounting slot, and a firing end position close to the mounting slot, the transmission mechanism can drive the firing member to move from the firing initial position to the firing end position, at least one resistance adjustment position is arranged between the firing initial position and the firing end position, and the resistance adjustment position is provided with an adjustment member for changing the resistance encountered by the transmission mechanism when passing through;

[0063] The control device is configured to:

[0064] Acquiring a driving current of the driving device, and extracting a current characteristic corresponding to the at least one resistance adjustment position from the driving current;

[0065] The type of the staple cartridge assembly is determined according to the current characteristics, or the driving mode of the driving device on the transmission mechanism is determined according to the current characteristics.

[0066] The embodiments of the present application include at least the following beneficial effects:

[0067] On the one hand, a surgical instrument provided by an embodiment of the present application includes a handle assembly, a barrel assembly, a jaw assembly and a staple cartridge assembly, wherein the handle assembly, the barrel assembly and the jaw assembly are connected in sequence, and the staple cartridge assembly is installed in an installation cavity formed between a first jaw and a second jaw of the jaw assembly. The staple cartridge assembly includes a staple cartridge seat and a firing member, and after the staple cartridge assembly is installed in the installation cavity, the firing member is docked and connected with a transmission mechanism in the barrel assembly, and a driving device in the handle assembly drives the firing member to move relative to the staple cartridge seat through the transmission mechanism in the barrel assembly. Before suturing the patient's tissue, the firing member is driven by the transmission mechanism to move from an initial firing position away from a mounting groove for mounting suture staples to a firing end position close to the mounting groove, thereby completing the firing of the staple cartridge assembly. By setting two resistance adjustment positions between the initial firing position and the firing end position, and setting adjustment members at the two resistance adjustment positions, the resistance received by the firing member during the firing process when passing through the two resistance adjustment positions is changed, so that the driving current of the driving device generates current characteristics corresponding to the two resistance adjustment positions. The driving current of the driving device is then obtained through the control device, and the current characteristics corresponding to the two resistance adjustment positions are extracted from the driving current. Finally, the type of the staple cartridge assembly is determined according to the difference in the current characteristics corresponding to the two resistance adjustment positions, or the driving mode of the driving device for the transmission mechanism is determined according to the difference in the current characteristics corresponding to the two resistance adjustment positions. In this way, there is no need to set electrical components and arrange electrical wiring on the staple cartridge assembly, which avoids abnormal identification of the staple cartridge assembly due to electrical circuit blockage and avoids using an inappropriate driving mode to drive the driving device of the staple cartridge assembly. The staple cartridge assembly can be identified safely and reliably to ensure the suturing effect on the patient's tissue.

[0068] On the other hand, a surgical instrument provided by an embodiment of the present application changes the resistance of the firing member when passing through the resistance adjustment position during the firing process by setting at least one resistance adjustment position between the initial firing position and the final firing position, and setting an adjustment member at the resistance adjustment position, so that the driving current of the driving device generates a current characteristic corresponding to at least one resistance adjustment position. Then, the driving current of the driving device is obtained by the control device, and the current characteristic corresponding to at least one resistance adjustment position is extracted from the driving current. Finally, the type of the staple cartridge assembly is determined according to the difference in the current characteristic corresponding to at least one resistance adjustment position, or the driving mode of the driving device for the transmission mechanism is determined according to the difference in the current characteristic corresponding to at least one resistance adjustment position. In this way, there is no need to set electrical components and arrange electrical wiring on the staple cartridge assembly, avoid abnormal identification of the staple cartridge assembly due to electrical circuit blockage, and avoid using an inappropriate driving mode to drive the driving device of the staple cartridge assembly, so that the identification of the staple cartridge assembly can be realized safely and reliably, and the suturing effect on the patient's tissue can be guaranteed.

[0069] On the other hand, a surgical instrument provided by an embodiment of the present application changes the resistance of the transmission mechanism when passing through the two resistance adjustment positions during the firing process by setting two resistance adjustment positions between the initial firing position and the final firing position, and setting adjustment components at the two resistance adjustment positions, so that the driving current of the driving device generates current characteristics corresponding to the two resistance adjustment positions. Then, the driving current of the driving device is obtained by the control device, and the current characteristics corresponding to the two resistance adjustment positions are extracted from the driving current. Finally, the type of the staple cartridge assembly is determined according to the difference in the current characteristics corresponding to the two resistance adjustment positions, or the driving mode of the driving device for the transmission mechanism is determined according to the difference in the current characteristics corresponding to the two resistance adjustment positions. In this way, there is no need to set electrical components and arrange electrical wiring on the staple cartridge assembly, avoid abnormal identification of the staple cartridge assembly due to electrical circuit blockage, and avoid using an inappropriate driving mode to drive the driving device of the staple cartridge assembly, so that the identification of the staple cartridge assembly can be realized safely and reliably, and the suturing effect on the patient's tissue can be guaranteed.

[0070] On the other hand, a surgical instrument provided by an embodiment of the present application changes the resistance of the transmission mechanism when passing through the resistance adjustment position during the firing process by setting at least one resistance adjustment position between the initial firing position and the final firing position, and setting an adjustment member on the resistance adjustment position, so as to make the driving current of the driving device produce a current characteristic corresponding to at least one resistance adjustment position. Then, the driving current of the driving device is obtained by the control device, and the current characteristic corresponding to at least one resistance adjustment position is extracted from the driving current. Finally, the type of the staple cartridge assembly is determined according to the difference in the current characteristic corresponding to at least one resistance adjustment position, or the driving mode of the driving device for the transmission mechanism is determined according to the difference in the current characteristic corresponding to at least one resistance adjustment position. In this way, there is no need to set electrical components and arrange electrical wiring on the staple cartridge assembly, avoid abnormal identification of the staple cartridge assembly due to electrical circuit blockage, and avoid using an inappropriate driving mode to drive the driving device of the staple cartridge assembly, so that the identification of the staple cartridge assembly can be realized safely and reliably, and the suturing effect on the patient's tissue can be guaranteed.

[0071] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The accompanying drawings are used to provide further understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0073] Figure 1 A schematic diagram of the overall appearance of a surgical instrument provided in an embodiment of the present application;

[0074] Figure 2 A cross-sectional view of a transmission mechanism, a jaw assembly, and a staple cartridge assembly of a surgical instrument provided in an embodiment of the present application;

[0075] Figure 3 A top view of a staple cartridge assembly of a surgical instrument provided in an embodiment of the present application;

[0076] Figure 4 A flowchart of an operation control method performed by a control device of a surgical instrument provided in an embodiment of the present application;

[0077] Figure 5 A flowchart of an operation control method performed by a control device of a surgical instrument provided in another embodiment of the present application;

[0078] Figures 6a to 6i A schematic diagram of a curve of a driving current of a driving device obtained by a control device of a surgical instrument provided in an embodiment of the present application;

[0079] Figure 7 A flowchart of an operation control method performed by a control device of a surgical instrument provided in another embodiment of the present application;

[0080] Figure 8 A cross-sectional view of a nail cartridge seat provided with a protrusion of a surgical instrument provided in an embodiment of the present application;

[0081] Fig. 9 A top view of a slider of a surgical instrument provided by an embodiment of the present application;

[0082] Fig.10 A three-dimensional schematic diagram of a slider of a surgical instrument provided in an embodiment of the present application;

[0083] Fig.11 A schematic diagram of a curve of a driving current of a driving device provided by another embodiment of the present application;

[0084] Fig.12 A schematic diagram of a curve of a driving current of a driving device provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0085] The present application is further described below in conjunction with the accompanying drawings and specific embodiments. The described embodiments should not be regarded as limiting the present application, and all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0086] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it can be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0087] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0088] At present, surgical instruments with nail magazine assemblies can fire and drive the nail magazine assemblies through a driving device to sew patient tissues. In actual clinical practice, nail magazine assemblies with different types of nail heights need to be selected according to the characteristics of the patient's tissues. Therefore, the nail magazine assembly must be identified during the firing process, and the driving device of the nail magazine assembly must be driven by a suitable driving method to ensure the suturing effect on the patient's tissues.

[0089] like Figure 1 FIG. 1 is a schematic diagram of the overall appearance of a surgical instrument provided by an embodiment of the present application. Figure 1 The surgical instrument comprises a handle assembly 100, a barrel assembly 200, a jaw assembly 300 and a nail magazine assembly 400, wherein:

[0090] The handle assembly 100 includes a driving device and a control device; specifically, the driving device and the control device are arranged inside the housing of the handle assembly 100, so Figure 1 The drive and control devices are not shown.

[0091] One end of the barrel assembly 200 is connected to the handle assembly 100, and the barrel assembly 200 includes a transmission mechanism 210 connected to the drive device; specifically, the transmission mechanism 210 is arranged inside the barrel assembly 200, so Figure 1 The transmission mechanism 210 is not shown.

[0092] The other end of the barrel assembly 200 is connected to the jaw assembly 300, and the jaw assembly 300 includes a first jaw 310 and a second jaw 320, the first jaw 310 and the second jaw 320 are movably connected, the first jaw 310 and the second jaw 320 can move relative to each other to achieve closing and opening, and a mounting cavity is formed between the first jaw 310 and the second jaw 320; wherein, Figure 1 The first jaw 310 and the second jaw 320 are shown in an open state. Figure 2 The first jaw 310 and the second jaw 320 are shown in a closed state.

[0093] The staple cartridge assembly 400 is installed in the installation cavity, such as Figure 2 and Figure 3 As shown, the staple cartridge assembly 400 includes a staple cartridge seat 410 and a firing member 420, wherein the firing member 420 is disposed on the staple cartridge seat 410, and the staple cartridge seat 410 has a mounting slot 411 for mounting suture staples, a firing initial position 401 away from the mounting slot 411, and a firing end position 402 close to the mounting slot 411; Figure 2 After the nail magazine assembly 400 is installed in the installation cavity of the jaw assembly 300, the transmission mechanism 210 is connected with the firing component 420 of the nail magazine assembly 400, so that the transmission mechanism 210 can drive the firing component 420 to move from the firing initial position 401 to the firing end position 402, thereby completing the firing process of the nail magazine assembly 400.

[0094] A first resistance adjustment position and a second resistance adjustment position are provided between the initial firing position 401 and the final firing position 402, and the first resistance adjustment position and the second resistance adjustment position are provided with adjustment components for changing the resistance encountered by the firing member 420 when passing through. It can be understood that in the process of firing the staple cartridge assembly 400, that is, in the process of the firing member 420 driven by the transmission mechanism 210 to move from the initial firing position 401 to the final firing position 402, the first resistance adjustment position and the second resistance adjustment position will be passed through, and the adjustment components provided at these two resistance adjustment positions will change the resistance encountered by the firing member 420 when passing through, and the resistance encountered by the firing member 420 during the firing process will be manifested as a change in the driving current of the driving device, so that the driving current of the driving device has corresponding current characteristics.

[0095] In one embodiment, the control device is configured to execute Figure 4 The operation control method shown includes but is not limited to steps S410 to S420.

[0096] Step S410: acquiring a driving current of a driving device, and extracting a first current characteristic corresponding to a first resistance adjustment position and a second current characteristic corresponding to a second resistance adjustment position from the driving current.

[0097] Step S420 , determining the type of the staple cartridge assembly 400 according to the first current characteristic and the second current characteristic.

[0098] In one embodiment, the control device is configured to execute Figure 5 The operation control method shown includes but is not limited to steps S510 to S520.

[0099] Step S510: acquiring a driving current of the driving device, and extracting a first current characteristic corresponding to a first resistance adjustment position and a second current characteristic corresponding to a second resistance adjustment position from the driving current.

[0100] Step S520: determining a driving mode of the driving device for the transmission mechanism 210 according to the first current characteristic and the second current characteristic.

[0101] It is understandable that the driving current of the driving device should be a relatively stable current with little fluctuation when the firing member 420 does not encounter the adjustment member. At this time, the driving device only needs to overcome the friction between the firing member 420 and the nail magazine seat 410 to drive the firing member 420. The adjustment members set at the first resistance adjustment position and the second resistance adjustment position will increase the resistance encountered by the firing member 420 when passing through the adjustment members at the first resistance adjustment position and the second resistance adjustment position. The driving device needs a larger driving current to generate sufficient torque to drive the transmission mechanism 210, and then the transmission mechanism 210 drives the firing member 420 to leave the first resistance adjustment position and the second resistance adjustment position and continue to move forward.

[0102] In step S410 and step S510, after the driving current of the driving device is obtained, the first current feature and the second current feature that are larger than the current at other positions can be extracted from the driving current of the driving device. Exemplarily, assuming that the driving current of the driving device generally fluctuates around 0.5A when the firing member 420 does not encounter the adjustment member, when the firing member 420 passes through the adjustment member, it is necessary to overcome the resistance brought by the adjustment member, and the driving current of the driving device will increase to more than 0.8A. Then, two convex areas will appear in the curve of the driving current of the driving device, which are the first current feature corresponding to the first resistance adjustment position and the second current feature corresponding to the second resistance adjustment position. At this time, the first current feature and the second current feature are both composed of multiple continuous current values ​​greater than 0.8A.

[0103] In step S420, the type of the nail magazine assembly 400 is determined based on the difference in current characteristics corresponding to the two resistance adjustment positions. In this way, there is no need to set electrical components and arrange electrical wiring on the nail magazine assembly 400, thereby avoiding abnormal recognition of the nail magazine assembly 400 due to a blockage of the electrical circuit, and the nail magazine assembly 400 can be identified safely and reliably.

[0104] In step S520, the driving mode of the driving device for the transmission mechanism 210 is determined according to the difference in current characteristics corresponding to the two resistance adjustment positions, thereby avoiding the use of an inappropriate driving mode to drive the driving device of the staple magazine assembly 400, thereby ensuring the suturing effect on the patient's tissue.

[0105] It can be understood that the driving method of the drive device for the transmission mechanism 210 is different, which can be reflected in that the control device provides driving voltages with different amplitudes, driving voltages with different frequencies, or driving currents with different sizes to the driving device, so that the driving device outputs different torques to the transmission mechanism 210, or the driving device drives the transmission mechanism 210 to move at different speeds.

[0106] In one embodiment, for different types of staple cartridge assemblies 400 , the first resistance adjustment position and / or the second resistance adjustment position may generate different resistances on the firing member 420 .

[0107] In this embodiment, the resistance generated to the firing member 420 is different, and the current characteristics that can be extracted from the driving current of the driving device are naturally different. As mentioned above, the first current characteristic and the second current characteristic both include multiple continuous current values. For example, if the resistance generated by the adjustment member in the resistance adjustment position to the firing member 420 is small, the multiple current values ​​in the corresponding current characteristic are greater than 0.8A but less than 1.2A; if the resistance generated by the adjustment member in the resistance adjustment position to the firing member 420 is large, the multiple current values ​​in the corresponding current characteristic are greater than 1.2A.

[0108] Furthermore, in this embodiment, a curve diagram of the driving current of the driving device that may be obtained is as follows: Figures 6a to 6i As shown, V0 can represent 0.5A, V1 can represent 0.8A, and V2 can represent 1.2A. Therefore, Figure 6a It indicates that the first current feature and the second current feature extracted from the driving current both include a plurality of continuous current values ​​greater than 1.2A, so that it can be determined that the staple cartridge assembly 400 is provided with an adjustment member that generates a greater resistance to the firing member 420 at both the first resistance adjustment position and the second resistance adjustment position; Figure 6b It indicates that the first current feature extracted from the driving current includes a plurality of continuous current values ​​greater than 1.2A, and the second current feature extracted includes a plurality of continuous current values ​​greater than 0.8A and less than 1.2A, so that it can be determined that the staple cartridge assembly 400 is provided with an adjustment member at the first resistance adjustment position that generates a greater resistance to the firing member 420, and is provided with an adjustment member at the second resistance adjustment position that generates a smaller resistance to the firing member 420; Figure 6c It indicates that the first current feature extracted from the driving current includes a plurality of continuous current values ​​greater than 0.8A and less than 1.2A, and the second current feature extracted includes a plurality of continuous current values ​​greater than 1.2A, so that it can be determined that the staple cartridge assembly 400 is provided with an adjustment member with a smaller resistance to the firing member 420 at the first resistance adjustment position, and is provided with an adjustment member with a larger resistance to the firing member 420 at the second resistance adjustment position; Figure 6dIt indicates that the first current feature and the second current feature extracted from the driving current both include a plurality of continuous current values ​​greater than 0.8A and less than 1.2A, so that it can be determined that the staple cartridge assembly 400 is provided with an adjustment member with a smaller resistance to the firing member 420 at both the first resistance adjustment position and the second resistance adjustment position; Figure 6e It indicates that the first current feature extracted from the driving current includes a plurality of continuous current values ​​greater than 1.2A, and the second current feature extracted does not include a current value greater than 0.8A, so it can be determined that the staple cartridge assembly 400 is provided with an adjustment member that generates a greater resistance to the firing member 420 at the first resistance adjustment position, and no resistance adjustment member is provided at the second resistance adjustment position; Figure 6f It indicates that the first current feature extracted from the driving current includes a plurality of continuous current values ​​greater than 0.8A and less than 1.2A, and the second current feature extracted does not include a current value greater than 0.8A, so it can be determined that the cartridge assembly 400 is provided with an adjustment member with a smaller resistance to the firing member 420 at the first resistance adjustment position, and no resistance adjustment member is provided at the second resistance adjustment position; Figure 6g It indicates that the first current feature extracted from the driving current does not include a current value greater than 0.8A, and the second current feature extracted includes multiple continuous current values ​​greater than 1.2A, so it can be determined that the cartridge assembly 400 is not provided with a resistance adjustment member at the first resistance adjustment position, and is provided with an adjustment member at the second resistance adjustment position that generates a greater resistance to the firing member 420; Figure 6h It indicates that the first current feature extracted from the driving current does not include a current value greater than 0.8A, and the second current feature extracted includes a plurality of consecutive current values ​​greater than 0.8A and less than 1.2A, so that it can be determined that the cartridge assembly 400 is not provided with a resistance adjustment member at the first resistance adjustment position, and is provided with an adjustment member at the second resistance adjustment position that generates less resistance to the firing member 420; Figure 6i It indicates that neither the first current characteristic nor the second current characteristic extracted from the driving current includes a current value greater than 0.8A, so that it can be determined that the nail magazine assembly 400 has no resistance adjustment component set at the first resistance adjustment position and the second resistance adjustment position, or it can be determined that the installation cavity in the jaw assembly 300 does not place the nail magazine assembly 400.

[0109] In one embodiment, if Figure 7 As shown, in step S420, the type of the nail magazine assembly 400 is determined according to the first current characteristic and the second current characteristic, including steps S710 to S730.

[0110] Step S710: determining a first characteristic value according to a range into which a current peak value or a current average value in a first current characteristic falls.

[0111] In this step, if the current peak value or the current average value in the first current characteristic falls within the range greater than 1.2A, the first characteristic value is H; if the current peak value or the current average value in the first current characteristic falls within the range of 0.8A to 1.2A, the first characteristic value is L; if the current peak value or the current average value in the first current characteristic falls within the range less than 0.8A, the first characteristic value is / .

[0112] Step S720: determining a second characteristic value according to a range into which a current peak value or a current average value in the second current characteristic falls.

[0113] In this step, if the current peak value or the current average value in the second current characteristic falls within the range greater than 1.2A, the second characteristic value is H; if the current peak value or the current average value in the second current characteristic falls within the range of 0.8A to 1.2A, the second characteristic value is L; if the current peak value or the current average value in the second current characteristic falls within the range less than 0.8A, the second characteristic value is / .

[0114] Step S730: Determine the type of the staple cartridge assembly 400 according to a combination of the first characteristic value and the second characteristic value.

[0115] In this embodiment, there are 9 combinations of the first characteristic value and the second characteristic value, as shown in Table 1 below, namely HH, HL, LH, LL, H / , L / , / H, / L, / / , and corresponding to the above-mentioned Figures 6a to 6i , among which, the type of nail magazine component corresponding to the combination situation HH is a black nail magazine component, the type of nail magazine component corresponding to the combination situation HL is a green nail magazine component, the type of nail magazine component corresponding to the combination situation LH is a blue nail magazine component, the type of nail magazine component corresponding to the combination situation LL is a white nail magazine component, the type of nail magazine component corresponding to the combination situation H / is a gold nail magazine component, the type of nail magazine component corresponding to the combination situation L / is a gray nail magazine component, the type of nail magazine component corresponding to the combination situation / H is a yellow nail magazine component, the type of nail magazine component corresponding to the combination situation / L is a purple nail magazine component, and the type of nail magazine component corresponding to the combination situation / / is a red nail magazine component or there is no nail magazine component.

[0116] It is understandable that staplers placed inside stapler assemblies of different colors have different shapes or sizes, so that the stapler assemblies are suitable for suturing patient tissues of different thicknesses.

[0117] Table 1: Correspondence between the combination of the first characteristic value and the second characteristic value and the type of the staple cartridge assembly

[0118]

[0119] Understandably, Figures 6a to 6iThe curve diagram of the driving current shown and the corresponding relationship shown in Table 1 are only one embodiment of determining the type of the staple cartridge assembly 400 according to the first characteristic value and the second characteristic value. The present application also includes other embodiments with equivalent meanings, such as dividing the ranges within which the first characteristic value and the second characteristic value fall into finer ranges, so that the first characteristic value and the second characteristic value can take more values, such as 4, 5, 6 or more values ​​of the first characteristic value and the second characteristic value, and the combination of the first characteristic value and the second characteristic value is correspondingly more, so that more types of staple cartridge assemblies can be identified.

[0120] In one embodiment, referring to Figure 8 The adjusting member is a protrusion 500 disposed on the nail magazine seat 410, and a groove 600 matching the protrusion 500 is disposed on the firing member 420. Specifically, the firing member 420 includes a slider 421, such as Fig. 9 and Fig.10 As shown, the groove 600 of the firing member 420 is provided on the slide block 421 .

[0121] In this embodiment, when the transmission mechanism 210 drives the firing component 420 to move to the first resistance adjustment position or the second resistance adjustment position, the groove 600 on the slider 421 will match and dock with the protrusion 500 at the first resistance adjustment position or the second resistance adjustment position, thereby increasing the resistance encountered by the firing component 420. If the firing component 420 wants to continue moving forward, it needs to break free from the matching and docking between the groove 600 on the slider 421 and the protrusion 500 on the nail magazine seat 410. Therefore, the driving current of the driving device will become larger, providing a larger torque to drive the transmission mechanism 210 to move.

[0122] In one embodiment, the protrusions 500 may be provided only at the first resistance adjustment position and the second resistance adjustment position of the staple cartridge seat 410 as adjustment members, without providing the grooves 600 on the firing member 420 .

[0123] In this embodiment, when the transmission mechanism 210 drives the firing component 420 to move to the first resistance adjustment position or the second resistance adjustment position, the protrusion 500 at this position will squeeze the side of the firing component 420, thereby increasing the friction force exerted on the firing component 420, thereby achieving the effect of changing the resistance exerted on the firing component 420 when passing through.

[0124] In one embodiment, referring to Figure 2 and Figure 3 In addition to the slider 421 , the firing component 420 also includes a cutting knife 422 . One end of the cutting knife 422 is connected to the slider 421 , and the other end is connected to the transmission mechanism 210 .

[0125] In this embodiment, the groove 600 of the firing member 420 can be set on the slider 421 or on the cutting blade 422. When the transmission mechanism 210 drives the firing member 420 to move to the first resistance adjustment position or the second resistance adjustment position, the groove 600 on the cutting blade 422 will match and dock with the protrusion 500 at the first resistance adjustment position or the second resistance adjustment position, thereby increasing the resistance of the firing member 420. If the firing member 420 wants to continue to move forward, it needs to break free from the matching and docking between the groove 600 on the cutting blade 422 and the protrusion 500 on the nail magazine seat 410. Therefore, the driving current of the driving device will increase, providing a larger torque to drive the transmission mechanism 210 to move.

[0126] Further, in this embodiment, for different types of staple cartridge assemblies 400, at least one of the following conditions is satisfied:

[0127] The shape, length or thickness of the protrusion 500 at the first resistance adjustment position is different;

[0128] The number of matching protrusions 500 and grooves 600 at the first resistance adjustment position is different;

[0129] The shape, length or thickness of the protrusion 500 at the second resistance adjustment position is different;

[0130] The number of matching protrusions 500 and grooves 600 at the second resistance adjustment position is different.

[0131] It is understandable that for different types of staple cartridge assemblies 400, only the resistance generated by any one of the first resistance adjustment position and the second resistance adjustment position to the firing member 420 is different, so that different combinations of the first current characteristics and the second current characteristics can be extracted from the driving current of the driving device. Therefore, the different shapes, lengths or thicknesses of the convex blocks 500 at the first resistance adjustment position will make the first current characteristics extracted from the driving current of the driving device different; the different numbers of matching convex blocks 500 and grooves 600 at the first resistance adjustment position will also make the first current characteristics extracted from the driving current of the driving device different; the different shapes, lengths or thicknesses of the convex blocks 500 at the second resistance adjustment position will make the second current characteristics extracted from the driving current of the driving device different; the different numbers of matching convex blocks 500 and grooves 600 at the second resistance adjustment position will also make the second current characteristics extracted from the driving current of the driving device different. It is understandable that the above-mentioned various adjustment members that generate different resistances can exist at the same time, so that the combination of the first current characteristics and the second current characteristics is more diversified, so that more types of staple cartridge assemblies 400 can be identified.

[0132] In another embodiment, the adjustment member is a groove disposed on the nail magazine seat 410, and a protrusion matching the groove is disposed on the firing member 420. Specifically, the firing member 420 includes a slider 421, and the groove 600 of the firing member 420 is disposed on the protrusion.

[0133] In this embodiment, when the transmission mechanism 210 drives the firing component 420 to move to the first resistance adjustment position or the second resistance adjustment position, the protrusion on the slider 421 will match and dock with the groove of the first resistance adjustment position or the second resistance adjustment position, thereby increasing the resistance encountered by the firing component 420. If the firing component 420 wants to continue moving forward, it needs to break free from the matching docking between the protrusion on the slider 421 and the groove on the nail magazine seat 410. Therefore, the driving current of the driving device will become larger, providing a larger torque to drive the transmission mechanism 210 to move.

[0134] In one embodiment, referring to Figure 2 and Figure 3 In addition to the slider 421 , the firing component 420 also includes a cutting knife 422 . One end of the cutting knife 422 is connected to the slider 421 , and the other end is connected to the transmission mechanism 210 .

[0135] In this embodiment, the protrusion on the firing member 420 can be set on the slider 421 as well as on the cutting blade 422. When the transmission mechanism 210 drives the firing member 420 to move to the first resistance adjustment position or the second resistance adjustment position, the protrusion on the cutting blade 422 will match and dock with the groove of the first resistance adjustment position or the second resistance adjustment position, thereby increasing the resistance of the firing member 420. If the firing member 420 wants to continue to move forward, it needs to break free from the matching and docking between the protrusion on the cutting blade 422 and the groove on the nail magazine seat 410. Therefore, the driving current of the driving device will increase, providing a larger torque to drive the transmission mechanism 210 to move.

[0136] In one embodiment, for different types of staple cartridge assemblies 400, at least one of the following conditions is met:

[0137] The distance between the first resistance adjustment position and the firing initial position 401 is different;

[0138] The distance between the second resistance adjustment position and the firing initial position 401 is different;

[0139] The distance between the first resistance adjustment position and the second resistance adjustment position is different.

[0140] It can be understood that the aforementioned embodiment distinguishes different types of nail magazine assemblies 400 by different resistances generated to the firing member 420 in the first resistance adjustment position or the second resistance adjustment position, so that the sizes of the first current characteristics and the second current characteristics extracted by the driving current of the driving device are different.

[0141] In this embodiment, different types of nail magazine assemblies 400 are distinguished by different distances between the first resistance adjustment position and the second resistance adjustment position, which results in different time intervals between the first current feature and the second current feature extracted by the driving current of the driving device.

[0142] In one embodiment, the first current feature and the second current feature both include a plurality of continuous current values, and the type of the staple cartridge assembly 400 is determined according to the first current feature and the second current feature, including any one of the following:

[0143] Determining the type of the staple cartridge assembly 400 according to a time interval between a current peak in the first current feature and a current peak in the second current feature;

[0144] The type of the nail magazine assembly 400 is determined based on the first time length T1 corresponding to the current peak value in the first current characteristic when the firing component 420 starts to move, and the second time length T2 corresponding to the current peak value in the second current characteristic when the firing component 420 starts to move.

[0145] In this embodiment, refer to Fig.11 , the distance between the first resistance adjustment position and the initial firing position 401 is different, which will cause the first time length T1 corresponding to the firing component 420 starting to move to the current peak in the first current characteristic extracted from the driving current of the driving device to be different; similarly, the distance between the second resistance adjustment position and the initial firing position 401 is different, which will cause the first time length T2 corresponding to the firing component 420 starting to move to the current peak in the second current characteristic extracted from the driving current of the driving device to be different; both of the above situations will cause the distance between the first resistance adjustment position and the second resistance adjustment position to be different, resulting in a different time interval between the current peak in the first current characteristic and the current peak in the second current characteristic, that is, Fig.11 The time intervals between T1 and T2 are different, and the control device can determine the type of the staple cartridge assembly 400 according to the difference in the time intervals.

[0146] On the other hand, the present application embodiment provides a surgical instrument, referring to Figure 1 The surgical instrument comprises a handle assembly 100, a barrel assembly 200, a jaw assembly 300 and a nail magazine assembly 400, wherein:

[0147] The handle assembly 100 includes a driving device and a control device; the driving device and the control device are arranged inside the housing of the handle assembly 100, so Figure 1 The drive and control devices are not shown.

[0148] One end of the barrel assembly 200 is connected to the handle assembly 100, and the barrel assembly 200 includes a transmission mechanism 210 connected to the drive device; specifically, the transmission mechanism 210 is arranged inside the barrel assembly 200, so Figure 1 The transmission mechanism 210 is not shown.

[0149] The other end of the barrel assembly 200 is connected to the jaw assembly 300, and the jaw assembly 300 includes a first jaw 310 and a second jaw 320, the first jaw 310 and the second jaw 320 are movably connected, the first jaw 310 and the second jaw 320 can move relative to each other to achieve closing and opening, and a mounting cavity is formed between the first jaw 310 and the second jaw 320; wherein, Figure 1 The first jaw 310 and the second jaw 320 are shown in an open state. Figure 2 The first jaw 310 and the second jaw 320 are shown in a closed state.

[0150] The staple cartridge assembly 400 is installed in the installation cavity, such as Figure 2 and Figure 3 As shown, the staple cartridge assembly 400 includes a staple cartridge seat 410 and a firing member 420, wherein the firing member 420 is disposed on the staple cartridge seat 410, and the staple cartridge seat 410 has a mounting slot 411 for mounting a suture staple, a firing initial position 401 away from the mounting slot 411, and a firing end position 402 close to the mounting slot 411, Figure 2 After the nail magazine assembly 400 is installed in the installation cavity of the jaw assembly 300, the transmission mechanism 210 is connected with the firing component 420 of the nail magazine assembly 400, so that the transmission mechanism 210 can drive the firing component 420 to move from the firing initial position 401 to the firing end position 402, thereby completing the firing process of the nail magazine assembly 400.

[0151] At least one resistance adjustment position is provided between the initial firing position 401 and the final firing position 402, and the resistance adjustment position is provided with an adjustment member for changing the resistance encountered by the firing member 420 when passing through. It can be understood that in the process of firing the staple cartridge assembly 400, that is, in the process of the firing member 420 driven by the transmission mechanism 210 to move from the initial firing position 401 to the final firing position 402, it will pass through at least one resistance adjustment position, and the adjustment member provided at at least one resistance adjustment position will change the resistance encountered by the firing member 420 when passing through. The resistance encountered by the firing member 420 during the firing process will be manifested as a change in the driving current of the driving device, so that the driving current of the driving device has corresponding current characteristics.

[0152] The control device is configured to:

[0153] Acquiring a driving current of the driving device, and extracting a current characteristic corresponding to at least one resistance adjustment position from the driving current;

[0154] The type of the staple cartridge assembly 400 is determined according to the current characteristics, or the driving mode of the driving device on the transmission mechanism 210 is determined according to the current characteristics.

[0155] It is understandable that the driving current of the driving device should be a relatively stable current with little fluctuation when the firing member 420 does not encounter the adjustment member. At this time, the driving device only needs to overcome the friction between the firing member 420 and the nail magazine seat 410 to drive the firing member 420. The adjustment member set at at least one resistance adjustment position will increase the resistance encountered by the firing member 420 when passing through the adjustment member at at least one resistance adjustment position. The driving device needs a larger driving current to generate sufficient torque to drive the transmission mechanism 210, and then the transmission mechanism 210 drives the firing member 420 to leave the resistance adjustment position and continue to move forward. After the control device obtains the driving current of the driving device, it can extract at least one current feature that is larger than the current at other positions from the driving current of the driving device. The type of the staple magazine assembly 400 is determined based on the current characteristics corresponding to at least one resistance adjustment position. In this way, there is no need to set electrical components and arrange electrical wiring on the staple magazine assembly 400, thereby avoiding abnormal identification of the staple magazine assembly 400 due to a blockage of the electrical circuit, and the nail magazine assembly 400 can be identified safely and reliably. The driving mode of the drive device for the transmission mechanism 210 is determined based on the current characteristics corresponding to at least one resistance adjustment position, thereby avoiding the use of an inappropriate driving mode to drive the drive device of the staple magazine assembly 400, and ensuring the suturing effect on the patient's tissue.

[0156] In one embodiment, for different types of staple cartridge assemblies 400 , at least one resistance adjustment position generates different resistances on the firing member 420 .

[0157] In this embodiment, exemplarily, assuming that the driving current of the driving device generally fluctuates around 0.5A when the firing member 420 does not encounter the adjustment member, when the firing member 420 passes through the adjustment member, it needs to overcome the resistance brought by the adjustment member, and the driving current of the driving device will increase to more than 0.8A, then the curve of the driving current of the driving device will have at least one convex area, which is the current feature corresponding to at least one resistance adjustment position, and each current feature is composed of a plurality of continuous current values ​​greater than 0.8A. If the resistance generated by the adjustment member in the resistance adjustment position to the firing member 420 is small, the corresponding plurality of current values ​​in the current feature are greater than 0.8A but less than 1.2A; if the resistance generated by the adjustment member in the resistance adjustment position to the firing member 420 is large, the corresponding plurality of current values ​​in the current feature are greater than 1.2A. In this way, in this embodiment, the corresponding characteristic value can be determined according to the range into which the current peak value or the current average value in at least one current feature falls, and the type of the staple cartridge assembly 400 can be determined according to the combination of the characteristic values.

[0158] It is understandable that the specific structure of the adjustment component in the resistance adjustment position and how to achieve different resistances to the firing component 420 can be referred to the introduction and description of the aforementioned embodiments, and will not be repeated here.

[0159] In one embodiment, the number of resistance adjustment positions is different for different types of staple cartridge assemblies 400 ;

[0160] Determining the type of the staple cartridge assembly 400 according to the current characteristics includes:

[0161] The type of cartridge assembly 400 is determined based on the number of current characteristics.

[0162] In this embodiment, refer to Fig.12 Different types of staple cartridge assemblies 400 have different numbers of resistance adjustment positions, which will result in different numbers of current features extracted from the driving current of the driving device. Therefore, the type of staple cartridge assembly 400 can be determined based on the number of current features. It can be understood that in this embodiment, it is not necessary to pay attention to the size of the current feature, but only to whether the current feature exists, and the adjustment member set in each resistance adjustment position can be the same.

[0163] On the other hand, the present application embodiment provides a surgical instrument, referring to Figure 1 The surgical instrument comprises a handle assembly 100, a barrel assembly 200, a jaw assembly 300 and a nail magazine assembly 400, wherein:

[0164] The handle assembly 100 includes a driving device and a control device; the driving device and the control device are arranged inside the housing of the handle assembly 100, so Figure 1 The drive and control devices are not shown.

[0165] One end of the barrel assembly 200 is connected to the handle assembly 100, and the barrel assembly 200 includes a transmission mechanism 210 connected to the drive device; the transmission mechanism 210 is arranged inside the barrel assembly 200, so Figure 1 The transmission mechanism 210 is not shown.

[0166] The other end of the barrel assembly 200 is connected to the jaw assembly 300, and the jaw assembly 300 includes a first jaw 310 and a second jaw 320, the first jaw 310 and the second jaw 320 are movably connected, the first jaw 310 and the second jaw 320 can move relative to each other to achieve closing and opening, and a mounting cavity is formed between the first jaw 310 and the second jaw 320; wherein, Figure 1 The first jaw 310 and the second jaw 320 are shown in an open state. Figure 2 The first jaw 310 and the second jaw 320 are shown in a closed state.

[0167] The staple cartridge assembly 400 is installed in the installation cavity, such as Figure 2 and Figure 3 As shown, the staple cartridge assembly 400 includes a staple cartridge seat 410 and a firing member 420, wherein the firing member 420 is disposed on the staple cartridge seat 410, and the staple cartridge seat 410 has a mounting slot 411 for mounting a suture staple, a firing initial position 401 away from the mounting slot 411, and a firing end position 402 close to the mounting slot 411, Figure 2 After the nail magazine assembly 400 is installed in the installation cavity of the jaw assembly 300, the transmission mechanism 210 is connected with the firing component 420 of the nail magazine assembly 400, so that the transmission mechanism 210 can drive the firing component 420 to move from the firing initial position 401 to the firing end position 402, thereby completing the firing process of the nail magazine assembly 400.

[0168] A first resistance adjustment position and a second resistance adjustment position are provided between the initial firing position 401 and the final firing position 402, and the first resistance adjustment position and the second resistance adjustment position are provided with adjustment components for changing the resistance encountered by the transmission mechanism 210 when passing through; it can be understood that in the process of firing the nail magazine assembly 400, that is, in the process of the transmission mechanism 210 driving the firing component 420 to move from the initial firing position 401 to the final firing position 402, it will pass through the first resistance adjustment position and the second resistance adjustment position, and the adjustment components provided at these two resistance adjustment positions will change the resistance encountered by the transmission mechanism 210 when passing through, and the resistance encountered by the transmission mechanism 210 during the firing process will be manifested as a change in the driving current of the driving device, so that the driving current of the driving device will have corresponding current characteristics.

[0169] The control device is configured to:

[0170] Acquire a driving current of the driving device, and extract a first current feature corresponding to a first resistance adjustment position and a second current feature corresponding to a second resistance adjustment position from the driving current;

[0171] The type of the staple cartridge assembly 400 is determined according to the first current characteristic and the second current characteristic, or the driving mode of the driving device on the transmission mechanism 210 is determined according to the first current characteristic and the second current characteristic.

[0172] It is understandable that the driving current of the driving device should be a relatively stable current with little fluctuation when the transmission mechanism 210 does not encounter the adjustment member. At this time, the driving device only needs to overcome the friction between the firing member 420 and the nail magazine seat 410 to drive the firing member 420. The adjustment members set at the first resistance adjustment position and the second resistance adjustment position will increase the resistance encountered by the transmission mechanism 210 when passing through the adjustment members at the first resistance adjustment position and the second resistance adjustment position. The driving device needs a larger driving current to generate sufficient torque to drive the transmission mechanism 210 to leave the first resistance adjustment position and the second resistance adjustment position and continue to move forward. After obtaining the driving current of the driving device, the first current feature and the second current feature that are larger than the current at other positions can be extracted from the driving current of the driving device. The type of the staple magazine assembly 400 is determined based on the difference in current characteristics corresponding to the two resistance adjustment positions. In this way, there is no need to set electrical components and arrange electrical wiring on the staple magazine assembly 400, thereby avoiding abnormal recognition of the staple magazine assembly 400 due to a blockage of the electrical circuit, and the nail magazine assembly 400 can be identified safely and reliably. The driving mode of the drive device for the transmission mechanism 210 is determined based on the difference in current characteristics corresponding to the two resistance adjustment positions, thereby avoiding the use of an inappropriate driving mode to drive the drive device of the staple magazine assembly 400, and ensuring the suturing effect on the patient's tissue.

[0173] On the other hand, the present application embodiment provides a surgical instrument, referring to Figure 1 The surgical instrument comprises a handle assembly 100, a barrel assembly 200, a jaw assembly 300 and a nail magazine assembly 400, wherein:

[0174] The handle assembly 100 includes a driving device and a control device; the driving device and the control device are arranged inside the housing of the handle assembly 100, so Figure 1 The drive and control devices are not shown.

[0175] One end of the barrel assembly 200 is connected to the handle assembly 100, and the barrel assembly 200 includes a transmission mechanism 210 connected to the drive device; specifically, the transmission mechanism 210 is arranged inside the barrel assembly 200, so Figure 1 The transmission mechanism 210 is not shown.

[0176] The other end of the barrel assembly 200 is connected to the jaw assembly 300, and the jaw assembly 300 includes a first jaw 310 and a second jaw 320, the first jaw 310 and the second jaw 320 are movably connected, the first jaw 310 and the second jaw 320 can move relative to each other to achieve closing and opening, and a mounting cavity is formed between the first jaw 310 and the second jaw 320; wherein, Figure 1 The first jaw 310 and the second jaw 320 are shown in an open state. Figure 2 The first jaw 310 and the second jaw 320 are shown in a closed state.

[0177] The staple cartridge assembly 400 is installed in the installation cavity, such as Figure 2 and Figure 3 The staple cartridge assembly 400 includes a staple cartridge seat 410 and a firing member 420, wherein the firing member 420 is disposed on the staple cartridge seat 410, and the staple cartridge seat 410 has a mounting slot 411 for mounting a suture staple, a firing initial position 401 away from the mounting slot 411, and a firing end position 402 close to the mounting slot 411, Figure 2 After the nail magazine assembly 400 is installed in the installation cavity of the jaw assembly 300, the transmission mechanism 210 is connected with the firing component 420 of the nail magazine assembly 400, so that the transmission mechanism 210 can drive the firing component 420 to move from the firing initial position 401 to the firing end position 402, thereby completing the firing process of the nail magazine assembly 400.

[0178] At least one resistance adjustment position is provided between the firing initial position 401 and the firing end position 402, and the resistance adjustment position is provided with an adjustment member for changing the resistance encountered by the transmission mechanism 210 when passing through. It can be understood that in the process of firing the staple cartridge assembly 400, that is, in the process of the firing member 420 driven by the transmission mechanism 210 to move from the firing initial position 401 to the firing end position 402, it will pass through at least one resistance adjustment position, and the adjustment member provided at at least one resistance adjustment position will change the resistance encountered by the transmission mechanism 210 when passing through. The resistance encountered by the firing member 420 during the firing process will be manifested as a change in the driving current of the driving device, so that the driving current of the driving device has corresponding current characteristics.

[0179] The control device is configured to:

[0180] Acquiring a driving current of the driving device, and extracting a current characteristic corresponding to at least one resistance adjustment position from the driving current;

[0181] The type of the staple cartridge assembly 400 is determined according to the current characteristics, or the driving mode of the driving device on the transmission mechanism 210 is determined according to the current characteristics.

[0182] It is understandable that the driving current of the driving device should be a relatively stable current with little fluctuation when the transmission mechanism 210 does not encounter the adjustment member. At this time, the driving device only needs to overcome the friction between the firing member 420 and the nail magazine seat 410 to drive the firing member 420. The adjustment member set at at least one resistance adjustment position will increase the resistance encountered by the transmission mechanism 210 when passing through the adjustment member at at least one resistance adjustment position. The driving device needs a larger driving current to generate sufficient torque to drive the transmission mechanism 210 to leave the resistance adjustment position and continue to move forward. After the control device obtains the driving current of the driving device, it can extract at least one current feature that is larger than the current at other positions from the driving current of the driving device. The type of the staple magazine assembly 400 is determined based on the current characteristics corresponding to at least one resistance adjustment position. In this way, there is no need to set electrical components and arrange electrical wiring on the staple magazine assembly 400, thereby avoiding abnormal identification of the staple magazine assembly 400 due to a blockage of the electrical circuit, and the nail magazine assembly 400 can be identified safely and reliably. The driving mode of the drive device for the transmission mechanism 210 is determined based on the current characteristics corresponding to at least one resistance adjustment position, thereby avoiding the use of an inappropriate driving mode to drive the drive device of the staple magazine assembly 400, and ensuring the suturing effect on the patient's tissue.

[0183] It should also be understood that the various implementations provided in the embodiments of the present application can be combined arbitrarily to achieve different technical effects.

[0184] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the above implementation mode. Technical personnel familiar with the field can also make various equivalent modifications or substitutions under the shared conditions without violating the spirit of the present application. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A surgical instrument, characterized in that: include: A handle assembly, the handle assembly comprising a drive device and a control device; a barrel assembly, one end of which is connected to the handle assembly, and the barrel assembly includes a transmission mechanism connected to the drive device; a jaw assembly, the other end of the barrel assembly is connected to the jaw assembly, the jaw assembly comprises a first jaw and a second jaw, the first jaw is movably connected to the second jaw, the first jaw and the second jaw can move relative to each other to achieve closing and opening, and a mounting cavity is formed between the first jaw and the second jaw; A staple cartridge assembly, the staple cartridge assembly is installed in the installation cavity, the staple cartridge assembly comprises a staple cartridge seat and a firing member, the firing member is arranged on the staple cartridge seat, the staple cartridge seat has a mounting groove for mounting suture staples, a firing initial position away from the mounting groove, and a firing end position close to the mounting groove, the transmission mechanism can drive the firing member to move from the firing initial position to the firing end position, a first resistance adjustment position and a second resistance adjustment position are arranged between the firing initial position and the firing end position, and the first resistance adjustment position and the second resistance adjustment position are provided with adjustment members for changing the resistance encountered by the firing member when passing through; Wherein, the control device is configured as follows: Acquiring a driving current of the driving device, and extracting a first current feature corresponding to the first resistance adjustment position and a second current feature corresponding to the second resistance adjustment position from the driving current; The type of the staple cartridge assembly is determined according to the first current characteristic and the second current characteristic, or the driving mode of the driving device on the transmission mechanism is determined according to the first current characteristic and the second current characteristic.

2. The surgical instrument according to claim 1, characterized in that: For different types of the staple cartridge assemblies, the first resistance adjustment position and / or the second resistance adjustment position generate different resistances on the firing member; the first current characteristic and the second current characteristic both include a plurality of continuous current values; The determining the type of the staple cartridge assembly according to the first current characteristic and the second current characteristic includes: Determine a first characteristic value according to a range within which a current peak value or a current average value in the first current characteristic falls; Determine a second characteristic value according to a range within which a current peak value or a current average value in the second current characteristic falls; The type of the staple cartridge assembly is determined according to a combination of the first characteristic value and the second characteristic value.

3. The surgical instrument according to claim 1, characterized in that: The adjusting member is a protrusion arranged on the nail magazine seat.

4. The surgical instrument according to claim 3, characterized in that: The firing component is provided with a groove matching the protrusion.

5. The surgical instrument according to claim 3, characterized in that: For different types of the staple cartridge assembly, at least one of the following conditions is met: The shape, length or thickness of the protrusions at the first resistance adjustment position are different; The shape, length or thickness of the protrusion at the second resistance adjustment position is different.

6. The surgical instrument according to claim 1, characterized in that: The adjusting member is a groove arranged on the nail magazine seat, and the firing member is provided with a protrusion matching the groove.

7. The surgical instrument according to claim 4, characterized in that: For different types of the staple cartridge assembly, at least one of the following conditions is met: The shape, length or thickness of the protrusions at the first resistance adjustment position are different; The number of matching between the protrusions and the grooves at the first resistance adjustment position is different; The shape, length or thickness of the protrusion at the second resistance adjustment position is different; The number of matching between the protrusions and the grooves at the second resistance adjustment position is different.

8. The surgical instrument according to claim 4, characterized in that: The firing component includes a slider and a cutting knife, one end of the cutting knife is connected to the slider, and the other end is connected to the transmission mechanism; the groove is arranged on the slider or on the cutting knife.

9. The surgical instrument according to claim 6, characterized in that: The firing component includes a slider and a cutting knife, one end of the cutting knife is connected to the slider, and the other end is connected to the transmission mechanism; the protrusion is arranged on the slider or on the cutting knife.

10. The surgical instrument according to claim 1, characterized in that: For different types of the staple cartridge assembly, at least one of the following conditions is met: The distance between the first resistance adjustment position and the initial firing position is different; The distance between the second resistance adjustment position and the firing initial position is different; The first resistance adjustment position is different from the second resistance adjustment position in distance.

11. The surgical instrument according to claim 10, characterized in that: The first current feature and the second current feature both include a plurality of continuous current values, and determining the type of the staple cartridge assembly according to the first current feature and the second current feature includes any one of the following: determining the type of the staple cartridge assembly according to a time interval between a current peak in the first current feature and a current peak in the second current feature; The type of the nail magazine assembly is determined based on a first time length corresponding to when the firing component starts to move to the current peak in the first current feature and a second time length corresponding to when the firing component starts to move to the current peak in the second current feature.

12. A surgical instrument, characterized in that: include: A handle assembly, the handle assembly comprising a drive device and a control device; a barrel assembly, one end of which is connected to the handle assembly, and the barrel assembly includes a transmission mechanism connected to the drive device; a jaw assembly, the other end of the barrel assembly is connected to the jaw assembly, the jaw assembly comprises a first jaw and a second jaw, the first jaw is movably connected to the second jaw, the first jaw and the second jaw can move relative to each other to achieve closing and opening, and a mounting cavity is formed between the first jaw and the second jaw; A staple cartridge assembly, the staple cartridge assembly is installed in the installation cavity, the staple cartridge assembly comprises a staple cartridge seat and a firing member, the firing member is arranged on the staple cartridge seat, the staple cartridge seat has a mounting groove for mounting suture staples, a firing initial position away from the mounting groove, and a firing end position close to the mounting groove, the transmission mechanism can drive the firing member to move from the firing initial position to the firing end position, at least one resistance adjustment position is arranged between the firing initial position and the firing end position, and the resistance adjustment position is provided with an adjustment member for changing the resistance encountered by the firing member when passing through; Wherein, the control device is configured as follows: Acquiring a driving current of the driving device, and extracting a current characteristic corresponding to the at least one resistance adjustment position from the driving current; The type of the staple cartridge assembly is determined according to the current characteristics, or the driving mode of the driving device on the transmission mechanism is determined according to the current characteristics.

13. The surgical instrument according to claim 12, characterized in that: For different types of the staple cartridge assemblies, the number of resistance adjustment positions is different; The determining the type of the staple cartridge assembly according to the current characteristics includes: The type of the staple cartridge assembly is determined according to the number of the current characteristics.

14. A surgical instrument, characterized in that: include: A handle assembly, the handle assembly comprising a drive device and a control device; a barrel assembly, one end of which is connected to the handle assembly, and the barrel assembly includes a transmission mechanism connected to the drive device; a jaw assembly, the other end of the barrel assembly is connected to the jaw assembly, the jaw assembly comprises a first jaw and a second jaw, the first jaw is movably connected to the second jaw, the first jaw and the second jaw can move relative to each other to achieve closing and opening, and a mounting cavity is formed between the first jaw and the second jaw; A staple cartridge assembly, the staple cartridge assembly is installed in the installation cavity, the staple cartridge assembly comprises a staple cartridge seat and a firing member, the firing member is arranged on the staple cartridge seat, the staple cartridge seat has a mounting groove for mounting suture staples, a firing initial position away from the mounting groove, and a firing end position close to the mounting groove, the transmission mechanism can drive the firing member to move from the firing initial position to the firing end position, a first resistance adjustment position and a second resistance adjustment position are arranged between the firing initial position and the firing end position, and the first resistance adjustment position and the second resistance adjustment position are provided with adjustment members for changing the resistance encountered by the transmission mechanism when passing through; Wherein, the control device is configured as follows: Acquiring a driving current of the driving device, and extracting a first current feature corresponding to the first resistance adjustment position and a second current feature corresponding to the second resistance adjustment position from the driving current; The type of the staple cartridge assembly is determined according to the first current characteristic and the second current characteristic, or the driving mode of the driving device on the transmission mechanism is determined according to the first current characteristic and the second current characteristic.

15. A surgical instrument, characterized in that: include: A handle assembly, the handle assembly comprising a drive device and a control device; a barrel assembly, one end of which is connected to the handle assembly, and the barrel assembly includes a transmission mechanism connected to the drive device; a jaw assembly, the other end of the barrel assembly is connected to the jaw assembly, the jaw assembly comprises a first jaw and a second jaw, the first jaw is movably connected to the second jaw, the first jaw and the second jaw can move relative to each other to achieve closing and opening, and a mounting cavity is formed between the first jaw and the second jaw; A staple cartridge assembly, the staple cartridge assembly is installed in the installation cavity, the staple cartridge assembly comprises a staple cartridge seat and a firing member, the firing member is arranged on the staple cartridge seat, the staple cartridge seat has a mounting groove for mounting suture staples, a firing initial position away from the mounting groove, and a firing end position close to the mounting groove, the transmission mechanism can drive the firing member to move from the firing initial position to the firing end position, at least one resistance adjustment position is arranged between the firing initial position and the firing end position, and the resistance adjustment position is provided with an adjustment member for changing the resistance encountered by the transmission mechanism when passing through; Wherein, the control device is configured as follows: Acquiring a driving current of the driving device, and extracting a current characteristic corresponding to the at least one resistance adjustment position from the driving current; The type of the staple cartridge assembly is determined according to the current characteristics, or the driving mode of the driving device on the transmission mechanism is determined according to the current characteristics.

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