Electric anastomat control method and electric anastomat

Abstract

The invention relates to the technical field of medical instruments, in particular to an electric anastomat control method and an electric anastomat. The control method of the electric anastomat comprises the following steps that a motor is controlled to drive a jaw assembly to squeeze tissue; in the tissue squeezing process, current working parameters of a motor are obtained; and determining the current tissue thickness according to the current working parameters. The electric anastomat is applied to the electric anastomat control method. According to the electric anastomat control method and the electric anastomat, on one hand, the current tissue thickness is obtained through the current working parameters of the motor, a measuring assembly does not need to be installed at the far end of the electric anastomat, and interference caused by frequent use to the tissue thickness detection function is reduced; operation details can be adjusted by referring to the tissue thickness in the anastomosis stage and the cutting stage, and the quality of tissue anastomosis and tissue cutting is improved.

Description

Technical Field

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

[0002] The electric stapler relies on the power provided by the battery to drive the stapler. Its main working principle is to use the cutting knife to cut the tissue and use the titanium stapler to staple. In one operation cycle of the electric stapler, the motor first drives the jaw assembly to close to clamp and squeeze the tissue. After the assembly is fully squeezed, the motor pushes the stapler assembly to staple the tissue and drives the cutting knife to fire and cut the tissue.

[0003] Knowing the thickness of the tissue in advance is of great reference significance whether it is the staple cartridge removing staples to staple the tissue or the cutting knife firing to cut the tissue.

[0004] At present, a solution for measuring tissue thickness is to set a strain gauge in the distal component of the electric stapler, and detect the clamping load of the electric stapler on the tissue through the strain gauge. However, since the distal component of the electric stapler needs to contact the tissue and tissue fluid, and needs to be sterilized by high temperature or chemicals, the above-mentioned use environment and sterilization method seriously affect the accuracy of the strain gauge, and even cause it to lose its function. In addition, the strain gauge needs to be electrically connected to the handle component at the proximal end of the electric stapler, and the electrical connection can be achieved across the sterile area and the sterile area, which is costly and complex in structure. Summary of the invention

[0005] The purpose of the present application is to provide an electric stapler control method and an electric stapler to solve the problems existing in the existing tissue thickness detection scheme in the prior art. The present application provides an electric stapler control method, the electric stapler comprising a jaw assembly and a motor disposed at the proximal end of the electric stapler;

[0006] The electric stapler control method comprises the following steps:

[0007] Controlling the motor to drive the jaw assembly to squeeze the tissue;

[0008] During the process of squeezing the tissue, obtaining current working parameters of the motor;

[0009] The current tissue thickness is determined according to the current working parameters.

[0010] In the above technical solution, further, the electric stapler control method further includes the following steps before controlling the motor to drive the jaw assembly to compress the tissue:

[0011] Establishing a mapping relationship between the preset working parameters of the motor and the preset tissue thickness;

[0012] The step of determining the current tissue thickness according to the acquired current working parameters specifically comprises the following steps:

[0013] According to the mapping relationship between the preset working parameters of the motor and the preset tissue thickness, the current tissue thickness is determined according to the acquired current working parameters.

[0014] In any of the above technical solutions, further, the step of establishing a mapping relationship between the preset working parameters of the motor and the preset tissue thickness in the electric stapler control method specifically includes the following steps:

[0015] Dividing the preset working parameters of the motor into a plurality of first preset ranges, dividing the preset tissue thickness into a plurality of preset levels, and establishing a one-to-one corresponding mapping relationship between the plurality of first preset ranges and the plurality of preset levels;

[0016] The step of determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness specifically includes the following steps:

[0017] Determining, according to the current operating parameter, the first preset range corresponding to the current operating parameter;

[0018] According to the mapping relationship established between the plurality of the first preset ranges and the plurality of the preset levels, the corresponding preset level is determined according to the determined first preset range and is used as the current tissue thickness.

[0019] In any of the above technical solutions, further, the step of obtaining the current operating parameters of the motor specifically includes the following steps:

[0020] An average current value, an average speed value or an average voltage value of the motor in a first predetermined time period is obtained as the current operating parameter.

[0021] In any of the above technical solutions, further, the starting time of the first predetermined period is the time when the current, speed or voltage of the motor starts to change relative to the initial value, or the starting time of the first predetermined period is the time when the motor rotates to the first predetermined stroke;

[0022] The end time of the first predetermined period is the time when the jaw assembly is fully closed, or the end time of the first predetermined period is the time when the motor rotates to the second predetermined stroke;

[0023] When the motor is in the first predetermined stroke or the second predetermined stroke, the jaw assembly is in contact with the tissue, and the second predetermined stroke is located after the first predetermined stroke.

[0024] In any of the above technical solutions, further, the preset tissue thickness is divided into three preset levels: thin, medium and thick; wherein,

[0025] When the average current of the motor in the first predetermined period is taken as the current operating parameter, the preset operating parameter is divided into three first preset ranges of less than 1.5A, 1.5A-1.7A and greater than 1.7A;

[0026] The one-to-one mapping relationship between the first preset ranges and the preset levels is:

[0027] When the first preset range is less than 1.5A, the preset level is thin;

[0028] When the first preset range is 1.5A-1.7A, the preset level is medium;

[0029] When the first preset range is greater than 1.7A, the preset level is thick;

[0030] The step of determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness specifically includes the following steps:

[0031] According to the current operating parameter, determining that the first preset range corresponding to the current operating parameter is less than 1.5A, falls within 1.5A-1.7A, or is greater than 1.7A;

[0032] According to the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, the corresponding preset level is determined to be thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness;

[0033] or,

[0034] When the average value of the rotation speed of the motor in the first predetermined period is taken as the current working parameter, the preset working parameter is divided into three first preset ranges of slow speed, medium speed and fast speed;

[0035] A one-to-one mapping relationship is established between the first preset ranges and the preset levels:

[0036] When the first preset range is fast, the preset level is thin;

[0037] When the first preset range is medium speed, the preset level is medium;

[0038] When the first preset range is slow, the preset level is thick;

[0039] The step of determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness specifically includes the following steps:

[0040] According to the current working parameter, determining that the first preset range corresponding to the current working parameter is fast, medium or slow;

[0041] According to the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, the corresponding preset level is determined to be thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness;

[0042] or,

[0043] When the average voltage of the motor in the first predetermined period is taken as the current working parameter, the preset working parameter is divided into three first preset ranges of low voltage, medium voltage and high voltage;

[0044] A one-to-one mapping relationship is established between the first preset ranges and the preset levels:

[0045] When the first preset range is high pressure, the preset level is thin;

[0046] When the first preset range is medium pressure, the preset level is medium;

[0047] When the first preset range is low pressure, the preset level is thick;

[0048] The step of determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness specifically includes the following steps:

[0049] According to the current working parameter, determining that the first preset range corresponding to the current working parameter is low pressure, medium pressure or high pressure;

[0050] According to the mapping relationship established between the plurality of the first preset ranges and the plurality of the preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

[0051] In any of the above technical solutions, further, the step of obtaining the current operating parameters of the motor specifically includes the following steps:

[0052] The total stroke of the motor from the first moment to the second moment is obtained as the current working parameter; wherein,

[0053] The first moment is any moment from when the jaw assembly is in a fully closed initial state to before the jaw assembly contacts the tissue;

[0054] The second moment is the moment when the jaw assembly is fully closed.

[0055] In any of the above technical solutions, further, the preset tissue thickness is divided into three preset levels: thin, medium and thick;

[0056] Dividing the preset working parameters into three first preset ranges of short, medium and long;

[0057] A one-to-one mapping relationship is established between the first preset ranges and the preset levels:

[0058] When the first preset range is short, the preset level is thin;

[0059] When the first preset range is medium, the preset level is medium;

[0060] When the first preset range is long, the preset level is thick;

[0061] The step of determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness specifically includes the following steps:

[0062] According to the current working parameter, determining that the first preset range corresponding to the current working parameter is short, medium or long;

[0063] According to the mapping relationship established between the plurality of the first preset ranges and the plurality of the preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

[0064] In any of the above technical solutions, further, the electric stapler also includes a transmission assembly and a travel switch, and the electric stapler drives the jaw assembly to move through the transmission assembly; the moment when the jaw assembly is fully closed is the moment when the motor drives the transmission assembly to trigger the travel switch.

[0065] In any of the above technical solutions, further, the jaw assembly can be loaded with nail magazine assemblies of various nail magazine models, and before controlling the motor to drive the jaw assembly to squeeze the tissue, the following steps are also included:

[0066] Establishing a mapping relationship between the preset tissue thickness and the preset staple cartridge model;

[0067] After determining the current tissue thickness according to the current working parameters, the following steps are also included:

[0068] According to the mapping relationship between the preset tissue thickness and the preset nail magazine model, the target nail magazine model is determined according to the current tissue thickness.

[0069] In any of the above technical solutions, further, the step of establishing a mapping relationship between the preset tissue thickness and the preset staple cartridge model specifically includes the following steps:

[0070] The plurality of nail magazine models are divided into a plurality of preset groups, and a one-to-one mapping relationship is established between the plurality of preset groups and the plurality of preset levels.

[0071] The electric stapler further includes a cutting knife, and before controlling the motor to drive the jaw assembly to squeeze the tissue, the following steps are also included:

[0072] Establishing a mapping relationship between the preset tissue thickness and the preset speed at which the motor drives the cutting blade;

[0073] After determining the current tissue thickness according to the current working parameters, the following steps are also included:

[0074] Based on the mapping relationship between the preset tissue thickness and the preset speed of the motor driving the cutting knife, and according to the current tissue thickness, the target rotation speed of the motor driving the cutting knife is determined, and the motor is controlled to fire the cutting knife at the target rotation speed to cut the tissue.

[0075] In any of the above technical solutions, further, the step of establishing a mapping relationship between the preset speed of the motor driving the cutting knife and the preset tissue thickness specifically includes the following steps:

[0076] Dividing the preset speed of the motor driving the cutting blade into a plurality of second preset ranges, and establishing a one-to-one mapping relationship between the plurality of second preset ranges and the plurality of preset levels;

[0077] The step of determining the target rotation speed of the motor to drive the cutting knife according to the mapping relationship between the preset tissue thickness and the preset speed of the motor driving the cutting knife according to the current tissue thickness, and controlling the motor to fire the cutting knife at the target rotation speed to cut the tissue specifically comprises the following steps:

[0078] A one-to-one mapping relationship is established between the multiple second preset ranges and the multiple preset levels, and according to the preset level of the current tissue thickness, the second preset range corresponding to the preset level of the current tissue thickness is determined as the target speed of the motor driving the cutting knife, and the motor is controlled to fire the cutting knife at the target speed to cut the tissue.

[0079] The present application also provides an electric stapler, comprising a processor, a jaw assembly, and a motor disposed at the proximal end of the electric stapler;

[0080] The processor comprises a sampling module, a motor driving module and a control module, wherein the sampling module and the motor driving module are both electrically connected to the control module;

[0081] The control module controls the motor to drive the jaw assembly to squeeze the tissue through the motor drive module;

[0082] During the squeezing process, the sampling module obtains the current working parameters of the motor;

[0083] The control module can determine the current tissue thickness according to the current working parameters.

[0084] In any of the above technical solutions, further, the jaw assembly can accommodate nail magazines of various nail magazine models;

[0085] The control module determines the target staple cartridge model according to the current tissue thickness;

[0086] And / or, the electric stapler also includes a cutting knife, and the control module determines a target rotation speed of the motor to drive the cutting knife according to the current tissue thickness, and controls the motor to fire the cutting knife at the target rotation speed to cut the tissue.

[0087] The present application also provides an electric stapler, comprising a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor implements the electric stapler control method described in any of the above technical solutions when executing the program.

[0088] Compared with the prior art, the beneficial effects of this application are:

[0089] The electric stapler control method provided in the present application comprises a main unit located at the proximal end, a motor is arranged in the main unit, and an auxiliary component for collecting the working parameters of the motor can also be arranged in the main unit. Compared with the solution of adding a strain gauge inside the distal component, sterilization is not required, and interference caused by frequent use and high-temperature sterilization of the distal component can be effectively avoided, thereby improving the accuracy of the current working parameters of the motor obtained, thereby improving the accuracy of the detected tissue thickness, and extending the service life. In addition, it can also avoid electrical connection across the sterile area and the sterile area, effectively simplifying the structure and reducing the design and manufacturing costs.

[0090] The electric stapler provided in the present application adopts the above-mentioned electric stapler control method, thereby being able to achieve all the beneficial effects of the electric stapler control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] In order to more clearly illustrate the specific implementation of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation or the description of the prior art will be briefly introduced below.

[0092] Figure 1 A curve diagram of the principle of obtaining the current of the motor of the electric stapler control method provided in the first embodiment of the present application;

[0093] Figure 2 A curve diagram of the principle of obtaining the voltage of the motor of the electric stapler control method provided in the first embodiment of the present application;

[0094] Figure 3 A curve diagram showing the principle of obtaining the rotation speed of the motor of the electric stapler control method provided in the first embodiment of the present application;

[0095] Figure 4 A first structural schematic diagram of the electric stapler provided in the second embodiment of the present application;

[0096] Figure 5 A second structural schematic diagram of the electric stapler provided in the second embodiment of the present application;

[0097] Figure 6 A third structural schematic diagram of the electric stapler provided in the second embodiment of the present application;

[0098] Figure 7 A fourth structural schematic diagram of the electric stapler provided in the second embodiment of the present application;

[0099] Figure 8 This is a block diagram of the control principle of the electric stapler provided in Example 2 of the present application.

[0100] Reference numerals:

[0101] 1-electric stapler; 10-jaw assembly; 100-nail support; 101-nail magazine support; 11-casing; 12-main unit; 13-travel switch; 14-slider; 140-slider body; 141-touch part; 15-connecting rod. DETAILED DESCRIPTION

[0102] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0103] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0104] In the present invention, unless otherwise clearly specified and limited, the terms such as "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a movably connection, or an integral body; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements such as abutment. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. It should be noted that when there are qualifiers before "connected" and "connection", they have the meaning defined by the corresponding qualifiers, and only exclude situations that obviously need to be excluded, and do not exclude other possible situations. For example, "detachably connected" refers to a detachable connection, and does not include integration, but movable connection, etc. are not excluded.

[0105] Embodiment 1

[0106] See also Figures 1 to 3 See also Figures 4 to 8 As shown, an embodiment of the present application provides a control method for an electric stapler 1, which is used to detect the thickness of tissue during the stage of squeezing tissue by the electric stapler 1.

[0107] The electric stapler 1 comprises a main unit 12, a jaw assembly 10, a motor, a travel switch, a transmission assembly, a sleeve 11 and a cutting knife.

[0108] The jaw assembly 10 is connected to the main body 12 and extends toward the distal end relative to the main body 12 so that the jaw assembly 10 can contact tissue in the patient's body.

[0109] like Figure 4 and Figure 5 As shown, the jaw assembly 10 includes an anvil 100 and a staple cartridge seat 101, the staple cartridge seat 101 is pivotally connected to the anvil 100, the staple cartridge seat 101 is used to operably support a staple cartridge assembly (not shown) located therein, and the anvil 100 can selectively move between an open position and a closed position, thereby cooperating with the staple cartridge seat 101 and the staple cartridge assembly to loosen or clamp tissue. The staple cartridge seat 101 can be adapted to staple cartridge assemblies of various staple cartridge models, so that the jaw assembly 10 can staple tissue through titanium staples in a staple cartridge assembly of any staple cartridge model after being fully closed.

[0110] In order to realize the movement of the jaw assembly 10, the sleeve 11 can be slidably sleeved on the outer side of the jaw assembly 10, so that the sleeve 11 moves forward and backward to change the angle between the nail support 100 and the nail magazine support 101, thereby opening or closing the jaw assembly 10. Specifically, when the sleeve 11 moves forward relative to the jaw assembly 10, the jaw assembly 10 gradually closes, and when the sleeve 11 moves backward relative to the jaw assembly 10, the jaw assembly 10 gradually opens.

[0111] In order to drive the sleeve 11 to move forward and backward, the transmission assembly is connected between the motor and the sleeve 11, so that the motor drives the sleeve 11 to move forward and backward along the length direction of the jaw assembly 10 through the transmission assembly. When the motor drives the transmission assembly to trigger the travel switch, the jaw assembly 10 is fully closed.

[0112] Specifically, see Figure 6 and Figure 7 As shown, the transmission assembly includes a slider 14 and a connecting rod 15, and the travel switch 13 is arranged at intervals in front of the slider 14. The slider 14 is connected to the sleeve 11 and is configured to move forward and backward. The motor can drive the connecting rod 15 to rotate to drive the slider 14 to move forward and backward, so that the slider 14 pushes the sleeve 11 to move forward and backward, and then the jaw assembly 10 is opened and closed by the sleeve 11 moving forward and backward.

[0113] The motor drives the connecting rod 15 to rotate, and the connecting rod 15 pushes the slider 14 forward. During the forward movement of the slider 14, the sleeve 11 is pushed forward, so that the angle between the nail support seat 100 and the nail magazine seat 101 is reduced, and the jaw assembly 10 is gradually closed. Among them, the slider 14 moves forward and gradually approaches the travel switch 13 until the travel switch 13 is triggered, and the jaw assembly 10 is completely closed. For a more detailed description of how the motor drives the jaw assembly 10 to move through the transmission assembly, please refer to the applicant's prior application CN202010365525.0, which will not be repeated here.

[0114] The travel switch 13 is used to be electrically connected to the motor. When the travel switch 13 is triggered, the travel switch 13 controls the motor to stop, the current of the motor returns to zero, the drive of the sleeve 11 stops, the jaw assembly 10 closes to the bottom, and the compression of the tissue stops.

[0115] Optionally, the slider 14 includes a slider body 140 and a trigger portion 141, the trigger portion 141 is connected to the side of the slider body 140, and the travel switch 13 is spaced apart on the front side of the trigger portion 141, so that when the jaw assembly 10 has not yet been fully closed, the travel switch 13 and the trigger portion 141 are spaced apart facing each other, and when the jaw assembly 10 is fully closed, the travel switch 13 contacts the trigger portion 141 to trigger the travel switch 13.

[0116] The jaw assembly 10 has a fully closed initial state, a fully open state, and a fully closed state. The motor can drive the jaw assembly 10 to open from the initial state until it switches to the fully open state, and then drive the jaw assembly 10 to start closing from the fully open state, squeezing the tissue during the closing process until it reaches the fully closed state. Furthermore, the electric stapler 1 can also be configured to maintain the fully closed state for a certain period of time to fully discharge the tissue fluid and complete the squeezing.

[0117] Based on this, the process of the jaw assembly 10 squeezing the tissue is defined as the jaw assembly 10 gradually opening from an initial state to a fully open state, and then starting to close from the fully open state until the squeezing process is completed.

[0118] The control method of the electric stapler 1 provided in this embodiment can be applied to a processor of the electric stapler 1. The control method of the electric stapler 1 includes the following steps:

[0119] Step S100, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0120] Step S101, during the process of squeezing the tissue, obtaining the current working parameters of the motor;

[0121] Step S102, determining the current tissue thickness according to the current working parameters of the motor.

[0122] In this technical solution, during the process of the electric stapler 1 squeezing the tissue through the jaw assembly 10, the load characteristics of the motor-driven jaw assembly 10 vary according to the thickness of the tissue, and the working parameters of the motor will vary accordingly. Therefore, the current tissue thickness of the tissue stapled by the electric stapler 1 can be determined based on the current working parameters of the motor during the squeezing process.

[0123] The tissue thickness is not limited to being expressed by precise thickness values, but can also be expressed by the type of tissue or thickness grade.

[0124] The method for detecting the compressed tissue thickness of the electric stapler 1, on the one hand, since the main unit 12 of the electric stapler 1 is located at the proximal end and the motor is arranged in the main unit 12, the auxiliary components for collecting the current working parameters of the motor can also be arranged in the main unit 12. Therefore, compared with the solution of adding a strain gauge to the distal jaw assembly 10 to detect the tissue thickness, the distal jaw assembly 10 can be effectively avoided from being contaminated by liquid and sterilized, which is beneficial to improve the accuracy of the current working parameters of the motor, thereby improving the accuracy of the detected current tissue thickness and extending the service life.

[0125] On the other hand, during the actual use of the electric stapler 1, the step of detecting the tissue thickness is completed in the squeezing stage, so that the detected tissue thickness can be used as a reference for other operations of the electric stapler 1 in the anastomosis stage and the cutting stage. Compared with the scheme of detecting the tissue thickness while anastomosing or detecting the tissue thickness while cutting during the anastomosis process, the pre-positioning of the tissue thickness detection step is achieved, the limitation of the reference range of the current tissue thickness obtained is reduced, and the reference range of the current tissue thickness obtained is significantly expanded.

[0126] In an optional solution of this embodiment, the control method of the electric stapler 1 includes the following steps:

[0127] Step S200, establishing a mapping relationship between the preset working parameters of the motor and the preset tissue thickness;

[0128] Step S201, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0129] Step S202, during the squeezing process, obtaining the current working parameters of the motor;

[0130] Step S203, according to the mapping relationship between the preset working parameters of the motor and the preset tissue thickness, and according to the acquired current working parameters, the current tissue thickness is determined.

[0131] In this technical solution, before controlling the motor to drive the jaw assembly 10 to squeeze the tissue, a mapping relationship is established between the preset working parameters of the motor and the preset tissue thickness of the tissue. Specifically, a mapping relationship can be pre-established between the preset working parameters and the preset tissue thickness in the form of a formula or table, which can be called by the processor during the actual squeezing process.

[0132] Specifically, after obtaining the current working parameters of the motor in step S202, the current working parameters are compared with the preset working parameters in step S203 to clarify the preset tissue thickness corresponding to the preset working parameters that match the current working parameters, and use them as the current tissue thickness, thereby achieving the purpose of determining the current tissue thickness of the squeezed tissue through the current working parameters of the motor during the squeezing process.

[0133] In an optional solution of this embodiment, the control method of the electric stapler 1 includes the following steps:

[0134] Step S300, dividing the preset working parameters of the motor into a plurality of first preset ranges, dividing the preset tissue thickness into a plurality of preset levels, and establishing a one-to-one mapping relationship between the plurality of first preset ranges and the plurality of preset levels;

[0135] Step S301, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0136] Step S302, during the squeezing process, obtaining the current working parameters of the motor;

[0137] Step S303, determining a first preset range corresponding to the current working parameter according to the current working parameter;

[0138] Step S304, according to the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, a corresponding preset level is determined according to the determined first preset range and used as the current tissue thickness.

[0139] In this technical solution, the tissue thickness is graded and the working parameters of the motor are divided into numerical ranges accordingly, and a one-to-one mapping relationship is established between the preset grade of tissue thickness and the first preset range of the working parameter for the processor to call during the actual squeezing process.

[0140] Specifically, in step S303, the first preset range corresponding to the current working parameter is determined, and then in step S304, the preset level corresponding to the first preset range determined in step S303 is determined based on the mapping relationship between multiple first preset ranges and multiple preset levels, so that the preset level is used as the current tissue thickness.

[0141] It can be seen that the method for detecting the compressed tissue thickness of the electric stapler 1 establishes a mapping relationship between the preset working parameters of the motor and the preset tissue thickness through step S300, and simplifies the corresponding relationship between the preset tissue thickness and the preset working parameters into a corresponding relationship between the preset level of tissue thickness and the first preset range of the working parameters, so that the calculation amount of the processor executing steps S303 and S304 is simplified, the operability of tissue thickness detection is improved, and the control method of the electric stapler 1 is easier to implement.

[0142] In an optional solution of this embodiment, during the process of the jaw assembly 10 squeezing the tissue, as an implementation scheme of obtaining the current working parameters of the motor, the average current value of the motor in the first predetermined period c is obtained as the current working parameter, so that the thickness of the tissue can be judged by the magnitude of the average current value of the motor in the first predetermined period c. Specifically, the larger the average current value of the motor during squeezing, the thicker the tissue; the smaller the average current value of the motor during squeezing, the thinner the tissue.

[0143] The start time of the first predetermined period c is the time when the current of the motor starts to change relative to the initial value I0, or the start time of the first predetermined period c is the time when the motor rotates to the first predetermined stroke.

[0144] The end time of the first predetermined period c is the time when the jaw assembly 10 is fully closed, or the end time of the first predetermined period c is the time when the motor rotates to the second predetermined stroke.

[0145] For tissues with any tissue thickness, when the motor is in the first predetermined stroke or the second predetermined stroke, the jaw assembly 10 is in contact with the tissue, and the second predetermined stroke is located after the first predetermined stroke. In other words, the first predetermined stroke and the second predetermined stroke are both within the stroke range in which the jaw assembly 10 can touch any tissue thickness, and the first predetermined stroke is earlier than the second predetermined stroke.

[0146] During the squeezing process, when the jaw assembly 10 begins to touch the tissue, the current begins to change slightly relative to the initial value I0, that is, the current changes but not significantly; then the jaw assembly 10 continues to close so as to make closer contact with the tissue, and the current change begins to become obvious; as the jaw assembly 10 continues to close, the current continues to change; until it is fully closed, the squeezing is completed, the current returns to zero, and the motor stops.

[0147] In this process, as a selection scheme for the start time of the first predetermined period c, the start time of the first predetermined period c can be the moment when the current begins to change. Specifically, the current value of the jaw assembly 10 during the entire process of squeezing the tissue can be collected, and then the moment when the current begins to change is determined and defined as the start time of the first predetermined period c.

[0148] It is worth emphasizing that for different organizations, the starting time of the first predetermined period c determined by this scheme is different, such as Figure 1 As shown, Ia shows a curve of the motor current changing with the stroke when squeezing tissue a, and Ib shows a curve of the motor current changing with the stroke when squeezing tissue b. Tissue a is thicker than tissue b, so it can be seen that the stroke r1a corresponding to the start time of the first predetermined period c of tissue a is different from the stroke r1b corresponding to the start time of the first predetermined period c of tissue b.

[0149] Alternatively, as another selection scheme for the start time of the first predetermined period c, the time corresponding to the universal first predetermined stroke r2 may be designated as the start time of the first predetermined period c, and the first predetermined stroke r2 needs to be configured so that the motor can touch tissue with any tissue thickness. Specifically, Figure 1 As shown, the first predetermined stroke r2 needs to be configured to be later than both stroke r1a and stroke r1b, so that when squeezing tissue a or tissue b, the jaw assembly 10 can touch both tissue a and tissue b at the pre-specified first predetermined stroke r2. Further, the start time of the first predetermined period c is as late as possible from the stroke r1b by a certain stroke interval, so as to ensure that at the start time of the first predetermined period c, the jaw assembly 10 can fully contact tissue of any tissue thickness.

[0150] By adopting this scheme of defining the moment corresponding to the first predetermined stroke r2 as the starting moment of the first predetermined time period c, there is no need to collect the current of the motor during the pressing process, nor is there any need to judge the moment when the current changes. It can also avoid the interval where the current change is not obvious. Therefore, this scheme for selecting the starting moment of the first predetermined time period c is simple and easy, and is conducive to more accurate calculation of the average current value.

[0151] As a selection scheme for the end time of the first predetermined period c, the end time of the first predetermined period c is configured as the moment when the jaw assembly 10 is fully closed, and the moment when the jaw assembly 10 is fully closed can be configured as the moment when the motor stops during the squeezing process. Figure 1 As shown, for tissue a, the end time of the first predetermined period c is the time corresponding to the motor stroke r4a; for tissue b, the end time of the first predetermined period c is the time corresponding to the motor stroke r4b.

[0152] Alternatively, as another selection scheme for the end time of the first predetermined period c, the end time of the first predetermined period c is the moment when the motor rotates to the second predetermined stroke r3. Specifically, the moment corresponding to the universal second predetermined stroke r3 can be designated as the end time of the first predetermined period c. Since the jaw assembly 10 is in contact with the tissue when the motor is in any stroke within the stroke range from the first predetermined stroke r2 to the motor stop, a second predetermined stroke r3 is preset within this stroke range, which can ensure that the jaw assembly 10 is in contact with the tissue at the end time of the first predetermined period c and within the first predetermined period c determined by the second predetermined stroke r3.

[0153] Thus, Figure 1 As shown, as an optional way to select the first predetermined time period c, the start time is pre-designated as the time corresponding to the first predetermined trip r2, and the end time is pre-designated as the time corresponding to the second predetermined trip r3, so that the time period between the first predetermined trip r2 and the second predetermined trip r3 is taken as the first predetermined time period c. Therefore, for organizations a and b, the first predetermined time period c is the same.

[0154] As an alternative method of selecting the first predetermined time period c, the start time is pre-designated as the time corresponding to the first predetermined stroke r2, and the end time is pre-designated as the time when the jaw assembly 10 is fully closed. Thus, for tissue a, the first predetermined time period c is the time period between the first predetermined stroke r2 and the motor stroke r4a (when the jaw assembly 10 is fully closed), and for tissue b, the first predetermined time period c is the time period between the first predetermined stroke r2 and the motor stroke r4b (when the jaw assembly 10 is fully closed).

[0155] As another alternative to the first predetermined time period c, the start time is pre-specified as the time when the current of the motor begins to change, and the end time is pre-specified as the time when the jaw assembly 10 is fully closed. Figure 1 As shown, for tissue a, the starting time of the first predetermined time period c is the moment when the current of the motor corresponding to the motor stroke r1a begins to change, and the end time of the first predetermined time period c is the moment corresponding to the stroke r4a when the jaw assembly 10 is fully closed; for tissue b, the starting time of the first predetermined time period c is the moment when the current of the motor corresponding to the motor stroke r1b begins to change, and the end time of the first predetermined time period c is the moment corresponding to the stroke r4b when the jaw assembly 10 is fully closed.

[0156] As another alternative to the first predetermined period c, the start time is pre-specified as the time when the current of the motor begins to change, and the end time is selected as the time when the motor rotates to the second predetermined stroke r3. Figure 1As shown, for organization a, the starting time of the first predetermined time period c is the moment when the current of the motor corresponding to the motor stroke r1a begins to change, and the ending time is the moment corresponding to the second predetermined stroke r3; for organization b, the starting time of the first predetermined time period c is the moment when the current of the motor corresponding to the motor stroke r1b begins to change, and the ending time of the first predetermined time period c is the moment corresponding to the second predetermined stroke r3.

[0157] Optionally, the current of the motor may be continuously collected within the first predetermined period c to calculate the current average value; or, the current of the motor may be collected at multiple points at regular time intervals within the first predetermined period to calculate the current average value.

[0158] It is understandable that the current of the motor in the entire pressing period can be collected, and the average value of the collected current of the motor in the entire pressing period can be calculated to obtain the average current value of the motor in the entire pressing process.

[0159] In this embodiment, under this situation, the control method of the electric stapler 1 includes the following steps:

[0160] Step S400, dividing the preset tissue thickness into three preset levels of thin, medium and thick, dividing the preset working parameter into three first preset ranges of less than 1.5A, 1.5A-1.7A and greater than 1.7A, and establishing the following mapping relationship between the plurality of first preset ranges and the plurality of preset levels: when the first preset range is less than 1.5A, the preset level is thin; when the first preset range is 1.5A-1.7A, the preset level is medium; when the first preset range is greater than 1.7A, the preset level is thick;

[0161] Step S401, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0162] Step S402, during the squeezing process, obtaining an average current value of the motor in a first predetermined period of time as a current working parameter;

[0163] Step S403, according to the current working parameter, determining that the first preset range corresponding to the current working parameter is less than 1.5A, falls within 1.5A-1.7A, or is greater than 1.7A;

[0164] Step S404, according to the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

[0165] In this technical solution, in step S400, a one-to-one mapping relationship is established between three preset levels of thin, medium and thick and three first preset ranges divided according to the size of the current average value, so as to be called by the processor in steps S403 and S404.

[0166] In step S403, the current working parameter obtained in step S402 (the average current of the motor in the first predetermined time period) is compared with the three first preset ranges to determine which of the three first preset ranges of less than 1.5A, 1.5A-1.7A and greater than 1.7A the current working parameter belongs to. In step S404, based on the mapping relationship established in step S401, the preset level corresponding to the first preset range determined in step S403 is determined, and the preset level is used as the current tissue thickness. Specifically, when the first preset range corresponding to the current working parameter obtained is less than 1.5A, and the corresponding preset level less than 1.5A (first preset range) is thin, then the current tissue thickness is determined to be thin; when the first preset range corresponding to the current working parameter obtained is falling within 1.5A-1.7A, and the corresponding preset level falling within 1.5A-1.7A (first preset range) is medium, then the current tissue thickness is determined to be medium; when the first preset range corresponding to the current working parameter obtained is greater than 1.7A, and the corresponding preset level greater than 1.7A (first preset range) is thick, then the current tissue thickness is determined to be thick.

[0167] To summarize, in a specific example, when the jaw assembly 10 of the electric stapler 1 is fully open, the encoder count value (stroke) of the motor is set to 1000. When the jaw assembly 10 is controlled to close, the encoder count value is accumulated and updated in real time. When the encoder count value of the motor is 1600 (the first predetermined stroke), the current sensor starts to record the current value of the motor once every 10 ms. When the encoder count value of the motor is 1800 (the second predetermined stroke), the collection is stopped, and the current average value is calculated to determine the current tissue thickness.

[0168] In another specific example, when the jaw assembly 10 of the electric stapler 1 is fully opened, the encoder count value of the motor is set to 1000, and the current value of the motor is recorded by the current sensor. The data is collected from the point where the current of the motor starts to change relative to the initial value I0, and the data is stopped after the motor is shut down. The average current value is calculated to determine the current tissue thickness.

[0169] In an optional solution of this embodiment, during the process of the jaw assembly 10 squeezing the tissue, as another implementation scheme of the working parameters of the motor obtained, the working parameters of the motor are the average value of the motor speed in the first predetermined period, so that the thickness of the tissue can be judged by the size of the average value of the motor speed in the first predetermined period. Specifically, the faster the average value of the motor speed during squeezing, the thicker the tissue; the slower the average value of the motor speed during squeezing, the thinner the tissue.

[0170] Similar to the current scheme, the start time of the first predetermined period d is the time when the motor speed starts to change relative to the initial value n0, or the start time of the first predetermined period d is the time when the motor rotates to the first predetermined stroke.

[0171] The end time of the first predetermined period d is the time when the jaw assembly 10 is fully closed, or the end time of the first predetermined period d is the time when the motor rotates to the second predetermined stroke.

[0172] For tissues with any tissue thickness, when the motor is in the first predetermined stroke or the second predetermined stroke, the jaw assembly 10 is in contact with the tissue, and the second predetermined stroke is located after the first predetermined stroke. In other words, the first predetermined stroke and the second predetermined stroke are both within the stroke range in which the jaw assembly 10 can touch any tissue thickness, and the first predetermined stroke is earlier than the second predetermined stroke.

[0173] During the squeezing process, when the jaw assembly 10 begins to touch the tissue, the rotation speed begins to change slightly relative to the initial value n0, that is, the rotation speed changes but not significantly; then the jaw assembly 10 continues to close so as to contact the tissue more closely, and the rotation speed begins to change significantly; as the jaw assembly 10 continues to close, the rotation speed continues to change; until it closes to the end, the squeezing is completed, the rotation speed returns to zero, and the motor stops.

[0174] In this process, as a selection scheme for the start time of the first predetermined period d, the start time of the first predetermined period d can be the moment when the rotation speed begins to change. Specifically, the rotation speed value of the jaw assembly 10 during the entire process of squeezing the tissue can be collected, and then the moment when the rotation speed begins to change is determined and defined as the start time of the first predetermined period d.

[0175] It is worth emphasizing that for different organizations, the starting time of the first predetermined period d determined by this scheme is different, such as Figure 2As shown, na shows a curve of the motor speed changing with the stroke when squeezing tissue a, and nb shows a curve of the motor speed changing with the stroke when squeezing tissue b. Tissue a is thicker than tissue b, so it can be seen that the stroke r1a corresponding to the start time of the first predetermined period d of tissue a is different from the stroke r1b corresponding to the start time of the first predetermined period d of tissue b.

[0176] Alternatively, as another selection scheme for the start time of the first predetermined period d, the time corresponding to the universal first predetermined stroke r2 may be designated as the start time of the first predetermined period d, and the first predetermined stroke r2 needs to be configured so that the motor can touch tissues of any thickness. Figure 2 As shown, the first predetermined stroke r2 needs to be configured to be later than both stroke r1a and stroke r1b, so that when squeezing tissue a or tissue b, the jaw assembly 10 can touch both tissue a and tissue b at the pre-specified first predetermined stroke r2. Further, the start time of the first predetermined period d is as late as possible from the stroke r1b by a certain stroke interval, so as to ensure that at the start time of the first predetermined period d, the jaw assembly 10 can fully contact tissue of any tissue thickness.

[0177] By adopting this scheme of defining the moment corresponding to the first predetermined stroke r2 as the starting moment of the first predetermined time period d, there is no need to collect the speed of the motor during the pressing process, nor is there any need to judge the moment when the speed changes. It can also avoid the interval where the speed change is not obvious. Therefore, this scheme for selecting the starting moment of the first predetermined time period d is simple and easy, and is conducive to more accurate calculation of the average speed value.

[0178] As a selection scheme for the end time of the first predetermined period d, the end time of the first predetermined period d is configured as the moment when the jaw assembly 10 is fully closed, and the moment when the jaw assembly 10 is fully closed can be configured as the moment when the motor stops during the squeezing process. Figure 2 As shown, for tissue a, the end time of the first predetermined period d is the time corresponding to the motor stroke r4a; for tissue b, the end time of the first predetermined period d is the time corresponding to the motor stroke r4b.

[0179] Alternatively, as another selection scheme for the end time of the first predetermined period d, the end time of the first predetermined period d is the moment when the motor rotates to the second predetermined stroke r3. Specifically, the moment corresponding to the universal second predetermined stroke r3 can be designated as the end time of the first predetermined period d. Since the jaw assembly 10 is in contact with the tissue when the motor is in any stroke within the stroke range from the first predetermined stroke r2 to the motor stop, a second predetermined stroke r3 is preset within this stroke range, which can ensure that the jaw assembly 10 is in contact with the tissue at the end time of the first predetermined period d and within the first predetermined period d determined by the second predetermined stroke r3.

[0180] Thus, Figure 2 As shown, as an optional way to select the first predetermined time period d, the start time is pre-specified as the time corresponding to the first predetermined trip r2, and the end time is pre-specified as the time corresponding to the second predetermined trip r3, so that the time period between the first predetermined trip r2 and the second predetermined trip r3 is taken as the first predetermined time period d. Therefore, for organizations a and b, the first predetermined time period d is the same.

[0181] As an alternative method of selecting the first predetermined time period d, the start time is pre-designated as the time corresponding to the first predetermined stroke r2, and the end time is pre-designated as the time when the jaw assembly 10 is fully closed. Thus, for tissue a, the first predetermined time period d is the time period between the first predetermined stroke r2 and the motor stroke r4a (when the jaw assembly 10 is fully closed), and for tissue b, the first predetermined time period d is the time period between the first predetermined stroke r2 and the motor stroke r4b (when the jaw assembly 10 is fully closed).

[0182] As another alternative to the first predetermined time period d, the start time is pre-specified as the time when the speed of the motor begins to change, and the end time is pre-specified as the time when the jaw assembly 10 is fully closed. Figure 2 As shown, for tissue a, the starting time of the first predetermined time period d is the moment when the motor speed corresponding to the motor stroke r1a begins to change, and the end time of the first predetermined time period d is the moment corresponding to the stroke r4a when the jaw assembly 10 is fully closed; for tissue b, the starting time of the first predetermined time period d is the moment when the motor speed corresponding to the motor stroke r1b begins to change, and the end time of the first predetermined time period d is the moment corresponding to the stroke r4b when the jaw assembly 10 is fully closed.

[0183] As another alternative to the first predetermined period d, the start time is pre-specified as the time when the motor speed begins to change, and the end time is selected as the time when the motor rotates to the second predetermined stroke r3. Figure 2As shown, for organization a, the starting time of the first predetermined time period d is the moment when the motor speed corresponding to the motor stroke r1a begins to change, and the end time is the moment corresponding to the second predetermined stroke r3; for organization b, the starting time of the first predetermined time period d is the moment when the motor speed corresponding to the motor stroke r1b begins to change, and the end time of the first predetermined time period d is the moment corresponding to the second predetermined stroke r3.

[0184] Optionally, the rotation speed of the motor may be continuously collected within the first predetermined period d to calculate the average rotation speed; or, the rotation speed of the motor may be collected at multiple points at regular time intervals within the first predetermined period to calculate the average rotation speed.

[0185] It is understandable that the rotation speed of the motor in the entire pressing period can be collected, and the average value of the collected rotation speed of the motor in the entire pressing period can be calculated to obtain the average rotation speed value of the motor in the entire pressing process.

[0186] In this embodiment, the control method of the electric stapler 1 specifically includes the following steps:

[0187] Step S500, dividing the preset tissue thickness into three preset levels of thin, medium and thick, dividing the preset working parameters into three first preset ranges of slow, medium and fast, and establishing a one-to-one mapping relationship between the multiple first preset ranges and the multiple preset levels: when the first preset range is fast, the preset level is thin; when the first preset range is medium, the preset level is medium; when the first preset range is slow, the preset level is thick;

[0188] Step S501, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0189] Step S502, during the squeezing process, obtaining an average value of the motor speed in a first predetermined period of time as a current working parameter;

[0190] Step S503, according to the current working parameter, determining that the first preset range corresponding to the current working parameter is fast, medium or slow;

[0191] Step S504, according to the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

[0192] In this technical solution, in step S500, a one-to-one mapping relationship is established between three preset levels of thin, medium and thick and three first preset ranges divided according to the size of the average rotation speed, so as to be called by the processor in steps S503 and S504.

[0193] In step S503, the current working parameter (the average value of the motor speed in the first predetermined period d) obtained in step S502 is compared with the three first preset ranges to determine which of the three first preset ranges of slow, medium and fast the current working parameter belongs to. Then, in step S504, according to the mapping relationship established in step S501, the preset level corresponding to the first preset range determined in step S503 is determined, and the preset level is used as the current tissue thickness. Specifically, when the first preset range corresponding to the current working parameter obtained is fast, the preset level corresponding to fast (first preset range) is thin, and the current tissue thickness is determined to be thin; when the first preset range corresponding to the current working parameter obtained is medium, the preset level corresponding to medium (first preset range) is medium, and the current tissue thickness is determined to be medium; when the first preset range corresponding to the current working parameter obtained is slow, the preset level corresponding to slow (first preset range) is thick, and the current tissue thickness is determined to be thick.

[0194] In an optional solution of this embodiment, during the process of the jaw assembly 10 squeezing the tissue, as another implementation scheme of obtaining the working parameters of the motor, the working parameters of the motor are the average voltage of the motor in the first predetermined period, so that the thickness of the tissue can be judged by the size of the average voltage of the motor in the first predetermined period. Specifically, the lower the average voltage of the motor during squeezing, the thicker the tissue; the higher the average voltage of the motor during squeezing, the thinner the tissue.

[0195] In an optional solution of this embodiment, during the process of the jaw assembly 10 squeezing the tissue, as another implementation scheme of the working parameter of the motor obtained, the working parameter of the motor is the average voltage value of the motor in the first predetermined period, so that the thickness of the tissue can be judged by the size of the average voltage value of the motor in the first predetermined period. Specifically, the lower the average voltage value of the motor during squeezing, the thicker the tissue; the higher the average voltage value of the motor during squeezing, the thinner the tissue.

[0196] Similar to the current scheme, the start time of the first predetermined period e is the time when the voltage of the motor starts to change relative to the initial value U0, or the start time of the first predetermined period e is the time when the motor rotates to the first predetermined stroke.

[0197] The end time of the first predetermined period e is the time when the jaw assembly 10 is fully closed, or the end time of the first predetermined period e is the time when the motor rotates to the second predetermined stroke.

[0198] For tissues with any tissue thickness, when the motor is in the first predetermined stroke or the second predetermined stroke, the jaw assembly 10 is in contact with the tissue, and the second predetermined stroke is located after the first predetermined stroke. In other words, the first predetermined stroke and the second predetermined stroke are both within the stroke range in which the jaw assembly 10 can touch any tissue thickness, and the first predetermined stroke is earlier than the second predetermined stroke.

[0199] During the squeezing process, when the jaw assembly 10 begins to touch the tissue, the voltage begins to change slightly relative to the initial value U0, that is, the voltage changes but not significantly; then the jaw assembly 10 continues to close so as to make closer contact with the tissue, and the voltage change begins to become obvious; as the jaw assembly 10 continues to close, the voltage continues to change; until it is fully closed and the squeezing is completed, the voltage returns to zero and the motor stops.

[0200] In this process, as a selection scheme for the start time of the first predetermined period e, the start time of the first predetermined period e can be the moment when the voltage begins to change. Specifically, the voltage value of the jaw assembly 10 during the entire process of squeezing the tissue can be collected, and then the moment when the voltage begins to change is determined and defined as the start time of the first predetermined period e.

[0201] It is worth emphasizing that for different organizations, the starting time of the first predetermined period e determined by this scheme is different, such as Figure 3 As shown, Ua shows the curve of the motor voltage changing with the stroke when squeezing tissue a, and Ub shows the curve of the motor voltage changing with the stroke when squeezing tissue b. Tissue a is thicker than tissue b, so it can be seen that the stroke r1a corresponding to the start time of the first predetermined period e of tissue a is different from the stroke r1b corresponding to the start time of the first predetermined period e of tissue b.

[0202] Alternatively, as another selection scheme for the start time of the first predetermined period e, the time corresponding to the universal first predetermined stroke r2 may be designated as the start time of the first predetermined period e, and the first predetermined stroke r2 needs to be configured so that the motor can touch tissues of any thickness. Figure 3 As shown, the first predetermined stroke r2 needs to be configured to be later than both stroke r1a and stroke r1b, so that when squeezing tissue a or tissue b, the jaw assembly 10 can touch both tissue a and tissue b at the pre-specified first predetermined stroke r2. Further, the start time of the first predetermined period e is as late as possible from the stroke r1b by a certain stroke interval, so as to ensure that at the start time of the first predetermined period e, the jaw assembly 10 can fully contact tissue of any tissue thickness.

[0203] By adopting this scheme of defining the moment corresponding to the first predetermined stroke r2 as the starting moment of the first predetermined time period e, there is no need to collect the voltage of the motor during the entire pressing process, nor is there any need to judge the moment when the voltage changes. It can also avoid the interval where the voltage change is not obvious. Therefore, this scheme for selecting the starting moment of the first predetermined time period e is simple and easy, and is conducive to more accurate calculation of the average voltage value.

[0204] As a selection scheme for the end time of the first predetermined period e, the end time of the first predetermined period e is configured as the time when the jaw assembly 10 is fully closed, and the time when the jaw assembly 10 is fully closed can be configured as the stop time of the motor during the squeezing process. Figure 3 As shown, for tissue a, the end time of the first predetermined period e is the time corresponding to the motor stroke r4a; for tissue b, the end time of the first predetermined period e is the time corresponding to the motor stroke r4b.

[0205] Alternatively, as another selection scheme for the end time of the first predetermined period e, the end time of the first predetermined period e is the moment when the motor rotates to the second predetermined stroke r3. Specifically, the moment corresponding to the universal second predetermined stroke r3 can be designated as the end time of the first predetermined period e. Since the jaw assembly 10 is in contact with the tissue when the motor is in any stroke within the stroke range from the first predetermined stroke r2 to the motor stop, a second predetermined stroke r3 is preset within this stroke range, which can ensure that the jaw assembly 10 is in contact with the tissue at the end time of the first predetermined period e and within the first predetermined period e determined by the second predetermined stroke r3.

[0206] Thus, Figure 3 As shown, as an optional way to select the first predetermined time period e, the start time is pre-designated as the time corresponding to the first predetermined trip r2, and the end time is pre-designated as the time corresponding to the second predetermined trip r3, so that the time period between the first predetermined trip r2 and the second predetermined trip r3 is taken as the first predetermined time period e. Therefore, for organizations a and b, the first predetermined time period e is the same.

[0207] As an alternative method of selecting the first predetermined time period e, the start time is pre-designated as the time corresponding to the first predetermined stroke r2, and the end time is pre-designated as the time when the jaw assembly 10 is fully closed. Thus, for tissue a, the first predetermined time period e is the time period between the first predetermined stroke r2 and the motor stroke r4a (when the jaw assembly 10 is fully closed), and for tissue b, the first predetermined time period e is the time period between the first predetermined stroke r2 and the motor stroke r4b (when the jaw assembly 10 is fully closed).

[0208] As another alternative to the first predetermined period e, the start time is pre-specified as the time when the voltage of the motor begins to change, and the end time is pre-specified as the time when the jaw assembly 10 is fully closed. Figure 3 As shown, for tissue a, the starting time of the first predetermined time period e is the moment when the voltage of the motor corresponding to the motor stroke r1a begins to change, and the end time of the first predetermined time period e is the moment corresponding to the stroke r4a when the jaw assembly 10 is fully closed; for tissue b, the starting time of the first predetermined time period e is the moment when the voltage of the motor corresponding to the motor stroke r1b begins to change, and the end time of the first predetermined time period e is the moment corresponding to the stroke r4b when the jaw assembly 10 is fully closed.

[0209] As another alternative to the first predetermined period e, the start time is pre-specified as the time when the voltage of the motor begins to change, and the end time is selected as the time when the motor rotates to the second predetermined stroke r3. Figure 3 As shown, for organization a, the starting time of the first predetermined time period e is the moment when the voltage of the motor corresponding to the motor stroke r1a begins to change, and the ending time is the moment corresponding to the second predetermined stroke r3; for organization b, the starting time of the first predetermined time period e is the moment when the voltage of the motor corresponding to the motor stroke r1b begins to change, and the ending time of the first predetermined time period e is the moment corresponding to the second predetermined stroke r3.

[0210] Optionally, the voltage of the motor may be continuously collected within the first predetermined period e to calculate the voltage average value; or, the voltage of the motor may be collected at multiple points at regular time intervals within the first predetermined period to calculate the voltage average value.

[0211] It is understandable that the voltage of the motor in the entire pressing period can be collected, and the average value of the collected voltage of the motor in the entire pressing period can be calculated to obtain the average voltage value of the motor in the entire pressing process.

[0212] In this embodiment, the control method of the electric stapler 1 specifically includes the following steps:

[0213] Step S600, dividing the preset tissue thickness into three preset levels of thin, medium and thick, and when the average voltage of the motor in the first predetermined period is used as the current working parameter, dividing the preset working parameter into three first preset ranges of low voltage, medium voltage and high voltage, and establishing a one-to-one mapping relationship between multiple first preset ranges and multiple preset levels: when the first preset range is high voltage, the preset level is thin; when the first preset range is medium voltage, the preset level is medium; when the first preset range is low voltage, the preset level is thick;

[0214] Step S601, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0215] Step S602, during the squeezing process, obtaining an average voltage value of the motor in a first predetermined period of time as a current working parameter;

[0216] Step S603, according to the current working parameter, determining that the first preset range corresponding to the current working parameter is low pressure, medium pressure or high pressure;

[0217] Step S604, according to the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

[0218] In this technical solution, in step S600, a one-to-one mapping relationship is established between three preset levels of thin, medium and thick and three first preset ranges divided according to the size of the voltage average value, so as to be called by the processor in steps S603 and S604.

[0219] In step S603, the current working parameter (the average voltage of the motor in the first predetermined period e) obtained in step S602 is compared with the three first preset ranges to determine which of the three first preset ranges of low pressure, medium pressure or high pressure the current working parameter belongs to. Then, in step S604, according to the mapping relationship established in step S601, the preset level corresponding to the first preset range determined in step S603 is determined, and the preset level is used as the current tissue thickness. Specifically, when the first preset range corresponding to the current working parameter obtained is high pressure, the preset level corresponding to the high pressure (first preset range) is thin, then the current tissue thickness can be determined to be thin; when the first preset range corresponding to the current working parameter obtained is medium pressure, the preset level corresponding to the medium pressure (first preset range) is medium, and the current tissue thickness is determined to be medium; when the first preset range corresponding to the current working parameter obtained is low pressure, the preset level corresponding to the low pressure (first preset range) is thick, and the current tissue thickness is determined to be thick.

[0220] In summary, the current, speed and voltage of the motor are easy to measure accurately, so that the parameter acquisition steps can be effectively simplified and easy to implement. This scheme of dividing tissue thickness into three thickness levels of thin, medium and thick is concise for the division of tissue thickness, and the first preset range of the preset working parameters of the corresponding motor determined has universal significance and is applicable to most operating scenarios of the electric stapler 1.

[0221] Optionally, the current of the motor is detected by a current sensor electrically connected to the motor, so as to obtain the current of the motor. Alternatively, the current of the motor can be estimated by the temperature and voltage of the motor.

[0222] Similarly, the voltage of the motor can be detected by a voltage sensor electrically connected to the motor, so as to obtain the voltage of the motor. Alternatively, the voltage of the motor can be estimated by the temperature and current of the motor.

[0223] In an optional scheme of this embodiment, during the process of the jaw assembly 10 squeezing the tissue, as another implementation scheme of obtaining the working parameters of the motor, the total stroke experienced by the motor from the first moment to the second moment is obtained as the current working parameter; wherein the first moment is any moment from the time when the jaw assembly 10 begins to open from the initial state of complete closure to before the jaw assembly 10 contacts tissue with any tissue thickness; the second moment is the moment when the jaw assembly 10 is completely closed.

[0224] In this technical solution, since the jaw assembly 10 is usually in a fully closed initial state before use, during use, it is usually necessary for a motor to first drive the jaw assembly 10 to open from a fully closed state to a fully open state for standby use, and operate the electric stapler 1 so that the tissue is located between the stapler seat 100 of the jaw assembly 10 and the staple magazine assembly, and then the jaw assembly 10 is driven by the motor to close to squeeze the tissue.

[0225] Among them, from the beginning of closing of the jaw assembly 10, the amplitude of the closing of the jaw assembly 10 driven by the motor within a certain range of travel is not enough to make the anvil 100 of the jaw assembly 10 contact with tissue of any tissue thickness.

[0226] For example Figures 1 to 3 As shown, when the motor stroke is in the stroke range from r0 to r1a, the jaw assembly 10 has not yet contacted tissue of any tissue thickness. Therefore, the first moment is any moment from the moment when the jaw assembly 10 is in the fully closed initial state to the moment before the motor rotates to the stroke r1a.

[0227] According to different tissue thicknesses, the stroke of the motor corresponding to the moment when the jaw assembly 10 starts to close is the same, and the stroke of the motor corresponding to the moment when the jaw assembly 10 is completely closed is different. In other words, according to different tissue thicknesses, the total stroke from the first moment to the second moment is different. Therefore, the thickness of the tissue can be judged by the total stroke of the motor. Specifically, the greater the total stroke from the first moment to the second moment, the thicker the tissue; the smaller the total stroke from the first moment to the second moment, the thinner the tissue.

[0228] The motor stroke is easy to measure accurately, which effectively simplifies the parameter acquisition process and facilitates implementation.

[0229] by Figures 1 to 3Taking any one of the figures as an example, for tissue a, from the first moment to the second moment, the motor rotates from the stroke r0 to the stroke r4a, and the total stroke of the motor is equal to the stroke difference between r4a and r0; for tissue b, from the first moment to the second moment, the motor rotates from the stroke r0 to the stroke r4b, and the total stroke of the motor is equal to the stroke difference between r4b and r0.

[0230] Optionally, the stroke of the motor can be measured by an encoder electrically connected to the motor.

[0231] In this embodiment, the control method of the electric stapler 1 includes the following steps:

[0232] Step S700, dividing the preset tissue thickness into three preset levels of thin, medium and thick, dividing the preset working parameters into three first preset ranges of short, medium and long, and establishing a one-to-one mapping relationship between the multiple first preset ranges and the multiple preset levels: when the first preset range is short, the preset level is thin; when the first preset range is medium, the preset level is medium; when the first preset range is long, the preset level is thick;

[0233] Step S701, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0234] Step S702, during the squeezing process, obtaining the total stroke experienced by the motor from the first moment to the second moment as the current working parameter;

[0235] Step S703, according to the current working parameter, determining whether the first preset range corresponding to the current working parameter is short, medium or long;

[0236] Step S704, according to the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

[0237] In this technical solution, in step S700, a one-to-one mapping relationship is established between three preset levels of thin, medium and thick and three first preset ranges divided according to the length of the total stroke from the first moment to the second moment, so as to be called by the processor in steps S703 and S704.

[0238] In step S703, the current working parameter (the total stroke of the motor from the first moment to the second moment) obtained in step S702 is compared with the three first preset ranges to determine which of the three first preset ranges of short, medium and long the current working parameter belongs to. Then, in step S704, according to the mapping relationship established in step S701, the preset level corresponding to the first preset range determined in step S703 is determined to determine the current tissue thickness. Specifically, when the first preset range corresponding to the current working parameter obtained is short, the preset level corresponding to short (first preset range) is thin, then the current tissue thickness is determined to be thin; when the first preset range corresponding to the current working parameter obtained is medium, the preset level corresponding to medium (first preset range) is medium, then the current tissue thickness is determined to be medium; when the first preset range corresponding to the current working parameter obtained is long, the preset level corresponding to long (first preset range) is thick, then the current tissue thickness is determined to be thick.

[0239] In an optional solution of this embodiment, in order to simplify the preset difficulty of the first moment, the first moment is the moment when the jaw assembly 10 begins to open, or the first moment is the moment when the jaw assembly 10 begins to close.

[0240] Furthermore, in order to simplify the difficulty of judging the second moment, the moment when the jaw assembly 10 is fully closed is the moment when the motor-driven transmission assembly triggers the travel switch 13 .

[0241] In another specific example, when the jaw assembly 10 of the electric stapler 1 is fully opened, the encoder count value (stroke) of the motor is set to 1000. After the jaw assembly 10 is controlled to close, the encoder count value is accumulated and updated in real time. When the stroke switch 13 is triggered by the slider 14, the jaw assembly 10 is completely closed. The encoder count value of the motor at this time is recorded, and the encoder count value of the motor or the difference between it and 1000 is calculated as the current working parameter. Determine which of the short, medium and long first preset ranges the current working parameter belongs to, and determine which of the thin, medium and thick preset levels the preset level corresponding to the first preset range is, based on the mapping relationship between the multiple first preset ranges and the multiple preset levels, as the current tissue thickness.

[0242] In an optional solution of this embodiment, controlling the motor to fire the cutting knife at the current rotation speed to cut tissue includes the following steps: controlling the motor to continue rotating for a fourth predetermined stroke after the jaw assembly 10 is fully closed, and then firing the cutting knife to cut tissue.

[0243] In this technical solution, after the electric stapler 1 has completed squeezing the tissue, it is still necessary to staple and cut the tissue. In order to cut the tissue, the cutting knife needs to be fired.

[0244] During the process of the electric stapler 1 squeezing tissue, when the motor drives the jaw assembly 10 to close through the sleeve 11, the resistance to the forward movement of the sleeve 11 is large, and the connecting rod 15 will be deformed during the process of transmitting the power of the motor to the slider 14, thereby causing the forward stroke of the slider 14 to become smaller, delaying the moment when the travel switch 13 is triggered by the slider 14, and causing the total stroke of the motor during the squeezing process to be extended.

[0245] In view of this, the timing of controlling the motor to fire the cutting knife is configured to continue to rotate the fourth predetermined stroke from the moment the jaw assembly is fully closed, so that from the moment the travel switch 13 is triggered by the slider 14, the motor needs to go through the fourth predetermined stroke to drive the cutting knife to fire, so that there is enough time difference between the moment the jaw assembly 10 is fully closed and the moment the cutting knife is fired, thereby delaying the firing timing of the cutting knife and avoiding the cutting knife being accidentally fired in advance due to the extension of the total stroke of the motor during the squeezing process, thereby ensuring that tissue cutting is performed after the squeezing is completed and improving safety in use.

[0246] In the optional solution of this embodiment, the control method of the electric stapler 1 specifically includes the following steps:

[0247] Step S800, establishing a mapping relationship between the preset working parameters of the motor and the preset tissue thickness, and establishing a mapping relationship between the preset tissue thickness and the preset staple cartridge model;

[0248] Step S801, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0249] Step S802, during the squeezing process, obtaining the current working parameters of the motor;

[0250] Step S803, determining the current tissue thickness according to the mapping relationship between the preset working parameters of the motor and the preset tissue thickness and the acquired current working parameters;

[0251] Step S804, according to the mapping relationship between the preset tissue thickness and the preset staple cartridge model, and according to the current tissue thickness, the target staple cartridge model is determined.

[0252] In this technical solution, the acquired tissue thickness is applied to the anastomosis stage. Different tissue thicknesses require different nail magazine models to match the anastomosed tissue. Therefore, the target nail magazine model that matches the model can be selected based on the acquired current tissue thickness, and a reference can be provided to the operator of the electric stapler 1 through voice reminders or screen reminders.

[0253] In this embodiment, the control method of the electric stapler 1 specifically includes the following steps:

[0254] Step S900, dividing the preset working parameters of the motor into a plurality of first preset ranges, dividing the preset tissue thickness into a plurality of preset levels, establishing a one-to-one mapping relationship between the plurality of first preset ranges and the plurality of preset levels, dividing the plurality of staple cartridge models into a plurality of preset groups, and establishing a one-to-one mapping relationship between the plurality of preset groups and the plurality of preset levels;

[0255] Step S901, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0256] Step S902, during the squeezing process, obtaining the current working parameters of the motor;

[0257] Step S903, determining the current tissue thickness according to the mapping relationship between the preset working parameters of the motor and the preset tissue thickness and the acquired current working parameters;

[0258] Step S904, according to the mapping relationship between the preset tissue thickness and the preset staple cartridge model, and according to the current tissue thickness, the target staple cartridge model is determined.

[0259] In this technical solution, the tissue thickness level can be divided according to the preset groups of the stapler models of the electric stapler 1. For example, the solution of dividing the tissue thickness into three preset levels of thin, medium and thick can be applied to the electric stapler 1 having three different preset groups of stapler models. Furthermore, when the electric stapler 1 includes more preset groups of stapler models, the tissue thickness can be divided into more and finer preset levels accordingly.

[0260] Among them, each preset group includes at least one nail magazine model. When the preset group includes multiple nail magazine models, the operator of the electric stapler 1 can select a suitable target nail magazine model in the preset group based on experience, thereby improving the flexibility of using the target nail magazine model and the matching degree with the current tissue thickness.

[0261] In the optional solution of this embodiment, the control method of the electric stapler 1 specifically includes the following steps:

[0262] Step S1001, establishing a mapping relationship between a preset working parameter of the motor and a preset tissue thickness, and establishing a mapping relationship between the preset tissue thickness and a preset speed of the motor-driven cutting blade;

[0263] Step S1002, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0264] Step S1003, during the squeezing process, obtaining the current working parameters of the motor;

[0265] Step S1004, determining the current tissue thickness according to the mapping relationship between the preset working parameters of the motor and the preset tissue thickness and the acquired current working parameters;

[0266] Step S1005, based on the mapping relationship between the preset tissue thickness and the preset speed of the motor-driven cutting knife, according to the current tissue thickness, the target rotation speed of the motor-driven cutting knife is determined, and the motor is controlled to fire the cutting knife at the target rotation speed to cut the tissue.

[0267] In this technical solution, the acquired tissue thickness is applied to the cutting stage. The thicker the tissue, the greater the resistance to the cutting knife's feeding. Conversely, the thinner the tissue, the smaller the resistance to the cutting knife's feeding. Therefore, the target speed of the motor is adjusted according to the current tissue thickness. When the cutting knife cuts tissues with different tissue thicknesses, even when facing different resistances, the cutting knife can cut tissues with different tissue thicknesses at a consistent feed speed.

[0268] In this embodiment, the control method of the electric stapler 1 specifically includes the following steps:

[0269] Step S1101, dividing the preset working parameters of the motor into a plurality of first preset ranges, dividing the preset tissue thickness into a plurality of preset levels, establishing a one-to-one mapping relationship between the plurality of first preset ranges and the plurality of preset levels, dividing the preset speed of the motor-driven cutting blade into a plurality of second preset ranges, and establishing a one-to-one mapping relationship between the plurality of second preset ranges and the plurality of preset levels;

[0270] Step S1102, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0271] Step S1103, during the squeezing process, obtaining the current working parameters of the motor;

[0272] Step S1104, establishing a one-to-one mapping relationship between the plurality of first preset ranges and the plurality of preset levels, and determining the current tissue thickness according to the acquired current working parameters;

[0273] Step S1105, based on establishing a one-to-one mapping relationship between multiple second preset ranges and multiple preset levels, determine the second preset range corresponding to the preset level of the current tissue thickness according to the preset level, and use it as the target speed of the motor driving the cutting knife, and control the motor to fire the cutting knife at the target speed to cut the tissue.

[0274] In this technical solution, in step S1101, the preset speed of the motor-driven cutting knife is divided into multiple second preset ranges, and a one-to-one mapping relationship is established between the multiple second preset ranges and the multiple preset levels, which can simplify the mapping relationship between the preset tissue thickness and the preset speed of the motor-driven cutting knife.

[0275] This simplifies the amount of calculation required by the processor to determine the target speed of the motor and adjust the target speed of the motor in step S1105 .

[0276] In a specific example, the tissue thickness is divided into three preset levels of thin, medium and thick, and the preset speed of the motor-driven cutting knife is divided into three second preset ranges of a slower speed, a normal speed and a faster speed. When the current tissue thickness is determined to be thin, the target speed of the motor is determined to be a slower speed; when the current tissue thickness is determined to be medium, the target speed of the motor is determined to be a normal speed; when the current tissue thickness is determined to be thick, the target speed of the motor is determined to be a faster speed.

[0277] Furthermore, when the second preset range is a slower speed, the preset speed of the motor is 50% of the rated speed; when the second preset range is a normal speed, the preset speed of the motor is 75% of the rated speed; when the second preset range is a faster speed, the preset speed of the motor is the rated speed.

[0278] Embodiment 2

[0279] Embodiment 2 provides an electric stapler, which includes the electric stapler control method in Embodiment 1. The technical features of the electric stapler control method disclosed in Embodiment 1 are also applicable to this embodiment, and the technical features of the electric stapler control method disclosed in Embodiment 1 will not be described repeatedly.

[0280] Combination Figures 1 to 3 See also Figures 4 to 8 As shown, the electric stapler 1 provided in this embodiment includes a processor, a jaw assembly 10 and a motor; the processor includes a sampling module, a motor drive module and a control module, and the sampling module and the motor drive module are electrically connected to the control module; the control module controls the motor to drive the jaw assembly 10 to squeeze the tissue through the motor drive module; during the squeezing process, the sampling module can obtain the current working parameters of the motor; the control module can determine the current tissue thickness according to the current working parameters.

[0281] In this technical solution, Figure 8 As shown, the processor can execute the control method of the electric stapler 1 by cooperating with the sampling module, the motor drive module and the control module, so that the electric stapler 1 can obtain the current tissue thickness during the squeezing process.

[0282] In an optional solution of the present embodiment, the jaw assembly 10 can accommodate nail magazines of various models; the control module determines the target nail magazine model according to the current tissue thickness.

[0283] In this technical solution, the processor can obtain the current tissue thickness through the control module and apply it to determine the target nail magazine model. The user can replace the current nail magazine model with this target nail magazine model and install the nail magazine assembly of the target nail magazine model into the nail magazine seat 101, so that the electric stapler 1 can anastomose the tissue with a suitable target nail magazine model during the anastomosis stage, which can better anastomose the tissue and improve the quality of tissue anastomosis.

[0284] In an optional solution of this embodiment, the electric stapler 1 also includes a cutting knife. The control module determines the target rotation speed of the motor-driven cutting knife according to the current tissue thickness, and controls the motor to fire the cutting knife at the target rotation speed to cut the tissue.

[0285] In this technical solution, the processor can obtain the current tissue thickness through the control module and apply it to determine the target rotation speed of the motor-driven cutting knife, so that the electric stapler 1 can fire the cutting knife at a suitable target rotation speed during the cutting stage, which can better cut the tissue and improve the cutting quality of the tissue.

[0286] The electric stapler in this embodiment has the advantages of the electric stapler control method in the first embodiment, and the advantages of the electric stapler control method disclosed in the first embodiment will not be described repeatedly here.

[0287] Embodiment 3

[0288] Embodiment 3 provides an electric stapler, which executes the electric stapler control method in Embodiment 1. The technical features of the electric stapler control method disclosed in Embodiment 1 are also applicable to this embodiment, and the technical features of the electric stapler control method disclosed in Embodiment 1 will not be described repeatedly.

[0289] Combination Figures 1 to 3 See also Figures 4 to 8 As shown, the electric stapler 1 provided in this embodiment includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, the above-mentioned electric stapler control method is implemented.

[0290] In this technical solution, the program can be stored in a memory such as a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above based on one or more electrical connections. When the program corresponding to the electric stapler control method in the memory is read or executed by the processor, the electric stapler control method can be implemented.

[0291] The electric stapler in this embodiment has the advantages of the electric stapler control method in the first embodiment, and the advantages of the electric stapler control method disclosed in the first embodiment will not be described repeatedly here.

[0292] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0293] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling an electric stapler, characterized in that: The electric stapler comprises a jaw assembly and a motor arranged at the proximal end of the electric stapler; The electric stapler control method comprises the following steps: Controlling the motor to drive the jaw assembly to squeeze the tissue; During the process of squeezing the tissue, obtaining current working parameters of the motor; The current tissue thickness is determined according to the current working parameters.

2. The electric stapler control method according to claim 1, characterized in that: Before controlling the motor to drive the jaw assembly to squeeze the tissue, the following steps are also included: Establishing a mapping relationship between the preset working parameters of the motor and the preset tissue thickness; The step of determining the current tissue thickness according to the acquired current working parameters specifically comprises the following steps: According to the mapping relationship between the preset working parameters of the motor and the preset tissue thickness, the current tissue thickness is determined according to the acquired current working parameters.

3. The electric stapler control method according to claim 2, characterized in that: The step of establishing a mapping relationship between the preset working parameters of the motor and the preset tissue thickness specifically includes the following steps: Dividing the preset working parameters of the motor into a plurality of first preset ranges, dividing the preset tissue thickness into a plurality of preset levels, and establishing a one-to-one corresponding mapping relationship between the plurality of first preset ranges and the plurality of preset levels; The step of determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness specifically includes the following steps: Determining, according to the current operating parameter, the first preset range corresponding to the current operating parameter; According to the mapping relationship established between the plurality of the first preset ranges and the plurality of the preset levels, the corresponding preset level is determined according to the determined first preset range and is used as the current tissue thickness.

4. The electric stapler control method according to claim 3, characterized in that: The step of obtaining the current operating parameters of the motor specifically includes the following steps: An average current value, an average speed value or an average voltage value of the motor in a first predetermined time period is obtained as the current operating parameter.

5. The electric stapler control method according to claim 4, characterized in that: The start time of the first predetermined period is the time when the current, speed or voltage of the motor starts to change relative to the initial value, or the start time of the first predetermined period is the time when the motor rotates to the first predetermined stroke; The end time of the first predetermined period is the time when the jaw assembly is fully closed, or the end time of the first predetermined period is the time when the motor rotates to the second predetermined stroke; When the motor is in the first predetermined stroke or the second predetermined stroke, the jaw assembly is in contact with the tissue, and the second predetermined stroke is located after the first predetermined stroke.

6. The electric stapler control method according to claim 4, characterized in that: The preset tissue thickness is divided into three preset levels: thin, medium and thick; wherein, When the average current of the motor in the first predetermined period is taken as the current operating parameter, the preset operating parameter is divided into three first preset ranges of less than 1.5A, 1.5A-1.7A and greater than 1.7A; The one-to-one mapping relationship between the first preset ranges and the preset levels is: When the first preset range is less than 1.5A, the preset level is thin; When the first preset range is 1.5A-1.7A, the preset level is medium; When the first preset range is greater than 1.7A, the preset level is thick; The step of determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness specifically includes the following steps: According to the current operating parameter, determining that the first preset range corresponding to the current operating parameter is less than 1.5A, falls within 1.5A-1.7A, or is greater than 1.7A; According to the mapping relationship established between the plurality of the first preset ranges and the plurality of the preset levels, the corresponding preset level is determined to be thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness; or, When the average speed of the motor in the first predetermined period is taken as the current working parameter, the preset working parameter is divided into three first preset ranges of slow speed, medium speed and fast speed; A one-to-one mapping relationship is established between the first preset ranges and the preset levels: When the first preset range is fast, the preset level is thin; When the first preset range is medium speed, the preset level is medium; When the first preset range is slow, the preset level is thick; The step of determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness specifically includes the following steps: According to the current working parameter, determining that the first preset range corresponding to the current working parameter is fast, medium or slow; According to the mapping relationship established between the plurality of the first preset ranges and the plurality of the preset levels, the corresponding preset level is determined to be thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness; or, When the average voltage of the motor in the first predetermined period is taken as the current working parameter, the preset working parameter is divided into three first preset ranges of low voltage, medium voltage and high voltage; A one-to-one mapping relationship is established between the first preset ranges and the preset levels: When the first preset range is high pressure, the preset level is thin; When the first preset range is medium pressure, the preset level is medium; When the first preset range is low pressure, the preset level is thick; The step of determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness specifically includes the following steps: According to the current working parameter, determining that the first preset range corresponding to the current working parameter is low pressure, medium pressure or high pressure; According to the mapping relationship established between the plurality of the first preset ranges and the plurality of the preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

7. The electric stapler control method according to claim 3, characterized in that: The step of obtaining the current operating parameters of the motor specifically includes the following steps: The total stroke of the motor from the first moment to the second moment is obtained as the current working parameter; wherein, The first moment is any moment from when the jaw assembly is in a fully closed initial state to before the jaw assembly contacts the tissue; The second moment is the moment when the jaw assembly is fully closed.

8. The electric stapler control method according to claim 7, characterized in that: Dividing the preset tissue thickness into three preset levels: thin, medium and thick; Dividing the preset working parameters into three first preset ranges of short, medium and long; A one-to-one mapping relationship is established between the first preset ranges and the preset levels: When the first preset range is short, the preset level is thin; When the first preset range is medium, the preset level is medium; When the first preset range is long, the preset level is thick; The step of determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness specifically includes the following steps: According to the current working parameter, determining that the first preset range corresponding to the current working parameter is short, medium or long; According to the mapping relationship established between the plurality of the first preset ranges and the plurality of the preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

9. The electric stapler control method according to claim 7, characterized in that: The electric stapler also includes a transmission assembly and a travel switch. The electric stapler drives the jaw assembly to move through the transmission assembly. The moment when the jaw assembly is fully closed is the moment when the motor drives the transmission assembly to trigger the travel switch.

10. The electric stapler control method according to claim 3, characterized in that: The jaw assembly can be loaded with staple cartridge assemblies of various staple cartridge models. Before controlling the motor to drive the jaw assembly to compress the tissue, the following steps are also included: Establishing a mapping relationship between the preset tissue thickness and the preset staple cartridge model; After determining the current tissue thickness according to the current working parameters, the following steps are also included: According to the mapping relationship between the preset tissue thickness and the preset nail magazine model, the target nail magazine model is determined according to the current tissue thickness.

11. The electric stapler control method according to claim 10, characterized in that: The step of establishing a mapping relationship between the preset tissue thickness and the preset staple cartridge model specifically includes the following steps: The plurality of nail magazine models are divided into a plurality of preset groups, and a one-to-one mapping relationship is established between the plurality of preset groups and the plurality of preset levels.

12. The electric stapler control method according to claim 3, characterized in that: The electric stapler further includes a cutting knife, and before controlling the motor to drive the jaw assembly to squeeze the tissue, the following steps are also included: Establishing a mapping relationship between the preset tissue thickness and the preset speed at which the motor drives the cutting blade; After determining the current tissue thickness according to the current working parameters, the following steps are also included: Based on the mapping relationship between the preset tissue thickness and the preset speed of the motor driving the cutting knife, and according to the current tissue thickness, the target rotation speed of the motor driving the cutting knife is determined, and the motor is controlled to fire the cutting knife at the target rotation speed to cut the tissue.

13. The electric stapler control method according to claim 12, characterized in that: The step of establishing a mapping relationship between the preset speed of the cutting knife driven by the motor and the preset tissue thickness specifically includes the following steps: Dividing the preset speed of the motor driving the cutting blade into a plurality of second preset ranges, and establishing a one-to-one mapping relationship between the plurality of second preset ranges and the plurality of preset levels; The step of determining the target rotation speed of the motor to drive the cutting knife according to the mapping relationship between the preset tissue thickness and the preset speed of the motor driving the cutting knife according to the current tissue thickness, and controlling the motor to fire the cutting knife at the target rotation speed to cut the tissue specifically comprises the following steps: A one-to-one mapping relationship is established between the multiple second preset ranges and the multiple preset levels, and according to the preset level of the current tissue thickness, the second preset range corresponding to the preset level of the current tissue thickness is determined as the target speed of the motor driving the cutting knife, and the motor is controlled to fire the cutting knife at the target speed to cut the tissue.

14. An electric stapler, characterized in that: It includes a processor, a jaw assembly and a motor arranged at the proximal end of the electric stapler; The processor comprises a sampling module, a motor driving module and a control module, wherein the sampling module and the motor driving module are both electrically connected to the control module; The control module controls the motor to drive the jaw assembly to squeeze the tissue through the motor drive module; During the squeezing process, the sampling module obtains the current working parameters of the motor; The control module can determine the current tissue thickness according to the current working parameters.

15. The electric stapler according to claim 14, characterized in that: The jaw assembly can accommodate nail magazines of various nail magazine models; The control module determines the target staple cartridge model according to the current tissue thickness; And / or, the electric stapler also includes a cutting knife, and the control module determines a target rotation speed of the motor to drive the cutting knife according to the current tissue thickness, and controls the motor to fire the cutting knife at the target rotation speed to cut the tissue.

16. An electric stapler, comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the electric stapler control method according to any one of claims 1 to 13 is implemented.

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