Surgical instrument

Abstract

The invention relates to a surgical instrument which comprises a cutting knife assembly, a nail bin assembly, an end actuator, a motor, a motor driving circuit and a brake control circuit, and the motor driving circuit is used for receiving a percussion signal and a knife return signal, generating a driving signal and controlling the running state of the motor so as to control the moving state of the cutting knife assembly; a plurality of input ends of the brake control circuit are correspondingly connected with the grounding end, the power supply signal end and the input end of the motor driving circuit respectively, the output end of the brake control circuit is connected with the motor, and the brake control circuit is used for braking the motor under the condition that the percussion signal and the knife return signal have the same level state. And generating a brake control signal to control the motor to stop rotating. The motor can be accurately and effectively controlled to brake and stop in time, and damage to surgical instruments caused by continuous operation of the motor due to inertia is avoided.

Description

Technical Field

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

[0002] The stapler used in surgical operations is a surgical cutting stapler that can cut off excess tissue while suturing the patient's wound. It is widely used in the removal and anastomosis of tissues in minimally invasive surgeries such as abdominal surgery, gynecology, pediatrics and thoracic surgery. The surgical cutting stapler enters the patient's body through the cannula of the puncture device that is precisely positioned at the surgical site, and then makes a longitudinal incision in the tissue and applies staples on the opposite side of the incision, thereby cutting and anastomosing the tissue.

[0003] The surgical cutting stapler includes a motor and a cutting knife assembly connected to the motor. The motor drives the cutting knife assembly to move by rotating. The cutting knife assembly is used to cut tissue. Due to the accuracy and safety requirements of surgery, the movement state of the cutting knife assembly needs to be accurately and effectively controlled during the operation of the stapler to cope with various application scenarios that may occur during the operation.

[0004] In the related art, after the motor is running, if it is to be stopped, due to the existence of inertia, the motor will continue to run for a period of time and will continue to drive the cutting knife assembly to move, which may cause damage to the cutting knife assembly and other components and affect the normal use of the surgical instrument. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present application aims to provide a surgical instrument that can accurately and effectively control the motor to stop in time, thereby avoiding damage to the surgical instrument caused by the motor continuing to run due to inertia.

[0006] In order to solve the above technical problems, this application is implemented through the following technical solutions:

[0007] A surgical instrument, comprising:

[0008] Cutting knife assembly;

[0009] A nail magazine assembly is provided with a channel for the cutting knife assembly to move;

[0010] An end actuator, the end actuator comprising a nail holder and a nail magazine seat pivotally connected to the nail holder, the nail magazine assembly being detachably mounted on the nail magazine seat;

[0011] A motor is connected to the cutting blade assembly to drive the cutting blade assembly to move in the channel;

[0012] A motor driving circuit connected to the motor, the motor driving circuit controls the running state of the motor according to the received firing signal and knife return signal, so as to control the moving state of the cutting knife assembly;

[0013] A brake control circuit, wherein multiple input terminals of the brake control circuit are respectively connected to a ground terminal, a power supply signal terminal, and an input terminal of the motor drive circuit, and an output terminal of the brake control circuit is connected to the motor. When the firing signal and the return signal have the same level state, the brake control circuit generates a brake control signal to control the motor to stop.

[0014] Furthermore, the brake control circuit comprises:

[0015] An XOR module, wherein a plurality of input terminals of the XOR module are respectively connected to an input terminal of the motor drive circuit, the ground terminal, and a power signal terminal, and when the firing signal and the return signal have the same level state, the XOR module generates a brake signal;

[0016] A brake module, wherein the first input terminal of the brake module is connected to the output terminal of the XOR module, the second input terminal of the brake module is connected to the power supply signal terminal, the third input terminal of the brake module is connected to the ground terminal, and the output terminal of the brake module is connected to the input terminal of the motor; under the action of the brake signal, the brake module outputs the brake control signal to control the level states of the two input terminals of the motor to remain consistent, so that the motor stops rotating, thereby controlling the cutting knife assembly to stop moving.

[0017] Furthermore, the brake module comprises:

[0018] A gating unit, wherein a control end of the gating unit is connected to an output end of the XOR module, a first end of the gating unit is connected to a first signal end, and the gating unit is disconnected under the action of the brake signal;

[0019] A brake unit, wherein the first input end of the brake unit is connected to the second end of the selection unit, the second input end of the brake unit is connected to the second signal end, and the two output ends of the brake unit are respectively connected to the two input ends of the motor; when the selection unit is in a disconnected state, the brake unit controls the level states of the two input ends of the motor to remain consistent so as to stop the motor; wherein one of the first signal end and the second signal end is the ground end, and the other is the power supply signal end.

[0020] Further, the selection unit includes: a first switch tube, a first resistor and a second resistor, wherein the control end of the first switch tube is connected to the first end of the first resistor, the second end of the first resistor is respectively connected to the first end of the second resistor and the output end of the XOR module, the first end of the first switch tube is respectively connected to the first signal end and the second end of the second resistor, and the second end of the first switch tube is connected to the first input end of the brake unit; the first switch tube is disconnected under the action of the brake signal.

[0021] Further, the brake unit includes a second switch tube, a third resistor and a fourth resistor, wherein the control end of the second switch tube is connected to the first end of the third resistor, the second end of the third resistor is respectively connected to the first end of the fourth resistor and the second end of the selection unit, the second end of the fourth resistor is connected to the second signal end, the multiple first ends of the second switch tube are interconnected, the two second ends of the second switch tube are respectively connected to the two input ends of the motor, and when the selection unit is in the disconnected state, the second switch tube is turned on to control the level states of the two input ends of the motor to remain consistent so as to stop the motor.

[0022] Furthermore, the surgical instrument further comprises:

[0023] The cutting control circuit includes a first control module and a second control module, wherein the first control module is respectively connected to the ground terminal, the power signal terminal, and the motor drive circuit, and the first control module outputs the knife return signal according to the ground signal of the ground terminal and the power signal of the power signal terminal, and the second control module is respectively connected to the ground terminal, the power signal terminal, and the motor drive circuit, and the second control module outputs the firing signal according to the ground signal and the power signal.

[0024] Furthermore, the first control module includes:

[0025] an optical coupling unit, connected to the ground terminal and the power signal terminal respectively, the optical coupling unit is turned on when the light source is not blocked, and is turned off when the light source is blocked;

[0026] A switch control unit is respectively connected to the ground terminal, the power signal terminal, the optical coupling unit, and the motor drive circuit. When the optical coupling unit is in an on state, the switch control unit is disconnected and outputs a return signal with a first level. When the optical coupling unit is disconnected, the switch control unit is turned on and outputs a return signal with a second level.

[0027] Further, the second control module includes a single-pole multi-throw switch, which is respectively connected to the ground terminal, the power signal terminal, and the motor drive circuit, and the single-pole multi-throw switch selects to connect the paths between the ground terminal, the power signal terminal and the motor drive circuit respectively; wherein the on-off state of the single-pole multi-throw switch is different, and the firing signal has different levels.

[0028] Furthermore, the surgical instrument further comprises:

[0029] A step-down circuit, wherein multiple input terminals of the step-down circuit are respectively connected to the ground terminal and the power supply signal terminal, and an output terminal of the step-down circuit is connected to the power supply signal terminal. After the step-down circuit steps down the power supply signal, it provides a power supply signal to the power supply signal terminal.

[0030] Furthermore, the surgical instrument further comprises:

[0031] A light-emitting circuit, wherein the light-emitting circuit is respectively connected to the output end of the step-down circuit, the ground end, and the power signal end, and the light-emitting circuit emits light when driven by the power signal.

[0032] Furthermore, the surgical instrument further comprises:

[0033] A squeeze switch, connected to the output end of the step-down circuit and the power signal end respectively, and the squeeze switch selects to conduct the path between the output end of the step-down circuit and the power signal end;

[0034] A squeezing trigger, which is operably connected to the end actuator; in response to the proximal movement of the squeezing trigger, the nail seat moves from an open position to a closed position so that the end actuator switches from an open state to a closed state; in the closed state, the squeezing trigger triggers the squeezing switch to switch the on and off states of the squeezing switch.

[0035] Furthermore, the surgical instrument further comprises:

[0036] an emergency door switch, connected to a battery and the power supply signal terminal respectively, the emergency door switch selects to conduct a power supply path between the battery and the power supply signal terminal, and when the power supply path is in a conducting state, supplies power to the power supply signal terminal through the battery, so that the power supply signal terminal outputs the power supply signal;

[0037] The return knife emergency door is used to trigger the emergency door switch under the action of external force to switch the on and off state of the emergency door switch.

[0038] The above-mentioned surgical instrument includes an instrument body, a cutting knife assembly, an end actuator, a motor, a motor drive circuit and a brake control circuit, wherein the motor control circuit can generate a drive signal according to the received firing signal and knife return signal to drive the motor to operate so as to control the movement of the cutting knife assembly, and the brake control circuit can collect the firing signal and the knife return signal, and when the firing signal and the knife return signal have the same level state, generate a brake control signal to control the motor to stop, so as to control the cutting knife assembly to stop moving, accurately and effectively control the motor to stop in time, and achieve the effect of braking, avoiding damage to the cutting knife assembly and other components caused by uncontrollable factors caused by inertial sliding, thereby improving the control performance of the motor and the control performance of the cutting knife assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 This is one of the structural schematic diagrams of a surgical instrument according to an embodiment;

[0041] Figure 2 This is a second structural schematic diagram of a surgical instrument according to an embodiment;

[0042] Figure 3 This is a third structural schematic diagram of a surgical instrument according to an embodiment;

[0043] Figure 4 is a structural block diagram of a surgical instrument according to an embodiment;

[0044] Figure 5 is a partial structural block diagram of a surgical instrument according to an embodiment;

[0045] Figure 6 A schematic diagram of the structure of an XOR module according to an embodiment;

[0046] Figure 7 This is a schematic structural diagram of a brake module according to an embodiment;

[0047] Figure 8 is a schematic structural diagram of a brake module according to another embodiment;

[0048] Fig. 9 It is a structural block diagram of a cutting control circuit and a motor driving circuit of an embodiment;

[0049] Fig.10 A schematic diagram of the structure of a cutting control circuit according to an embodiment;

[0050] Fig.11 It is a structural schematic diagram of a sliding assembly according to an embodiment;

[0051] Fig.12 This is a fourth structural schematic diagram of a surgical instrument according to an embodiment;

[0052] Fig.13 It is a schematic diagram of the structure of a step-down circuit, a light-emitting circuit and a squeeze switch KEY5 according to an embodiment;

[0053] Fig.14 is a schematic structural diagram of a power supply circuit according to an embodiment;

[0054] Fig.15 Schematic diagram of the structure of a motor driver chip according to an embodiment.

[0055] Description of reference numerals:

[0056] 1-motor, 2-cutting knife assembly, 21-knife rod, 22-cutting knife, 51-core shaft, 52-sleeve, 52a-second groove, 52b-first end, 52c-second end, 6-sliding assembly, 61-sliding body, 62-sliding part, 63-matching part, 64-shielding part, 65-rack, 66-gear assembly, 71-nail magazine seat, 72-nail support, 20-motor drive circuit, 40-brake control circuit, 410-XOR module, 411-XOR gate circuit, 420-brake module, 421-selection unit, 422-brake unit, 50-step-down circuit, 60-light-emitting circuit, 80-cutting control circuit, 810-first control module, 811-optical coupling unit, 812-switch control unit, 820-second control module. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0058] 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.

[0059] It can be understood that the “connection” in the following embodiments should be understood as “electrical connection”, “communication connection”, etc. if the connected circuits, modules, units, etc. have electrical signals or data transmission between each other.

[0060] In one embodiment, Figures 1 to 4 As shown, a surgical instrument is provided, which comprises an instrument body and a sleeve 52 extending distally from the instrument body, and also comprises a cutting knife assembly 2 and a motor 1, a motor driving circuit 20 and a brake control circuit 40 arranged on the instrument body.

[0061] The cutting knife assembly 2 is used to cut tissue. Exemplarily, the cutting knife assembly 2 includes a knife bar 21 and a cutting knife 22 connected to the knife bar 21. The cutting knife assembly 2 is connected to the first end of the mandrel 51 of the surgical instrument, and the second end of the mandrel 51 is connected to the rack 65. The motor 1 drives the rack 65 to move through the gear assembly 66, thereby driving the mandrel 51 and the cutting knife assembly 2 to move. The mandrel 51 is accommodated in the sleeve 52.

[0062] The staple cartridge assembly is provided with a channel for the cutting knife assembly 2 to move. Exemplarily, the surgical instrument further comprises an end effector, which is provided at one end of the sleeve 52 away from the instrument body; the end effector comprises a staple cartridge seat 71 and an anvil seat 72 pivotally connected to the staple cartridge seat 71. The staple cartridge assembly is detachably mounted on the staple cartridge seat 71. The anvil seat 72 can selectively move between an open position and a closed position, thereby cooperating with the staple cartridge seat 71 and the staple cartridge assembly to loosen or clamp the tissue.

[0063] The surgical instrument further includes an end effector drive mechanism, which drives the anvil 71 of the end effector to pivot relative to the nail magazine seat 72 and selectively move between a closed position and an open position. Generally speaking, the end effector drive mechanism includes a connecting rod and a slider, and the connecting rod drives the sleeve 52 to move linearly through the slider, and the sleeve 52 drives the anvil 71 to pivot through the conversion mechanism. The specific structure of the end effector drive mechanism is the same or similar to that of the prior art, and will not be repeated.

[0064] When the surgical instrument is used, first, the end effector driving mechanism drives the sleeve 52 to move, and then drives the anvil 71 to pivot and cooperate with the nail magazine assembly to clamp the target tissue; then, the motor 1 starts and rotates forward, drives the cutting knife assembly 2 to advance through the gear assembly 66, and the cutting knife assembly 2 moves from the initial position to the end position to cut the tissue, and the cutting knife assembly 2 simultaneously pushes the nail pushing block in the nail magazine assembly from the initial position to the end position to achieve the effect of suturing the cut tissue while cutting the tissue; then, the motor 1 reverses, and drives the cutting knife assembly 2 to retract to the initial position through the gear assembly 66; then, the end effector driving mechanism drives the sleeve 52 to move, and drives the anvil 71 to open and release the tissue; finally, the end effector driving device drives the sleeve 52 to move, and then drives the anvil 71 to close. Of course, before and after the use of the surgical instrument, it is necessary to close the anvil 71 relative to the nail magazine seat 72, so that the end effector can be inserted into or removed from the patient's body through the puncture sleeve, which will not be repeated here.

[0065] The multiple input terminals of the motor driving circuit 20 are respectively connected to the ground terminal GND, the power supply signal terminal VCC, and the motor 1 in a one-to-one correspondence. The motor driving circuit 20 is used to receive the firing signal and the knife return signal, control the operating state of the motor 1, and thus control the moving state of the cutting knife assembly 2. Among them, the operating state of the motor 1 corresponds to the moving state of the cutting knife assembly 2. Exemplarily, when the firing signal and the knife return signal have different level states, the motor driving circuit 20 drives the motor 1 to rotate forward and reverse by generating a corresponding driving signal; and when the firing signal and the knife return signal have the same level state, the motor driving circuit 20 does not output, so that the motor 1 stops. Exemplarily, when the motor 1 rotates forward, the motor 1 drives the cutting knife assembly 2 forward; when the motor 1 reverses, the motor 1 drives the cutting knife assembly 2 backward; when the motor 1 stops, the cutting knife assembly 2 also stops moving. Among them, the forward rotation direction of the motor 1 is opposite to the reverse rotation direction, and the forward direction of the cutting knife assembly 2 is opposite to the reverse rotation direction. The forward direction can be understood as the moving direction away from the initial position of the cutting knife assembly 2, and the reverse direction can be understood as the moving direction close to the initial position of the cutting knife assembly 2.

[0066] The multiple input terminals of the brake control circuit 40 are respectively connected to the ground terminal GND, the power supply signal terminal VCC, and the input terminal of the motor drive circuit 20 in a one-to-one correspondence. The output terminal of the brake control circuit 40 is connected to the motor 1. The brake control circuit 40 is used to generate a brake control signal when the firing signal and the knife return signal have the same level state, so as to control the motor 1 to stop rotating through the brake control signal, thereby controlling the cutting knife assembly 2 to stop moving. Among them, the brake control signal is used to control the motor 1 to stop rotating. The brake control signal can be a signal with a high level or a low level, which is not limited here. The brake control signal can be generated when the firing signal and the knife return signal are both at a high level, and can also be generated when the firing signal and the knife return signal are both at a low level.

[0067] The above-mentioned surgical instrument collects the firing signal and the knife return signal through the brake control circuit 40, and generates a brake control signal when the firing signal and the knife return signal have the same level state, controls the motor 1 to stop, and thus controls the cutting knife assembly 2 to stop moving, achieving the effect of braking. When the firing signal and the knife return signal have the same level state, the motor drive circuit 20 has no signal output, and the motor 1 will continue to rotate due to inertia, so that the cutting knife assembly 2 will continue to slide until the inertia disappears. In comparison, the embodiment of the present application adopts the brake control circuit 40 to quickly and effectively control the motor 1 to stop, thereby realizing the rapid and effective control of the cutting knife assembly 2 to stop moving, avoiding damage to the cutting knife assembly and other components caused by uncontrollable factors caused by inertial sliding, and further improving the control performance of the cutting knife assembly 2.

[0068] In one embodiment, Figure 5 As shown, the brake control circuit 40 may include an XOR module 410 and a brake module 420. Among them, multiple input terminals of the XOR module 410 are respectively connected to the input terminal of the motor drive circuit 20, the ground terminal GND, and the power signal terminal VDD. The XOR module 410 is used to generate a brake signal when the firing signal and the return signal have the same level state. Among them, the brake signal can be a signal with a high level or a low level.

[0069] Optionally, the XOR module 410 may be an XOR gate circuit 411. Figure 6As shown, the first input terminal A of the XOR gate circuit 411 is connected to the first input terminal of the motor drive circuit 20 for receiving the firing signal; the second input terminal B of the XOR gate circuit 411 is connected to the second input terminal of the motor drive circuit 20 for receiving the return signal; the ground terminal GND of the XOR gate circuit 411 is connected to the ground terminal GND, and the signal terminal VCC of the XOR gate circuit 411 is connected to the power signal terminal VDD. The output terminal Y (Break terminal) of the XOR gate circuit 411 is connected to the first input terminal of the brake module 420. When the firing signal and the return signal have the same level state, the output terminal Y of the XOR gate circuit 411 outputs a logic level of 0, and a brake signal is output at this time; when the firing signal and the return signal have different level states, the output terminal Y of the XOR gate circuit 411 outputs a logic level of 1, and a non-brake signal is output at this time. In the present application, a brake signal refers to a signal that can stop the motor 1, and a non-brake signal refers to a signal that cannot stop the motor 1. The input and output signal level control logic of the XOR gate circuit 411 is shown in the truth table of Table 1. Based on Table 1, in the present application, the brake signal is a low level signal, and the non-brake signal is a high level signal.

[0070] Table 1 Truth table of XOR module 410

[0071] Input (firing signal) Input (return signal) Output 1 1 0 1 0 1 0 1 1 0 0 0

[0072] The first input terminal of the brake module 420 is connected to the output terminal Y of the XOR module 410, the second input terminal of the brake module 420 is connected to the power supply signal terminal VCC, the third input terminal of the brake module 420 is connected to the ground terminal GND, and the output terminal of the brake module 420 is connected to the input terminal of the motor 1. The brake module 420 is used to control the level states of the two input terminals of the motor 1 to remain consistent under the action of the brake signal, so that the motor 1 stops rotating, so as to control the cutting knife assembly 2 to stop moving. Specifically, the two output terminals of the brake module 420 are correspondingly connected to the two input terminals of the motor 1. Under the action of the brake signal, the two output terminals of the brake module 420 respectively output brake control signals with the same level, so that the level states of the two input terminals of the motor 1 are switched to the same level state, so that the motor 1 stops rotating, and the cutting knife assembly 2 also stops moving, achieving the purpose of braking.

[0073] In the above-mentioned surgical instrument, the brake control circuit 40 collects the firing signal and the knife return signal through the XOR module 410, and based on the XOR logic level control, generates a brake signal when the firing signal and the knife return signal have the same level state, and controls the two output ends of the brake module 420 to output a brake control signal with the same level state, that is, the level state of the two input ends of the motor 1 is controlled to be consistent, so that the motor 1 stops rotating, thereby stopping the cutting knife assembly 2 from moving, achieving the purpose of timely braking, avoiding the uncontrollable influence caused by continuous sliding due to inertia, and improving the precise and effective control of the cutting knife assembly 2.

[0074] like Figure 7 and Figure 8 As shown, in one embodiment, the brake module 420 may include a gating unit 421 and a brake unit 422. The control end of the gating unit 421 is connected to the output end of the XOR module 410. The first end of the gating unit 421 is connected to the first signal end. The gating unit 421 is disconnected under the action of the brake signal output by the XOR module 410. The gating unit 421 is in a conducting state when the XOR module 410 outputs a non-brake signal. Based on Table 1, when the XOR module 410 outputs a brake signal with a low level, the gating unit 421 is disconnected; when the XOR module 410 outputs a non-brake signal with a high level, the gating unit 421 is turned on.

[0075] The first input terminal of the brake unit 422 is connected to the second terminal of the selection unit 421, the second input terminal of the brake unit 422 is connected to the second signal terminal, and the two output terminals of the brake unit 422 are respectively connected to the two input terminals of the motor 1. Among them, one of the first signal terminal and the second signal terminal is the ground terminal GND, and the other is the power supply signal terminal VCC. Figure 7 In the example, the first signal terminal is the ground terminal GND, and the second signal terminal is VCC; Figure 8 In the embodiment, the first signal terminal is the power supply signal terminal VCC, and the second signal terminal is the ground terminal GND. The brake unit 422 is used to control the level states of the two input terminals of the motor 1 to remain consistent when the gating unit 421 is in the disconnected state, so as to stop the motor 1. Specifically, the two output terminals (M- and M+) of the brake unit 422 are correspondingly connected to the two input terminals (M- and M+) of the motor 1. When the gating unit 421 is in the disconnected state, the output terminal M- of the brake unit 422 and the output terminal M+ of the brake unit 422 respectively output brake control signals with the same level, so that the level states of the input terminal M- of the motor 1 and the input terminal M+ of the motor 1 are switched to the same level state, so that the motor 1 stops, and the cutting knife assembly 2 also stops moving, thereby achieving the purpose of braking.

[0076] The above-mentioned brake module 420 includes a gating unit 421 and a brake unit 422. The gating unit 421 is switched to a disconnected state when the XOR module 410 outputs a brake signal, so that the two output ends of the brake unit 422 can output brake control signals with the same level state, that is, the two input ends of the motor 1 are switched to the same level state, so that when the firing signal and the knife return signal have the same level state, the motor 1 is stopped, so that the cutting knife assembly 2 stops moving, achieving a quick brake stop, reducing risks, and improving the safety and reliability of surgical instruments.

[0077] In one embodiment, please refer to Figure 7 and Figure 8 , the gating unit 421 may include a first switch tube Q1, a first resistor R1, and a second resistor R2. The control end of the first switch tube Q1 is connected to the first end of the first resistor R1, the second end of the first resistor R1 is respectively connected to the first end of the second resistor R2 and the output end of the XOR module 410, the first end of the first switch tube Q1 is respectively connected to the first signal end and the second end of the second resistor R2, and the second end of the first switch tube Q1 is connected to the first input end of the brake unit 422. The first switch tube Q1 is used to disconnect under the action of the brake signal.

[0078] by Figure 6 The XOR module 410 shown is an XOR gate circuit 411 as an example. Figure 7 The second end (Break end) of the resistor R1 in the selection unit 421 is connected to the Y end (Break end) of the XOR gate circuit 411, and the second end of the resistor R1 is used to receive the brake signal and the non-brake signal output by the XOR gate circuit 411.

[0079] exist Figure 7 In the embodiment, the first switch tube Q1 is an NMOS, and the first signal terminal is a ground terminal GND. Figure 8 In the embodiment, the first switch tube Q1 is a PMOS, and the first signal terminal is a power supply signal terminal VCC. In the application process, the first switch tube Q1 is turned on when the Break terminal receives a non-brake signal with a high level, and is turned off when the Break terminal receives a brake signal with a low level.

[0080] The above-mentioned selection unit 421 includes a first switch tube Q1, a first resistor R1 and a second resistor R2, wherein the first switch tube Q1 can be switched from an on state to an off state when the brake signal is output by the XOR module 410, so as to realize feedback of the firing signal and the return knife signal having the same level state, so that the brake unit 422 can control the two input ends of the motor 1 to have the same level state when the first switch tube Q1 is disconnected, so that the motor 1 stops, so as to achieve the purpose of stopping the cutting knife assembly 2 from moving, and realize the effect of automatic braking of the motor 1 and the cutting knife assembly 2.

[0081] In one embodiment, please refer to Figure 7 and Figure 8 , the brake unit 422 may include a second switch tube Q2, a third resistor R3 and a fourth resistor R4. Among them, the control end of the second switch tube Q2 is connected to the first end of the third resistor R3, the second end of the third resistor R3 is respectively connected to the first end of the fourth resistor R4 and the second end of the selection unit 421, the second end of the fourth resistor R4 is connected to the second signal end, the multiple first ends of the second switch tube Q2 are interconnected, and the two second ends (M- and M+) of the second switch tube Q2 are correspondingly connected to the two input ends (M- and M+) of the motor 1. Figure 7 In the embodiment, the second signal terminal is the power supply signal terminal VCC; Figure 8 In the embodiment, the second signal terminal is the ground terminal GND. The second switch tube Q2 is used to be turned on when the gating unit 421 is in the off state, and the two second terminals (M- and M+) output a brake control signal with the same level state, so that the two input terminals (M- and M+) of the motor 1 also have the same level state, so that the motor 1 stops rotating, thereby stopping the cutting blade assembly 2 from moving. The second switch tube Q2 is disconnected when the gating unit 421 is in the on state, and the two second terminals (M- and M+) have no signal output.

[0082] Exemplarily, the second switch tube Q2 can be integrated with two NMOS, the drains D1 and D2 of the two NMOS are interconnected, the gates G1 and G2 of the two NMOS are respectively connected to the second end of the fourth resistor R4, and the two sources S1 and S2 of the two NMOS are respectively used as two output ends (M- and M+), respectively connected to the two input ends (M- and M+) of the motor 1. When the gating unit 421 is in the off state, the second switch tube Q2 is turned on, so that the level states of the two input ends (M- and M+) of the motor 1 are the same, the motor 1 stops, and the cutting blade assembly 2 stops moving. When the gating unit 421 is in the on state, the second switch tube Q2 is turned off, and at this time, no signal is output. It can be understood that the second switch tube Q2 can also be a PMOS, and its level control logic is opposite to that of the NMOS, that is, when the gating unit 421 is in the on state, the second switch tube Q2 is turned on, so that the level states of the two input ends (M- and M+) of the motor 1 are the same, the motor 1 stops, and the cutting blade assembly 2 stops moving. When the gating unit 421 is in the off state, the second switch tube Q2 is turned off, and no signal is output.

[0083] The above-mentioned brake unit 422 includes a second switch tube Q2, a third resistor R3 and a fourth resistor R4, wherein the second switch tube Q2 can switch the corresponding on-off state according to the on-off state of the selection unit 421, and output a brake control signal with the same level state through the two second ends (M- and M+), so that the two input ends (M- and M+) correspondingly connected to the motor 1 have the same level state, thereby controlling the motor 1 to stop rotating, thereby controlling the cutting knife assembly 2 to stop moving, avoiding the risk of the motor 1 and the cutting knife assembly 2 continuing to run due to inertia when the firing signal and the return knife signal have the same level state, thereby improving the reliability and safety of the surgical instrument.

[0084] In one embodiment, Fig. 9 As shown, the surgical instrument may also include a cutting control circuit 80, and the cutting control circuit 80 may include a first control module 810 and a second control module 820. The first control module 810 is respectively connected to the ground terminal GND, the power signal terminal VDD, and the motor drive circuit 20. The first control module 810 is used to output a knife return signal according to the ground signal of the ground terminal GND and the power signal of the power signal terminal VDD. The second control module 820 is respectively connected to the ground terminal GND, the power signal terminal VDD, and the motor drive circuit 20. The second control module 820 is used to output a firing signal according to the ground signal and the power signal. The level states of the ground signal and the power signal are different. For example, the power signal is 3.3V and the ground signal is 0V. The level states of the ground signal and the power signal can also be set to other suitable values, which are only exemplified here.

[0085] The above-mentioned surgical instrument controls the level state of the knife return signal according to the ground signal and the power signal through the first control module 810, and controls the level state of the firing signal according to the ground signal and the power signal through the second control module 820, so that when the firing signal and the knife return signal have different level states, different driving signals are generated through the driving circuit 20 to drive the motor 1 to rotate in different directions, and when the firing signal and the knife return signal have the same level state, the brake control circuit 40 is used to control the motor 1 to stop 1, thereby realizing flexible control of the motor 1.

[0086] In one embodiment, Fig.10 As shown, the first control module 810 includes an optical coupling unit 811 and a switch control unit 812. The optical coupling unit 811 is connected to the ground terminal GND and the power signal terminal VDD respectively. The optical coupling unit 811 is used to turn on when the light source is not blocked, and to turn off when the light source is blocked. Exemplarily, the optical coupling unit 811 includes an optical coupler OC.

[0087] The switch control unit 812 is respectively connected to the ground terminal GND, the power signal terminal VDD, the optical coupling unit 811, and the motor drive circuit 20. The switch control unit 812 is used to disconnect when the optical coupling unit 811 is in the on state, and output a return signal with a first level. The switch control unit 812 is also used to turn on when the optical coupling unit 811 is disconnected, and output a return signal with a second level.

[0088] Exemplarily, the optical coupling unit 811 includes an optical coupler OC and a resistor R21, and the switch control unit 812 includes a resistor R22, a resistor R23, a resistor R24, a resistor R25 and a switch tube Q11. Among them, the anode of the optical coupler OC is connected to the first end of the resistor R21, the second end of the resistor R21 is connected to the power signal terminal VDD, the cathode and the emitter of the optical coupler OC are respectively connected to the ground terminal GND, the collector of the optical coupler OC is respectively connected to the first end of the resistor R23 and the first end of the resistor R24, the second end of the resistor R23 is respectively connected to the first end of the resistor R22 and the control end of the switch tube Q11, the second end of the resistor R22 and the first pole of the switch tube Q11 are respectively connected to the ground end, the second pole of the open tube Q11 is connected to the resistor R25, and the second end of the resistor R25 is respectively connected to the second end of the resistor R24 ​​and the power signal terminal VDD. Exemplarily, the switch tube Q11 is an NPN type triode.

[0089] exist Fig.10 In the embodiment, the second electrode of the switch tube Q11 is used as the output terminal S1, which is connected to an output terminal of the motor driving circuit 20. When the light source is not blocked, the receiving end of the optical coupler OC, that is, the triode of the optical coupler OC is turned on, and the opening tube Q11 is turned off. At this time, S1 outputs a high-level return signal. When the light source is blocked, the receiving end of the optical coupler OC is turned off, and the opening tube Q11 is turned on. At this time, S1 outputs a low-level return signal.

[0090] The above-mentioned first control module 810 includes an optical coupling unit 811 and a switch control unit 812, wherein the optical coupling unit 811 switches the on-off state when the light source is blocked or not, thereby switching the on-off state of the switch control unit 812 to output a return signal with different levels, so that the motor drive circuit 20 can switch the rotation direction of the motor 1 according to the return signal and in combination with the firing signal to meet the rotation requirements of the motor 1. The first control module 810 uses a non-contact switch to control the paths between the ground terminal GND and the power signal terminal VDD and the motor drive circuit 20 respectively. Compared with the method of using a mechanical structure to rely on external force to close the button to the effective stroke for control, the first control module 810 provided in the embodiment of the present application does not need to rely on external force, and there is no problem of insufficient effective stroke after repeated use of mechanical structures such as mechanical micro switches, and has higher sensitivity and reliability, faster response, and simpler circuit structure.

[0091] Based on the above Fig.10 The first control module 810, such as Fig.11 and Fig.12 As shown, the surgical instrument further includes a transmission assembly and a sliding assembly 6. The transmission assembly is drivingly connected to the cutting knife assembly 2. The sliding assembly 6 includes a sliding body 61 and a sliding portion 62, a matching portion 63 and a shielding portion 64 arranged on the sliding body 61. The sliding portion 62 is movably arranged in the first groove on the surgical instrument.

[0092] When the cutting knife assembly 2 moves forward to the first preset position, the driving part of the transmission assembly abuts against the matching part 63, driving the sliding part 62 to move forward in the first groove relative to the surgical instrument, so that the shielding part 64 moves in the forward direction so that the shielding part 64 blocks the light source of the optical coupling unit 811. In this case, the optical coupling unit 811 is in a disconnected state and the switch control unit 812 is in a conducting state.

[0093] When the cutting blade assembly 2 moves backward to the second preset position, the driving part of the transmission assembly abuts against the matching part 63, driving the sliding part 62 to move backward relative to the surgical instrument in the first groove, so that the shielding part 64 moves in the backward direction, so that the shielding part 64 moves to outside the light shielding position. In this case, the optical coupling unit 811 is in the on state, and the switch control unit 812 is in the off state. The first preset position is the position where the cutting blade assembly 2 moves forward close to the bottom but not to the bottom, and the second preset position is the position where the cutting blade assembly 2 moves backward close to the bottom but not to the bottom.

[0094] The above-mentioned surgical instrument can cooperate with the transmission component, the sliding component 6 and the optical coupling unit 811, so that when the cutting knife component 2 moves to the first preset position, the driving part of the transmission component abuts with the matching part of the sliding component, so that the shielding part 64 in the sliding component 6 shields the light source of the optical coupling unit 811, and the state of the optical coupling unit 811 is switched to the disconnected state, thereby switching the switch control unit 812 to the on state; and when it moves to the second preset position, the driving part of the transmission component abuts with the matching part of the sliding component, so that the shielding part 64 in the sliding component 6 moves to the outside of the light shielding position, and the optical coupling unit The state 811 is switched to the on state, thereby switching the switch control unit 812 to the off state, and then switching the level state of the knife return signal, so that the motor drive circuit 20 can switch the rotation state of the motor 1 according to the knife return signal and combined with the firing signal, thereby realizing the switching of the movement state of the cutting knife assembly 2 in the surgical instrument. Compared with the switching achieved by using a mechanical microswitch, the embodiment of the present application realizes the automatic switching of the movement direction of the cutting knife assembly 2 without the need for external force, and there is no problem of insufficient travel after repeated use of the mechanical microswitch, the sensitivity and reliability are higher, and the circuit and structure are simpler.

[0095] In one embodiment, the transmission assembly includes a rack 65, the rack 65 includes a second groove 52a, a first end 52b disposed at the proximal end of the second groove 52a, and a second end 52c disposed at the distal end of the second groove 52a, the driving portion of the transmission assembly is the first end 52b and the second end 52c, and the matching portion 63 of the sliding assembly 6 is a protrusion. When the cutting knife assembly 2 moves forward to the first preset position, the first end 52b abuts against the protrusion to drive the sliding portion 62 to move forward, and when the cutting knife assembly 2 moves backward to the second preset position, the second end 52c abuts against the protrusion to drive the sliding portion 62 to move backward.

[0096] Optionally, the transmission assembly includes a rack 65, the rack 65 includes a rack protrusion, and the matching portion 63 of the sliding assembly 6 is a matching groove, and the matching groove includes a first end 52b located at the proximal end of the groove and a second end 52c located at the distal end of the groove. When the cutting knife assembly 2 moves forward to the first preset position, the rack protrusion cooperates with the first end 52c to drive the sliding portion 62 to move forward, and when the cutting knife assembly 2 moves backward to the second preset position, the rack protrusion cooperates with the second end 52b to drive the sliding portion 62 to move backward.

[0097] In one embodiment, during the forward movement of the cutting blade assembly 2, the mating portion 63 slides relatively in the second groove 52a, the shielding portion 64 is outside the light shielding position, the optical coupling unit 811 is in the on state, and the switch control unit 812 is in the off state.

[0098] When the cutting blade assembly 2 moves backward, the matching portion 63 slides relatively in the second groove 52a, and the shielding portion 64 shields the light source of the optical coupling unit 811. The optical coupling unit 811 is in the disconnected state, and the switch control unit 812 is in the on state.

[0099] In this embodiment, when the motor 1 rotates forward, the cutting knife assembly 2 moves forward. During this process, the shielding portion 64 remains outside the light-shielding position, so that the cutting knife assembly 2 performs a firing operation to cut the stapled tissue. When the firing is fully completed, the shielding portion 64 blocks the light source of the optical coupler OC, triggering the motor 1 to reverse, so that the cutting knife assembly 2 moves backward to achieve knife return. During the knife return process, the sliding assembly 6 relies on the friction force with the stapler body to keep the shielding portion 64 blocking the light source, so that the motor 1 keeps reversing to keep the cutting knife assembly 2 moving backward. When the knife is fully returned, the shielding portion 64 moves outside the light-shielding position and returns to the initial state.

[0100] In the above-mentioned surgical instrument, during the forward movement of the cutting knife assembly 2, the shielding portion 64 remains outside the light-shielding position to ensure that the cutting knife assembly 2 moves forward, and during the backward movement of the cutting knife assembly 2, the shielding portion 64 maintains a shielding state for the light source to ensure that the execution assembly 5 moves backward, thereby meeting the application requirements of the surgical instrument.

[0101] In one embodiment, Fig.10 As shown, the second control module 820 includes a single-pole multi-throw (SPnT, such as SP2T, SP4T, etc.) switch. The multiple input terminals ( Fig.10 1 and 2 in the single-pole multi-throw switch) are respectively connected to the ground terminal GND and the power signal terminal VDD in one-to-one correspondence, and the output terminal (S2 terminal) of the single-pole multi-throw switch is connected to the other input terminal of the motor drive circuit 20. The single-pole multi-throw switch is used to select the path between the ground terminal GND and the motor drive circuit 20, or the power signal terminal VDD and the motor drive circuit 20. Among them, the on-off state of the single-pole multi-throw switch is different, and the trigger signal has different levels. In the embodiment of the present application, the single-pole multi-throw switch can be simply referred to as switch KEY4. Exemplarily, switch KEY4 can be a mechanical switch, and the on-off state of switch KEY4 can be controlled by user operation.

[0102] For example, Figure 1 As shown, the surgical instrument may further include a firing trigger K4, and the firing trigger K4 is used to trigger the switch KEY4 under the action of an external force to switch the on and off state of the switch KEY4.

[0103] The above-mentioned second control module 820 switches the on-off state of the single-pole multi-throw switch and the level state of the firing signal, so that the drive circuit 20 can switch the operating state of the motor 1 according to the firing signal and combined with the return signal, making the steering of the motor 1 operable.

[0104] In one embodiment, Fig.13 As shown, the surgical instrument may further include a step-down circuit 50. The step-down circuit 50 is disposed on the instrument body. Multiple input terminals of the step-down circuit 50 are respectively connected to the ground terminal GND and the power supply signal terminal VCC, and the output terminal of the step-down circuit 50 is connected to the power supply signal terminal VDD in a one-to-one correspondence. The step-down circuit 50 is used to provide a power signal to the power supply signal terminal VDD after stepping down the power supply signal output by the power supply signal terminal VCC. Exemplarily, the voltage of the power supply signal can be set to 3.3V, or it can be set to other suitable values, which are not limited here.

[0105] Optionally, the step-down circuit 50 may include a first capacitor C1, a second capacitor C2, and a step-down regulator U1. The first end of the first capacitor C1 is respectively connected to the power supply signal terminal VCC and the input terminal Vin of the step-down regulator U1, the second end of the second capacitor C1 is respectively connected to the ground terminal GND, the ground terminal GND of the step-down regulator U1, and the second end of the second capacitor C2, the output terminal Vout of the step-down regulator U1 is connected to the first end of the second capacitor C2, and the output terminal Vout of the step-down regulator U1 is connected to the power supply signal terminal VDD as an output terminal. The step-down regulator U1 is used to step down and stabilize the power supply signal output by the power supply signal terminal VCC, and then provide a power supply signal to the power supply signal terminal VDD.

[0106] The above-mentioned surgical instrument, after reducing the voltage of the power supply signal of the power supply signal terminal VCC through the step-down circuit 50, transmits it to the power supply signal terminal VDD to provide power supply signals for the firing component 3, the knife return component 4, the self-locking control circuit, and the brake control circuit 40, providing a basis for realizing accurate and effective control of the cutting knife component 2.

[0107] In one embodiment, please refer to Fig.13 The surgical instrument may further include a light emitting circuit 60. The light emitting circuit 60 is connected to the output terminal of the step-down circuit and the ground terminal GND respectively. The light emitting circuit 60 is used to emit light under the drive of the power signal output by the power signal terminal VDD.

[0108] Optionally, the light-emitting circuit 60 includes a fifth resistor R5 and a light-emitting diode LED1. The output terminal Vout of the step-down circuit is connected to the first terminal of the fifth resistor R5 and the power signal terminal VDD respectively, the second terminal of the fifth resistor R5 is connected to the anode of the light-emitting diode LED1, and the cathode of the light-emitting diode LED1 is connected to the ground terminal GND. The light-emitting diode LED1 is used to emit light under the drive of the power signal output by the output terminal of the step-down circuit.

[0109] The above-mentioned surgical instrument, through the light-emitting circuit 60, indicates that the step-down circuit 50 has stepped down the power supply signal to provide a power signal to the power signal terminal VDD, which visually shows that the battery has been inserted and the circuit can work, and the effect is more intuitive, thereby improving the user experience.

[0110] In one embodiment, please refer to Figure 1 and Fig.14 The surgical instrument may further include a squeeze switch KEY5 and a squeeze trigger K5. The squeeze switch KEY5 is disposed on the instrument body, and is respectively connected to the output end of the step-down circuit 50 and the power signal end VDD, and is used to select a path between the output end of the step-down circuit 50 and the power signal end VDD. Exemplarily, the squeeze switch KEY5 may be a single-pole single-throw switch or a single-pole multi-throw switch, which is not limited here. During application, the squeeze trigger K5 may be set to a default disconnected state, that is, to disconnect the path between the output end of the step-down circuit 50 and the power signal end VDD.

[0111] The squeezing trigger K5 is arranged on the instrument body and exposed to the outside of the instrument body for user operation. The squeezing trigger K5 is pivotally connected to the connecting rod mechanism of the above-mentioned end actuator driving mechanism. In response to the proximal movement of the squeezing trigger K5, the anvil 71 moves from the open position to the closed position so that the end actuator switches from the open state to the closed state; in the closed state, the squeezing trigger K5 triggers the squeezing switch KEY5 to switch the on-off state of the squeezing switch KEY5. Exemplarily, the squeezing trigger K5 can trigger the squeezing switch KEY5 to switch to the on state by the user applying pressure, and releasing the squeezing trigger K5 triggers the squeezing switch KEY5 to switch to the off state, disconnecting the path between the output end of the step-down circuit 50 and the power signal end VDD, so that the circuit is powered off.

[0112] The above-mentioned surgical instrument controls the path between the output end of the step-down circuit 50 and the power signal terminal VDD by squeezing the trigger K5, thereby realizing effective control of the path between the power signal terminal VDD and the brake control circuit 40 in the surgical instrument, achieving the purpose of controllability and improving the operability of the surgical instrument.

[0113] In one embodiment, please refer to Figure 1The surgical instrument may further include a release push knob K0. The release push knob K0 is disposed on the instrument body, that is, the release push knob K0 is disposed outside the instrument body for user operation. After the squeezing trigger K5 is operated to close, the release push knob K0 abuts against the squeezing trigger K5 to keep the squeezing trigger K5 in a closed state. Specifically, when the squeezing trigger K5 is in a closed state, the squeezing trigger K5 abuts against the extension of the release push knob K0 through the connecting rod structure; when the squeezing trigger K5 needs to be released, the release push knob K0 is pushed to move to release the abutment between the extension of the release push knob K0 and the connecting rod structure, so that the squeezing trigger K5 is released. After the squeeze trigger K5 is closed, the squeeze switch KEY5 can be triggered to switch from the disconnected state to the on state through the connecting rod structure to conduct the path between the output end of the step-down circuit 50 and the power signal end VDD. The squeeze trigger K5 is released, so that the connecting rod structure is disconnected to trigger the squeeze switch KEY5 to switch from the on state to the off state to disconnect the path between the output end of the step-down circuit 50 and the power signal end VDD. Of course, after the squeeze trigger K5 is closed, the squeeze switch KEY5 can also be triggered by releasing the push knob K0, so that the squeeze switch KEY5 is triggered by releasing the push knob K0, and the squeeze trigger K5 is released and disconnected to trigger the squeeze switch KEY5. How to trigger the squeeze switch KEY5 is a prior art and will not be elaborated here.

[0114] In one embodiment, see Figure 1 and Fig.15 The surgical instrument may also include an emergency door switch KEY1 and a knife return emergency door K1. The emergency door switch KEY1 is connected to the battery (B+ terminal) and the power supply signal terminal VCC respectively, wherein the B- terminal of the battery is connected to the ground terminal GND. The emergency door switch KEY1 is used to select a power supply path between the battery (B+ terminal) and the power supply signal terminal VCC, and when the power supply path is in the on state, the power supply signal terminal VCC is powered by the battery, so that the power supply signal terminal VCC outputs a power supply signal.

[0115] The knife return emergency door K1 is arranged on the instrument body, and specifically can be a knife return emergency door cover plate arranged on the outside of the instrument body for user operation. The knife return emergency door K1 is used to trigger the closing switch KEY1 under the action of external force to switch the on-off state of the closing switch. Exemplarily, the closing switch KEY1 is in a closed state by default, that is, the power supply path between the battery and the power supply signal terminal VCC is in a conductive state, so that the power supply path between the battery and the power supply signal terminal VCC is conductive, and the battery supplies power to the power supply signal terminal VCC, so that the power supply signal terminal VCC outputs a power supply signal. In an emergency situation, when power is cut off, the user can open the knife return emergency door K1, so that the emergency door switch KEY1 is switched from the conductive state to the disconnected state, so that the power supply path between the battery and the power supply signal terminal VCC is disconnected. At this time, the battery cannot supply power to the power supply signal terminal VCC, and the power supply signal terminal VCC has no power supply signal output, thereby realizing effective control of the power supply path between the power supply signal terminal VCC in the surgical instrument and the step-down circuit 50 and the motor drive circuit 20, respectively, to achieve the purpose of controllability and improve the safety of the surgical instrument.

[0116] Optionally, see Fig.13 The motor driving circuit 20 includes a motor driving chip (IC) 210, and the motor driving chip 210 is configured with multiple input ports (BI, FI, GND and VCC) and multiple output ports (BO and FO). Among them, the input port GND is used to receive a ground signal, the input port VCC is used to receive a power supply signal from the power supply signal terminal VCC, the output port BO is connected to the first input terminal of the motor 1, and the output port FO is connected to the second input terminal of the motor 1.

[0117] In one embodiment, the input port FI is used to receive a firing signal, and the input port BI is used to receive a return signal. When the firing signal is a low-level power signal and the return signal is a high-level ground signal, that is, when the logic levels of the input ports BI and FI are (1,0), the output ports BO and FO output logic levels (1,0), the motor 1 rotates forward, and the cutting knife assembly 2 moves forward to achieve cutting, suturing and other operations. When the firing signal has a high level and the return signal has a low level, that is, when the logic levels of the input ports BI and FI are (0,1), the output ports BO and FO output logic levels (0,1), the motor 1 reverses, and the cutting knife assembly 2 moves backward to achieve return. When the firing signal and the knife return signal are at a high level, that is, the logic level of the input ports BI and FI is (1,1), the output ports BO and FO output the logic level (0,0), the motor 1 stops, and the cutting knife assembly 2 stops moving; when the firing signal and the knife return signal are at a low level, that is, the logic level of the input ports BI and FI is (0,0), the output ports BO and FO have no output, the motor 1 stops, and the cutting knife assembly 2 stops moving.

[0118] In one embodiment, the input port BI is used to receive a firing signal, and the input port FI is used to receive a return signal. When the firing signal is a high-level power signal and the return signal is a low-level ground signal, that is, when the logic levels of the input ports BI and FI are (1,0), the output ports BO and FO output logic levels (1,0), the motor 1 rotates forward, and the cutting knife assembly 2 moves forward to achieve cutting, suturing and other operations. When the firing signal has a low level and the return signal has a high level, that is, when the logic levels of the input ports BI and FI are (0,1), the output ports BO and FO output logic levels (0,1), the motor 1 reverses, and the cutting knife assembly 2 moves backward to achieve return. When the firing signal and the knife return signal are at a low level, that is, the logic level of the input ports BI and FI is (0,0), the output ports BO and FO output the logic level (1,1), the motor 1 stops, and the cutting knife assembly 2 stops moving; when the firing signal and the knife return signal are at a low level, that is, the logic level of the input ports BI and FI is (1,1), the output ports BO and FO have no output, the motor 1 stops, and the cutting knife assembly 2 stops moving.

[0119] The input and output logic level relationship of the motor driver chip 210 is shown in the truth table of Table 2 below, where OPEN represents no signal output. It should be noted that the level control logic of the motor driver chip 210 is not limited to the method in Table 2, and the opposite level can also be used to achieve logic control, which is not limited here.

[0120] Table 2 Truth table of the motor driver chip 210

[0121] BI FI BO FO 1 0 1 0 1 1 0 0 0 1 0 1 0 0 OPEN OPEN

[0122] In one embodiment, see Figure 1-Figure 15 A surgical instrument is provided, and the surgical instrument is described as a stapler. The stapler may include a release push knob K0, a knife return emergency door K1, a firing trigger K4, a squeezing trigger K5, a motor drive circuit 20 (see Fig.15 The motor drive chip 210 shown in FIG. 1 ), the brake control circuit 40 (see FIG. 1 ) Figure 7 and related contents), step-down circuit 50 (see Fig.13 and related contents), light emitting circuit 60 (see Fig.13 and related contents) and motor 1.

[0123] When the machine is turned on, the manual return emergency door K1 is normally closed, KEY1 remains in the on state, the motor drive circuit 20 is powered, the step-down circuit 50 is powered, a 3.3V voltage (can be other voltage values) is generated, and the power indicator light (light emitting diode LED1) lights up.

[0124] Press the manual squeeze trigger K5 to the bottom, and keep the locked position by releasing the push knob K0, so that KEY5 remains in the triggered state, and the 3.3V output by the step-down circuit 50 is transmitted to the back end, activating the brake control circuit 40, and the brake control circuit 40 is triggered by default.

[0125] During the firing process, the firing trigger K4 is pressed, KEY4 is grounded, the light source of the optocoupler OC is not blocked, and S1 outputs a high level. At this time, the firing signal has a high level and the return signal has a low level. The logic levels of the input ports BI and FI of the motor driver chip 210 are (1,0), and the output ports BO and FO of the motor driver chip 210 output logic levels are (1,0). At this time, the motor 1 rotates forward and the cutting knife assembly 2 moves forward for cutting.

[0126] When the trigger is fully fired, the light source of the optocoupler OC is blocked, the firing signal becomes a low level, and the return signal remains at a low level. At this time, the logic levels of the input ports BI and FI of the motor driver chip 210 are (0,0). At this time, the motor driver chip 210 does not output. At this time, the brake control circuit 40 controls the two input terminals of the motor 1 to keep the levels consistent, and directly short-circuit the motor 1 to stop the motor 1 and stop the cutting knife assembly 2 from moving.

[0127] During the knife return process, the light source of the optocoupler OC remains blocked, that is, the firing signal remains at a low level, the firing trigger K4 is released, and KEY4 receives the power signal, that is, the knife return signal becomes a high level. At this time, the logic levels of the input ports BI and FI of the motor driver chip 210 are (0,1), and the output ports BO and FO of the motor driver chip 210 output logic levels are (0,1). At this time, the motor 1 reverses, and the cutting knife assembly 2 retracts the knife.

[0128] When the knife is returned to the bottom, the light source of the optocoupler OC returns to the unblocked state, the firing signal becomes high level, and the knife return signal remains high level. At this time, the logic levels of the input ports BI and FI of the motor driver chip 210 are (1,1). At this time, the output ports BO and FO of the motor driver chip 210 output logic levels are (1,1). At this time, the brake control circuit 40 controls the two input terminals of the motor 1 to keep the levels consistent, and directly short-circuits the motor 1 to stop the motor 1 and the cutting knife assembly 2 stops moving. At this time, the whole machine cannot be stimulated again unless the battery is unplugged, the knife return emergency door K1 is opened, or the pre-squeezing trigger K5 is opened, and the system is powered on again to return the system parameters to the default state.

[0129] 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.

[0130] 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 surgical instrument, characterized in that: The surgical instrument comprises: Cutting knife assembly; A nail magazine assembly is provided with a channel for the cutting knife assembly to move; An end actuator, the end actuator comprising a nail holder and a nail magazine seat pivotally connected to the nail holder, the nail magazine assembly being detachably mounted on the nail magazine seat; A motor is connected to the cutting blade assembly to drive the cutting blade assembly to move in the channel; A motor driving circuit connected to the motor, the motor driving circuit controls the running state of the motor according to the received firing signal and knife return signal, so as to control the moving state of the cutting knife assembly; A brake control circuit, wherein multiple input terminals of the brake control circuit are respectively connected to a ground terminal, a power supply signal terminal, and an input terminal of the motor drive circuit, and an output terminal of the brake control circuit is connected to the motor. When the firing signal and the return signal have the same level state, the brake control circuit generates a brake control signal to control the motor to stop.

2. The surgical instrument according to claim 1, characterized in that The brake control circuit comprises: An XOR module, wherein a plurality of input terminals of the XOR module are respectively connected to an input terminal of the motor drive circuit, the ground terminal, and a power signal terminal, and when the firing signal and the return signal have the same level state, the XOR module generates a brake signal; A brake module, wherein the first input terminal of the brake module is connected to the output terminal of the XOR module, the second input terminal of the brake module is connected to the power supply signal terminal, the third input terminal of the brake module is connected to the ground terminal, and the output terminal of the brake module is connected to the input terminal of the motor; under the action of the brake signal, the brake module outputs the brake control signal to control the level states of the two input terminals of the motor to remain consistent, so that the motor stops rotating, thereby controlling the cutting knife assembly to stop moving.

3. The surgical instrument according to claim 2, characterized in that The brake module comprises: A gating unit, wherein a control end of the gating unit is connected to an output end of the XOR module, a first end of the gating unit is connected to a first signal end, and the gating unit is disconnected under the action of the brake signal; A brake unit, wherein the first input end of the brake unit is connected to the second end of the selection unit, the second input end of the brake unit is connected to the second signal end, and the two output ends of the brake unit are respectively connected to the two input ends of the motor; when the selection unit is in a disconnected state, the brake unit controls the level states of the two input ends of the motor to remain consistent so as to stop the motor; wherein one of the first signal end and the second signal end is the ground end, and the other is the power supply signal end.

4. The surgical instrument according to claim 3, characterized in that The selection unit includes: a first switch tube, a first resistor and a second resistor, wherein the control end of the first switch tube is connected to the first end of the first resistor, the second end of the first resistor is respectively connected to the first end of the second resistor and the output end of the XOR module, the first end of the first switch tube is respectively connected to the first signal end and the second end of the second resistor, and the second end of the first switch tube is connected to the first input end of the brake unit; the first switch tube is disconnected under the action of the brake signal.

5. The surgical instrument according to claim 3, characterized in that: The brake unit includes a second switch tube, a third resistor and a fourth resistor, wherein the control end of the second switch tube is connected to the first end of the third resistor, the second end of the third resistor is respectively connected to the first end of the fourth resistor and the second end of the selection unit, the second end of the fourth resistor is connected to the second signal end, multiple first ends of the second switch tube are interconnected, and the two second ends of the second switch tube are respectively connected to the two input ends of the motor. When the selection unit is in the disconnected state, the second switch tube is turned on to control the level states of the two input ends of the motor to remain consistent, so as to stop the motor.

6. The surgical instrument according to claim 1, characterized in that The surgical instrument further comprises: The cutting control circuit includes a first control module and a second control module, wherein the first control module is respectively connected to the ground terminal, the power signal terminal, and the motor drive circuit, and the first control module outputs the knife return signal according to the ground signal of the ground terminal and the power signal of the power signal terminal, and the second control module is respectively connected to the ground terminal, the power signal terminal, and the motor drive circuit, and the second control module outputs the firing signal according to the ground signal and the power signal.

7. The surgical instrument according to claim 6, characterized in that The first control module comprises: an optical coupling unit, connected to the ground terminal and the power signal terminal respectively, the optical coupling unit is turned on when the light source is not blocked, and is turned off when the light source is blocked; A switch control unit is respectively connected to the ground terminal, the power signal terminal, the optical coupling unit, and the motor drive circuit. When the optical coupling unit is in an on state, the switch control unit is disconnected and outputs a return signal with a first level. When the optical coupling unit is disconnected, the switch control unit is turned on and outputs a return signal with a second level.

8. The surgical instrument according to claim 6, characterized in that The second control module includes a single-pole multi-throw switch, which is respectively connected to the ground terminal, the power signal terminal, and the motor drive circuit. The single-pole multi-throw switch selects to connect the paths between the ground terminal, the power signal terminal and the motor drive circuit respectively; wherein the on-off state of the single-pole multi-throw switch is different, and the firing signal has different levels.

9. The surgical instrument according to claim 1, characterized in that The surgical instrument further comprises: A step-down circuit, wherein multiple input terminals of the step-down circuit are respectively connected to the ground terminal and the power supply signal terminal, and an output terminal of the step-down circuit is connected to the power supply signal terminal. After the step-down circuit steps down the power supply signal, it provides a power supply signal to the power supply signal terminal.

10. The surgical instrument according to claim 9, characterized in that The surgical instrument further comprises: A light-emitting circuit, wherein the light-emitting circuit is respectively connected to the output end of the step-down circuit, the ground end, and the power signal end, and the light-emitting circuit emits light when driven by the power signal.

11. The surgical instrument according to claim 9, characterized in that The surgical instrument further comprises: A squeeze switch, connected to the output end of the step-down circuit and the power signal end respectively, and the squeeze switch selects to conduct the path between the output end of the step-down circuit and the power signal end; A squeezing trigger, which is operably connected to the end actuator; in response to the proximal movement of the squeezing trigger, the nail seat moves from an open position to a closed position so that the end actuator switches from an open state to a closed state; in the closed state, the squeezing trigger triggers the squeezing switch to switch the on and off states of the squeezing switch.

12. The surgical instrument according to claim 9, characterized in that The surgical instrument further comprises: an emergency door switch, connected to a battery and the power supply signal terminal respectively, the emergency door switch selects to conduct a power supply path between the battery and the power supply signal terminal, and when the power supply path is in a conducting state, supplies power to the power supply signal terminal through the battery, so that the power supply signal terminal outputs the power supply signal; The return knife emergency door is used to trigger the emergency door switch under the action of external force to switch the on and off state of the emergency door switch.

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