Surgical instrument

Abstract

The application relates to a surgical instrument, comprising a cutting knife assembly, a staple cartridge assembly, an end effector, a motor, a motor driving circuit and a brake control circuit, wherein the motor driving circuit is used for receiving a firing signal and a back-knife signal, generating a driving signal, controlling the operation state of the motor to control the movement state of the cutting knife assembly; the brake control circuit is connected with the ground end, the power supply signal end and the input end of the motor driving circuit respectively, and the output end of the brake control circuit is connected with the motor; the brake control circuit is used for generating a brake control signal to control the motor to stop rotating when the firing signal and the back-knife signal have the same level state. The application can accurately and effectively control the motor to stop in time, and avoid the damage of the surgical instrument caused by the inertia of the motor.

Description

TECHNICAL FIELD

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

[0002] An anastomat suitable for surgical operation is a surgical cutting anastomat which can cut off excess tissue while suturing a wound of a patient, and is widely applied to tissue cutting and anastomosis in minimally invasive surgeries such as abdominal surgery, gynecology, pediatrics and thoracic surgery. The surgical cutting anastomat enters the patient's body through the sleeve of a puncture device precisely positioned at the surgical site, and then makes a longitudinal incision in the tissue and applies anastomosis staples on the opposite sides of the incision, thereby cutting off and anastomizing the tissue.

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

[0004] In the related art, if the motor is to be stopped after running, the motor will continue to run for a period of time due to inertia, and will also 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

[0005] In view of the deficiencies of the prior art, the present application aims to provide a surgical instrument which can accurately and effectively control the motor to stop in time and avoid damage to the surgical instrument caused by the continued running of the motor due to inertia.

[0006] To solve the above technical problems, the present application realizes the following technical scheme:

[0007] A surgical instrument, comprising:

[0008] a cutting knife assembly;

[0009] a cartridge assembly provided with a channel for the movement of the cutting knife assembly;

[0010] an end effector comprising a staple butt and a cartridge seat pivotally connected with the staple butt, the cartridge assembly being detachably mounted on the cartridge seat;

[0011] a motor in transmission connection with the cutting knife assembly to drive the cutting knife assembly to move in the channel;

[0012] A motor driving circuit is connected with the motor, and the motor driving circuit controls the operation state of the motor according to the received firing signal and the back-knife signal, so as to control the moving state of the cutting knife assembly.

[0013] A brake control circuit has a plurality of inputs respectively connected with a ground terminal, a power supply signal terminal and an input terminal of the motor driving circuit, and an output connected with the motor. When the firing signal and the back-knife signal have the same level state, the brake control circuit generates a brake control signal to control the motor to stop.

[0014] Further, the brake control circuit comprises:

[0015] An exclusive OR module has a plurality of inputs respectively connected with the input terminal of the motor driving circuit, the ground terminal and the power supply signal terminal. When the firing signal and the back-knife signal have the same level state, the exclusive OR module generates a brake signal.

[0016] A brake module has a first input connected with the output of the exclusive OR module, a second input connected with the power supply signal terminal, a third input connected with the ground terminal, and an output connected with 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 state of the two input terminals of the motor to be consistent, so as to control the motor to stop and the cutting knife assembly to stop moving.

[0017] Further, the brake module comprises:

[0018] A gating unit has a control terminal connected with the output of the exclusive OR module, and a first terminal connected with a first signal terminal. Under the action of the brake signal, the gating unit is disconnected.

[0019] A brake unit has a first input connected with a second terminal of the gating unit, a second input connected with a second signal terminal, and two outputs respectively connected with the two input terminals of the motor. When the gating unit is in the disconnected state, the brake unit controls the level state of the two input terminals of the motor to be consistent, so as to control the motor to stop. One of the first signal terminal and the second signal terminal is the ground terminal, and the other is the power supply signal terminal.

[0020] Further, the gating unit comprises a first switch tube, a first resistor and a second resistor, wherein the control end of the first switch tube is connected with the first end of the first resistor, the second end of the first resistor is connected with the first end of the second resistor and the output end of the XOR module respectively, the first end of the first switch tube is connected with the first signal end and the second end of the second resistor respectively, and the second end of the first switch tube is connected with the first input end of the brake unit; the first switch tube is turned off under the action of the brake signal.

[0021] Further, the brake unit comprises a second switch tube, a third resistor and a fourth resistor, wherein the control end of the second switch tube is connected with the first end of the third resistor, the second end of the third resistor is connected with the first end of the fourth resistor and the second end of the gating unit respectively, the second end of the fourth resistor is connected with the second signal end, the first ends of the second switch tube are interconnected, the second ends of the second switch tube are connected with the two input ends of the motor respectively, the second switch tube is turned on in the case that the gating unit is in the off state, and the level states of the two input ends of the motor are kept consistent to make the motor stop rotating.

[0022] Further, the surgical instrument further comprises:

[0023] a cutting control circuit comprising a first control module and a second control module, wherein the first control module is connected with the ground end, the power signal end and the motor driving circuit respectively, the first control module outputs the back-knife signal according to the ground signal of the ground end and the power signal of the power signal end, the second control module is connected with the ground end, the power signal end and the motor driving circuit respectively, and the second control module outputs the firing signal according to the ground signal and the power signal.

[0024] Further, the first control module comprises:

[0025] a photo-coupling unit connected with the ground end and the power signal end respectively, the photo-coupling unit is turned on in the case that the light source is not blocked, and is turned off in the case that the light source is blocked;

[0026] a switch control unit connected with the ground end, the power signal end, the photo-coupling unit and the motor driving circuit respectively, the switch control unit is turned off in the case that the photo-coupling unit is in the on state, outputs the back-knife signal with the first level, and is turned on in the case that the photo-coupling unit is in the off state, and outputs the back-knife signal with the second level.

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

[0028] Further, the surgical instrument further comprises:

[0029] A step-down circuit, a plurality of inputs of the step-down circuit are connected with the ground terminal and the power supply signal terminal respectively, an output of the step-down circuit is connected with the power supply signal terminal, and the step-down circuit provides the power supply signal for the power supply signal terminal after performing step-down processing on the power supply signal.

[0030] Further, the surgical instrument further comprises:

[0031] A light-emitting circuit, the light-emitting circuit is connected with the output of the step-down circuit, the ground terminal and the power supply signal terminal respectively, and the light-emitting circuit emits light under the driving of the power supply signal.

[0032] Further, the surgical instrument further comprises:

[0033] A squeeze switch, which is connected with the output of the step-down circuit and the power supply signal terminal respectively, and selects to turn on the passageway between the output of the step-down circuit and the power supply signal terminal;

[0034] A squeeze trigger, which is operatively connected with the end effector; in response to the proximal movement of the squeeze trigger, the anvil moves from the open position to the closed position to make the end effector switch from the open state to the closed state; in the closed state, the squeeze trigger triggers the squeeze switch to switch the on-off state of the squeeze switch.

[0035] Further, the surgical instrument further comprises:

[0036] An emergency door switch, which is connected with the battery and the power supply signal terminal respectively, selects to turn on the power supply passageway between the battery and the power supply signal terminal, and supplies power for the power supply signal terminal by the battery to make the power supply signal terminal output the power supply signal in the case that the power supply passageway is in the on state;

[0037] A back-knife emergency door, which is used to trigger the emergency door switch under the action of external force to switch the on-off state of the emergency door switch.

[0038] The surgical instrument comprises an instrument body, a cutting knife assembly, an end effector, a motor, a motor driving circuit and a brake control circuit. The motor control circuit can generate a driving signal to drive the motor to operate according to the received firing signal and the back-knife signal, so as to control the movement of the cutting knife assembly. The brake control circuit can collect the firing signal and the back-knife signal, and generate a brake control signal to control the motor to stop rotating in the case that the firing signal and the back-knife signal have the same level state, so as to control the cutting knife assembly to stop moving. The motor is accurately and effectively controlled to stop in time, the effect of stopping is achieved, the damage of the cutting knife assembly and other components caused by the uncontrollable factors of inertia sliding is avoided, the control performance of the motor is improved, and the control performance of the cutting knife assembly is also improved. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0040] Figure 1 FIG. 1 is a structural schematic diagram of a surgical instrument according to an embodiment;

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

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

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

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

[0045] Figure 6 FIG. 6 is a structural schematic diagram of an XOR module according to an embodiment;

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

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

[0048] Figure 9 FIG. 9 is a structural block diagram of a cutting control circuit and a motor driving circuit according to an embodiment;

[0049] Figure 10 FIG. 10 is a structural schematic diagram of a cutting control circuit according to an embodiment;

[0050] Figure 11 Structure diagram of a sliding assembly according to an embodiment;

[0051] Figure 12 Structure diagram of a surgical instrument according to an embodiment;

[0052] Figure 13 Structure diagram of a voltage reduction circuit, light emitting circuit and press switch KEY5 according to an embodiment;

[0053] Figure 14 Structure diagram of a power supply circuit according to an embodiment;

[0054] Figure 15 Structure diagram of a motor driving chip according to an embodiment.

[0055] Explanation of reference signs:

[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 main body, 62-sliding part, 63-matching part, 64-shielding part, 65-rack, 66-gear assembly, 71-staple cartridge seat, 72-staple abutting seat, 20-motor driving circuit, 40-brake control circuit, 410-XOR module, 411-XOR gate circuit, 420-brake module, 421-gating unit, 422-brake unit, 50-voltage reduction circuit, 60-light emitting circuit, 80-cutting control circuit, 810-first control module, 811-optocoupler unit, 812-switch control unit, 820-second control module. DETAILED DESCRIPTION

[0057] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0058] In the present application, unless otherwise explicitly specified and limited, the terms "connected", "linked" and the like shall be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, can be movably connected, or can be integrated; can be directly connected, or can be indirectly connected through an intermediate medium; can be internal connection of two elements or interaction relationship such as abutment between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. It should be noted that when the terms "connected" and "linked" are limited by adjectives, they have the meaning limited by the adjectives, and only exclude the cases obviously excluded, without excluding other possible cases, for example, "detachably connected" refers to detachable connection, which does not include integration, but movable connection is not excluded.

[0059] It can be understood that "connection" in the following embodiments means "electrical connection", "communication connection" and the like if the circuits, modules, units and the like connected to each other have the transmission of electrical signals or data.

[0060] In one embodiment, as shown in Figures 1 to 4 A surgical instrument is provided. The surgical instrument includes an instrument body and a sleeve 52 extending distally from the instrument body, further includes a cutting knife assembly 2 and a motor 1, a motor drive circuit 20 and a brake control circuit 40 provided on the instrument body.

[0061] The cutting knife assembly 2 is used for cutting tissue. For example, the cutting knife assembly 2 includes a knife rod 21 and a cutting knife 22 connected to the knife rod 21. The cutting knife assembly 2 is connected to the first end of the mandrel 51 of the surgical instrument, 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, and then drives 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 passage for the movement of the cutting knife assembly 2. For example, the surgical instrument further includes an end effector provided at the end of the sleeve 52 away from the instrument body; the end effector includes a staple cartridge seat 71 and a staple abutting seat 72 pivotally connected to the staple cartridge seat 71. The staple cartridge assembly is detachably mounted on the staple cartridge seat 71. The staple abutting seat 72 can be selectively moved between an open position and a closed position, so as to cooperate with the staple cartridge seat 71 and the staple cartridge assembly to loosen or clamp the tissue.

[0063] The surgical instrument further comprises an end effector drive mechanism which drives the anvil 71 of the end effector to pivot relative to the cartridge seat 72 to selectively move between the closed position and the open position. Generally, the end effector drive mechanism comprises a link and a slider, the link linearly moves through the slider, the slider linearly moves the sleeve 52, 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 as or similar to the prior art, and will not be described in detail.

[0064] In use, first, the end effector drive mechanism drives the sleeve 52 to move, and then drives the anvil 71 to pivot to cooperate with the cartridge assembly to clamp the target tissue; then, the motor 1 is started and rotates in the forward direction, 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 terminal position to cut the tissue, and the cutting knife assembly 2 synchronously drives the pusher block in the cartridge assembly to move from the initial position to the terminal position, so as to achieve the effect of suturing the cut tissue while cutting the tissue; then, the motor 1 reverses, drives the cutting knife assembly 2 to retreat to the initial position through the gear assembly 66; then, the end effector drive mechanism drives the sleeve 52 to move, and then drives the anvil 71 to open to release the tissue; finally, the end effector drive mechanism drives the sleeve 52 to move, and then drives the anvil 71 to close. Of course, before and after use, the anvil 71 needs to be closed relative to the cartridge seat 72, so that the end effector can be inserted into or taken out of the patient's body through the trocar sleeve, which will not be described in detail here.

[0065] The plurality of inputs of the motor drive circuit 20 are respectively connected to the ground terminal GND, the power supply signal terminal VCC, and the motor 1 one by one. The motor drive circuit 20 is used to receive the firing signal and the knife return signal, control the running state of the motor 1, and thus control the moving state of the cutting knife assembly 2. The running state of the motor 1 corresponds to the moving state of the cutting knife assembly 2. For example, when the firing signal and the knife return signal have different level states, the motor drive circuit 20 generates corresponding driving signals to drive the motor 1 to rotate in the forward direction and the reverse direction; and when the firing signal and the knife return signal have the same level state, the motor drive circuit 20 does not output, so that the motor 1 stops rotating. For example, when the motor 1 rotates in the forward direction, the motor 1 drives the cutting knife assembly 2 to advance; when the motor 1 rotates in the reverse direction, the motor 1 drives the cutting knife assembly 2 to retreat; and when the motor 1 stops rotating, the cutting knife assembly 2 also stops moving. The forward direction of the motor 1 is opposite to the reverse direction, the advancing direction of the cutting knife assembly 2 is opposite to the retreating direction, the advancing direction can be understood as the moving direction away from the initial position of the cutting knife assembly 2, and the retreating direction can be understood as the moving direction close to the initial position of the cutting knife assembly 2.

[0066] The plurality of input terminals of the brake control circuit 40 are respectively connected with the ground terminal GND, the power supply signal terminal VCC and the input terminals of the motor driving circuit 20 in one-to-one correspondence. The output terminal of the brake control circuit 40 is connected with the motor 1. The brake control circuit 40 is used to generate a brake control signal in the case that the firing signal and the back-knife 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. The brake control signal is used to control the motor 1 to stop rotating. The brake control signal can be a signal with high level or a signal with low level, which is not limited herein. The brake control signal can be generated in the case that the firing signal and the back-knife signal have high level at the same time, or can be generated in the case that the firing signal and the back-knife signal have low level at the same time.

[0067] The above surgical instrument, through the brake control circuit 40, collects the firing signal and the back-knife signal, and generates a brake control signal in the case that the firing signal and the back-knife signal have the same level state, so as to control the motor 1 to stop rotating, thereby controlling the cutting knife assembly 2 to stop moving, and achieving the effect of stopping. In the case that the firing signal and the back-knife signal have the same level state, the motor driving 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. Compared with this, the brake control circuit 40 of the embodiment of the present application can quickly and effectively control the motor 1 to stop rotating, thereby realizing the quick and effective control of the cutting knife assembly 2 to stop moving, avoiding the uncontrollable factors caused by inertia sliding from causing damage to the cutting knife assembly and other components, and further improving the control performance of the cutting knife assembly 2.

[0068] In one embodiment, as shown in Figure 5 The brake control circuit 40 can include an XOR module 410 and a brake module 420. The plurality of input terminals of the XOR module 410 are respectively connected with the input terminals of the motor driving circuit 20, the ground terminal GND and the power supply signal terminal VDD in one-to-one correspondence. The XOR module 410 is used to generate a brake signal in the case that the firing signal and the back-knife signal have the same level state. The brake signal can be a signal with high level or low level.

[0069] Optionally, the XOR module 410 can be an XOR gate circuit 411. As shown in Figure 6As shown, the first input end A of the XOR gate circuit 411 is connected with the first input end of the motor driving circuit 20, for receiving the firing signal; the second input end B of the XOR gate circuit 411 is connected with the second input end of the motor driving circuit 20, for receiving the back-knife signal; the ground end GND of the XOR gate circuit 411 is connected with the ground end GND, and the signal end VCC of the XOR gate circuit 411 is connected with the power signal end VDD. The output end Y (Break end) of the XOR gate circuit 411 is connected with the first input end of the brake module 420. In the case that the firing signal and the back-knife signal have the same level state, the output end Y outputs the logic level of 0, at this time, the brake signal is outputted; in the case that the firing signal and the back-knife signal have different level states, the output end Y outputs the logic level of 1, at this time, the non-brake signal is outputted. In the present application, the brake signal refers to the signal that can make the motor 1 stop, and the non-brake signal refers to the signal that cannot make the motor 1 stop. 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 the low-level signal, and the non-brake signal is the high-level signal.

[0070] Table 1 Truth table of the XOR module 410

[0071] Input (firing signal) Input (returning blade signal) Output 1 1 0 1 0 1 0 1 1 0 0 0

[0072] The first input end of the brake module 420 is connected with the output end Y of the XOR module 410, the second input end of the brake module 420 is connected with the power signal end VCC, the third input end of the brake module 420 is connected with the ground end GND, and the output end of the brake module 420 is connected with the input end of the motor 1. The brake module 420 is used to control the level state of the two input ends of the motor 1 to be 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 ends of the brake module 420 are correspondingly connected with the two input ends of the motor 1. Under the action of the brake signal, the two output ends of the brake module 420 correspondingly output brake control signals with the same level, so that the level state of the two input ends of the motor 1 is switched to the same level state, so that the motor 1 stops rotating, so that the cutting knife assembly 2 also stops moving, achieving the purpose of stopping.

[0073] The surgical instrument, the brake control circuit 40 collects the firing signal and the back-knife signal through the exclusive or module 410, generates the brake signal based on the exclusive or logic level control, and controls the two output ends of the brake module 420 to output the brake control signal with the same level state, that is, controls the two input ends of the motor 1 to keep the same level state, so that the motor 1 stops rotating, thereby stopping the movement of the cutting knife assembly 2, achieving the purpose of timely stopping and avoiding the uncontrollable influence caused by inertia and continuous sliding, and improving the precise and effective control of the cutting knife assembly 2.

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

[0075] The first input end of the brake unit 422 is connected with the second end of the gating unit 421, the second input end of the brake unit 422 is connected with the second signal end, and the two output ends of the brake unit 422 are respectively connected with the two input ends of the motor 1. One of the first signal end and the second signal end is the ground end GND, and the other is the power supply signal end VCC. In Figure 7 , the first signal end is the ground end GND, and the second signal end is VCC; in Figure 8 , the first signal end is the power supply signal end VCC, and the second signal end is the ground end GND. The brake unit 422 is used to control the level state of the two input ends of the motor 1 to keep consistent when the gating unit 421 is in a disconnected state, so that the motor 1 stops rotating. Specifically, the two output ends (M- and M+) of the brake unit 422 are connected with the two input ends (M- and M+) of the motor 1. When the gating unit 421 is in a disconnected state, the output end M- of the brake unit 422 and the output end M+ of the brake unit 422 correspondingly output brake control signals with the same level, so that the level state of the input end M- of the motor 1 and the input end M+ of the motor 1 is switched to the same level state, so that the motor 1 stops rotating, thereby stopping the movement of the cutting knife assembly 2, achieving the purpose of stopping.

[0076] The 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 brake signal output by the XOR module 410 is in the on state, 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 the motor 1 is stopped when the firing signal and the return knife signal have the same level state, so that the cutting knife assembly 2 stops moving, realizes fast stopping, reduces the risk, and improves the safety and reliability of the surgical instrument.

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

[0078] The XOR module 410 shown in Figure 6 is an XOR gate circuit 411, Figure 7 The second end (Break end) of the resistor R1 in the gating unit 421 is connected with 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] In Figure 7 , the first switch tube Q1 is an NMOS, and the first signal end is a ground end GND. In Figure 8 , the first switch tube Q1 is a PMOS, and the first signal end is a power supply signal end VCC. In the application process, the first switch tube Q1 is turned on when the Break end receives the non-brake signal with high level, and is disconnected when the Break end receives the brake signal with low level.

[0080] The gating unit 421 includes a first switch tube Q1, a first resistor R1 and a second resistor R2. The first switch tube Q1 can be switched from the on state to the disconnected state when the brake signal output by the XOR module 410, so as to realize the feedback of the firing signal and the return knife signal with the same level state. When the first switch tube Q1 is disconnected, the brake unit 422 can control the two input ends of the motor 1 to have the same level state, so that the motor 1 is stopped to achieve the purpose of stopping the movement of the cutting knife assembly 2, and realizes the effect of automatic stopping of the motor 1 and the cutting knife assembly 2.

[0081] In one embodiment, please continue to refer to Figure 7 and Figure 8 , the brake unit 422 can include a second switch tube Q2, a third resistor R3 and a fourth resistor R4. Wherein the control end of the second switch tube Q2 is connected with the first end of the third resistor R3, the second end of the third resistor R3 is connected with the first end of the fourth resistor R4 and the second end of the gating unit 421 respectively, the second end of the fourth resistor R4 is connected with 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 connected with the two input ends (M- and M+) of the motor 1 correspondingly. In Figure 7 , the second signal end is the power supply signal end VCC; in Figure 8 , the second signal end is the ground end GND. The second switch tube Q2 is used for conduction in the case that the gating unit 421 is in the off state, and the brake control signal with the same level state is outputted from the two second ends (M- and M+), so that the two input ends (M- and M+) of the motor 1 also have the same level state, the motor 1 is stopped, and the cutting knife assembly 2 is stopped moving. The second switch tube Q2 is turned off in the case that the gating unit 421 is in the on state, and no signal is outputted from the two second ends (M- and M+).

[0082] For example, the second switch tube Q2 can be integrated with two NMOS, the drain D1, D2 of the two NMOS is interconnected, the gate G1, G2 of the two NMOS is connected with the second end of the fourth resistor R4 respectively, and the two source S1, S2 of the two NMOS is connected with the two input ends (M- and M+) of the motor 1 as the two output ends (M- and M+) respectively. In the case that the gating unit 421 is in the off state, the second switch tube Q2 is turned on, so that the level state of the two input ends (M- and M+) of the motor 1 is the same, the motor 1 is stopped, and the cutting knife assembly 2 is stopped moving. In the case that the gating unit 421 is in the on state, the second switch tube Q2 is turned off, and no signal is outputted at this time. It can be understood that the second switch tube Q2 can also be PMOS, and the level control logic is opposite to NMOS, that is, in the case that the gating unit 421 is in the on state, the second switch tube Q2 is turned on, so that the level state of the two input ends (M- and M+) of the motor 1 is the same, the motor 1 is stopped, and the cutting knife assembly 2 is stopped moving. In the case that the gating unit 421 is in the off state, the second switch tube Q2 is turned off, and no signal is outputted at this time.

[0083] The brake unit 422 includes a second switch tube Q2, a third resistor R3 and a fourth resistor R4. The second switch tube Q2 can switch the corresponding on-off state according to the on-off state of the gating unit 421, and output brake control signals with the same level state through two second ends (M- and M+). The motor 1 connected to the two input ends (M- and M+) has the same level state, which realizes the control of the motor 1 to stop rotating, so as to control the cutting knife assembly 2 to stop moving. When the firing signal and the back-knife signal have the same level state, the motor 1 and the cutting knife assembly 2 will continue to run due to inertia, which may cause risks. The reliability and safety of the surgical instrument are improved.

[0084] In one embodiment, as shown in Figure 9 The surgical instrument can further include a cutting control circuit 80, which can include a first control module 810 and a second control module 820. The first control module 810 is connected to the ground end GND, the power signal end VDD and the motor driving circuit 20, respectively. The first control module 810 is configured to output a back-knife signal according to a ground signal of the ground end GND and a power signal of the power signal end VDD. The second control module 820 is connected to the ground end GND, the power signal end VDD and the motor driving circuit 20, respectively. The second control module 820 is configured to output a firing signal according to the ground signal and the power signal. The level state of the ground signal and the power signal is different. For example, the power signal is 3.3V, and the ground signal is 0V. The level state of the ground signal and the power signal can also be set to other suitable values, which are only exemplary.

[0085] The surgical instrument controls the level state of the back-knife 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. Therefore, the driving circuit 20 generates different driving signals to drive the motor 1 to rotate in different directions when the firing signal and the back-knife signal have different level states, and controls the motor 1 to stop 1 through the brake control circuit 40 when the firing signal and the back-knife signal have the same level state, thereby achieving flexible control of the motor 1.

[0086] In one embodiment, as shown in Figure 10 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 end GND and the power signal end VDD, respectively. The optical coupling unit 811 is configured to be turned on when the light source is not blocked, and turned off when the light source is blocked. For example, the optical coupling unit 811 includes an optical coupler OC.

[0087] The switch control unit 812 is connected with the ground terminal GND, the power signal terminal VDD, the optocoupler unit 811 and the motor driving circuit 20 respectively. The switch control unit 812 is used to be turned off when the optocoupler unit 811 is in the on state, and output the back-knife signal with the first level. The switch control unit 812 is also used to be turned on when the optocoupler unit 811 is in the off state, and output the back-knife signal with the second level.

[0088] For example, the optocoupler unit 811 includes an optocoupler 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. The anode of the optocoupler OC is connected with the first end of the resistor R21, the second end of the resistor R21 is connected with the power signal terminal VDD, the cathode and the emitter of the optocoupler OC are connected with the ground terminal GND respectively, the collector of the optocoupler OC is connected with the first end of the resistor R23 and the first end of the resistor R24 respectively, the second end of the resistor R23 is connected with the first end of the resistor R22 and the control end of the switch tube Q11 respectively, the second end of the resistor R22 and the first pole of the switch tube Q11 are connected with the ground terminal respectively, the second pole of the switch tube Q11 is connected with the resistor R25, and the second end of the resistor R25 is connected with the second end of the resistor R24 and the power signal terminal VDD respectively. For example, the switch tube Q11 is an NPN type triode.

[0089] In the Figure 10 , the second pole of the switch tube Q11 is used as the output terminal S1 and is connected with an output terminal of the motor driving circuit 20. When the light source is not blocked, the receiving end of the optocoupler OC, i.e. the triode of the optocoupler OC, is turned on, and the switch tube Q11 is turned off. At this time, S1 outputs the back-knife signal with the high level. When the light source is blocked, the receiving end of the optocoupler OC is turned off, and the switch tube Q11 is turned on. At this time, S1 outputs the back-knife signal with the low level.

[0090] The first control module 810 includes an optical coupling unit 811 and a switch control unit 812. The optical coupling unit 811 switches the on-off state according to whether the light source is blocked or not, so as to switch the on-off state of the switch control unit 812, to output a return knife signal with different levels, so that the motor driving circuit 20 can switch the rotation direction of the motor 1 according to the return knife signal and in combination with the firing signal, to meet the rotation demand of the motor 1. The first control module 810 uses a non-contact switch to control the passage between the ground end GND and the power signal end VDD and the motor driving circuit 20. Compared with the mechanical structure that relies on external force to close the button to the effective stroke for control, the first control module 810 provided in the embodiment of the 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. The sensitivity and reliability are higher, the response is faster, and the circuit structure is simpler.

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

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

[0093] When the cutting knife assembly 2 moves backward to a second preset position, the driving part of the transmission assembly abuts against the matching part 63, drives the sliding part 62 to move backward in the first groove relative to the surgical instrument, moves the shielding part 64 in the backward direction, so that the shielding part 64 moves out of the light shielding position. In this case, the optical coupling unit 811 is in a conductive state, and the switch control unit 812 is in an off state. The first preset position is a position where the cutting knife assembly 2 approaches the bottom but does not reach the bottom when moving forward, and the second preset position is a position where the cutting knife assembly 2 approaches the bottom but does not reach the bottom when moving backward.

[0094] The surgical instrument can be switched by the cooperation of the transmission assembly, the sliding assembly 6 and the light coupling unit 811, so that when the cutting knife assembly 2 moves to the first preset position, the driving part of the transmission assembly abuts against the matching part of the sliding assembly, the shielding part 64 in the sliding assembly 6 shields the light source of the light coupling unit 811, the state of the light coupling unit 811 is switched to the off state, the switch control unit 812 is switched to the on state, and when the cutting knife assembly 2 moves to the second preset position, the driving part of the transmission assembly abuts against the matching part of the sliding assembly, so that the shielding part 64 in the sliding assembly 6 moves out of the light shielding position, the state of the light coupling unit 811 is switched to the on state, the switch control unit 812 is switched to the off state, and the level state of the knife signal is switched back, so that the motor driving circuit 20 can switch the rotation state of the motor 1 according to the knife signal and the firing signal, thereby switching the movement state of the cutting knife assembly 2 in the surgical instrument. Compared with the mechanical micro switch, the embodiment of the application realizes the automatic switching of the movement direction of the cutting knife assembly 2, does not need external force, and does not have the problem of insufficient effective stroke of the mechanical micro switch after repeated use, has higher sensitivity and reliability, and has simpler circuit and structure.

[0095] In one embodiment, the transmission assembly includes a rack 65, the rack 65 includes a second groove 52a, a first end 52b provided at the proximal end of the second groove 52a, and a second end 52c provided at the distal end of the second groove 52a, the driving part of the transmission assembly is the first end 52b and the second end 52c, and the matching part 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 part 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 part 62 to move backward.

[0096] Alternatively, the transmission assembly includes a rack 65, the rack 65 includes a rack protrusion, and the matching part 63 of the sliding assembly 6 is a matching groove, the matching groove includes a first end 52b at the proximal end of the groove and a second end 52c 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 part 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 part 62 to move backward.

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

[0098] During the retraction of the cutting blade assembly 2, the mating part 63 slides relative to the second groove 52a, and the blocking part 64 blocks the light source of the optical coupler unit 811. The optical coupler unit 811 is in the off state, and the switch control unit 812 is in the on state.

[0099] In this embodiment, when motor 1 rotates forward, the cutting blade assembly 2 advances. During this process, the blocking part 64 remains outside the light-blocking position, allowing the cutting blade assembly 2 to perform a firing operation to cut the anastomotic tissue. When firing reaches its maximum, the blocking part 64 blocks the light source of the optical coupler OC, triggering motor 1 to reverse, causing the cutting blade assembly 2 to retract and return to its original position. During the return process, the sliding component 6 relies on the friction with the anastomosis body to keep the blocking part 64 blocking the light source, thereby keeping motor 1 in reverse to maintain the retraction of the cutting blade assembly 2. When the return is complete, the blocking part 64 moves outside the light-blocking position, returning to its initial state.

[0100] In the aforementioned surgical instrument, during the forward movement of the cutting blade assembly 2, the shielding part 64 remains outside the light-blocking position to ensure that the cutting blade assembly 2 can move forward. During the backward movement of the cutting blade assembly 2, the shielding part 64 remains in a state of blocking the light source to ensure that the actuating component 5 can move backward, so as to meet the application requirements of the surgical instrument.

[0101] In one embodiment, such as Figure 10 As shown, the second control module 820 includes a single-pole multiple-throw (SPnT, such as SP2T, SP4T, etc.) switch. The multiple input terminals of the single-pole multiple-throw switch ( Figure 10 Terminals 1 and 2 of the single-pole multi-throw switch (S2) are connected to the ground terminal GND and the power signal terminal VDD, respectively. The output terminal of the S2 switch is connected to the other input terminal of the motor drive circuit 20. The S2 switch is used to select the path between the ground terminal GND and the motor drive circuit 20, or between the power signal terminal VDD and the motor drive circuit 20. The firing signal has different levels depending on the on / off state of the S2 switch. In this embodiment, the S2 switch can be abbreviated as switch KEY4. For example, switch KEY4 can be a mechanical switch, and its on / off state can be controlled by the user.

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

[0103] The 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 the return signal, making the direction of the motor 1 operable.

[0104] In one embodiment, as shown in Figure 13 The surgical instrument can further include a voltage reduction circuit 50. The voltage reduction circuit 50 is arranged on the instrument body. The voltage reduction circuit 50 has a plurality of input terminals connected to the ground terminal GND and the power supply signal terminal VCC respectively, and an output terminal connected to the power supply signal terminal VDD in one-to-one correspondence. The voltage reduction circuit 50 is configured to provide the power supply signal to the power supply signal terminal VDD after reducing the voltage of the power supply signal output by the power supply signal terminal VCC. For example, the voltage of the power supply signal can be set to 3.3V, or other suitable values, which are not limited herein.

[0105] Optionally, the voltage reduction circuit 50 can include a first capacitor C1, a second capacitor C2, and a voltage regulator U1. The first terminal of the first capacitor C1 is connected to the power supply signal terminal VCC and the input terminal Vin of the voltage regulator U1 respectively, the second terminal of the first capacitor C1 is connected to the ground terminal GND, the ground terminal GND of the voltage regulator U1, and the second terminal of the second capacitor C2, the output terminal Vout of the voltage regulator U1 is connected to the first terminal of the second capacitor C2, and the output terminal Vout of the voltage regulator U1 is connected to the power supply signal terminal VDD as an output terminal. The voltage regulator U1 is configured to provide the power supply signal to the power supply signal terminal VDD after reducing and stabilizing the voltage of the power supply signal output by the power supply signal terminal VCC.

[0106] The surgical instrument described above transmits the power supply signal of the power supply signal terminal VCC to the power supply signal terminal VDD after reducing the voltage of the power supply signal by the voltage reduction circuit 50, so as to provide the power supply signal for the firing assembly 3, the back-knife assembly 4, the self-locking control circuit, and the brake control circuit 40, and provide a basis for accurately and effectively controlling the cutting knife assembly 2.

[0107] In one embodiment, please continue to refer to Figure 13 The surgical instrument can further include a light-emitting circuit 60. The light-emitting circuit 60 is connected to the output terminal of the voltage reduction circuit and the ground terminal GND respectively. The light-emitting circuit 60 is configured to emit light under the driving of the power supply signal output by the power supply 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 voltage reduction circuit is connected to the first terminal of the fifth resistor R5 and the power supply 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 configured to emit light under the driving of the power supply signal output by the output terminal of the voltage reduction circuit.

[0109] The surgical instrument, through the light-emitting circuit 60, indicates that the voltage reduction circuit 50 has reduced the power supply signal to provide the power supply signal for the power supply signal end VDD, visually reflects that the battery has been inserted and the circuit can work, the effect is more intuitive, and the user experience is improved.

[0110] In one embodiment, please continue to refer to Figure 1 and Figure 14 The surgical instrument can further include a pressing switch KEY5 and a pressing trigger K5. The pressing switch KEY5 is arranged on the instrument body and connected with the output end of the voltage reduction circuit 50 and the power supply signal end VDD, respectively, for selecting the conduction path between the output end of the voltage reduction circuit 50 and the power supply signal end VDD. The pressing switch KEY5 can be a single-pole single-throw switch or a single-pole multi-throw switch, which is not limited herein. In the application process, the pressing trigger K5 can be set to a default off state, that is, the conduction path between the output end of the voltage reduction circuit 50 and the power supply signal end VDD is turned off.

[0111] The pressing trigger K5 is arranged on the instrument body and exposed outside the instrument body for user operation. The pressing trigger K5 is pivotally connected with the connecting rod mechanism of the end effector driving mechanism, and in response to the proximal movement of the pressing trigger K5, the anvil 71 moves from the open position to the closed position to switch the end effector from the open state to the closed state. In the closed state, the pressing trigger K5 triggers the pressing switch KEY5 to switch the on-off state of the pressing switch KEY5. The pressing trigger K5 can trigger the pressing switch KEY5 to switch to the conduction state by applying pressure to the user, and release the pressing trigger K5 to trigger the pressing switch KEY5 to switch to the off state, thereby turning off the conduction path between the output end of the voltage reduction circuit 50 and the power supply signal end VDD.

[0112] The surgical instrument, through the pressing trigger K5, controls the conduction path between the output end of the voltage reduction circuit 50 and the power supply signal end VDD, effectively controls the conduction path between the power supply signal end VDD and the brake control circuit 40 in the surgical instrument, achieves the controllable purpose, and improves the operability of the surgical instrument.

[0113] In one embodiment, please continue to refer to Figure 1, the surgical instrument further comprises a release knob K0. The release knob K0 is arranged on the instrument body, i.e. outside the instrument body, so as to be operated by a user. After the pressing trigger K5 is operated to be closed, the release knob K0 abuts against the pressing trigger K5 to keep the pressing trigger K5 in the closed state. Specifically, the pressing trigger K5 abuts against an extension of the release knob K0 through the linkage structure when the pressing trigger K5 is in the closed state; when the pressing trigger K5 needs to be released, the release knob K0 is pushed to move to remove the abutment between the extension of the release knob K0 and the linkage structure, so that the pressing trigger K5 is released. After the pressing trigger K5 is closed, the pressing switch KEY5 can be triggered by the linkage structure to switch from the off state to the on state, to turn on the path between the output end of the voltage reduction circuit 50 and the power supply signal end VDD, release the pressing trigger K5, and disconnect the linkage structure to trigger the pressing switch KEY5 to switch from the on state to the off state to disconnect the path between the output end of the voltage reduction circuit 50 and the power supply signal end VDD; of course, the pressing trigger K5 can also be triggered by the release knob K0 after the pressing trigger K5 is closed, so that the pressing switch KEY5 is triggered by the release knob K0 to trigger the pressing switch KEY5, and the release knob K0 is pushed to move to release the pressing trigger K5 and disconnect the linkage structure to trigger the pressing switch KEY5. How to trigger the pressing switch KEY5 is prior art, which will not be described here.

[0114] In one embodiment, referring to Figure 1 and Figure 15 , the surgical instrument further comprises an emergency door switch KEY1 and a back door emergency door K1. The emergency door switch KEY1 is connected with the battery (B+ end) and the power supply signal end VCC respectively, wherein the B- end of the battery is connected with the ground end GND. The emergency door switch KEY1 is used to select the power supply path between the battery (B+ end) and the power supply signal end VCC to be turned on, and to supply power to the power supply signal end VCC through the battery when the power supply path is in the on state, so that the power supply signal end VCC outputs the power supply signal.

[0115] The back-knife emergency door K1 is arranged on the instrument body, and specifically can be a back-knife emergency door cover plate arranged on the outside of the instrument body for user operation. The back-knife emergency door K1 is used to trigger the closed switch KEY1 under the action of an external force to switch the on-off state of the closed switch. By way of example, the closed 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 conduction state, so that the battery supplies power to the power supply signal terminal VCC, so that the power supply signal terminal VCC outputs a power supply signal. When an emergency occurs and power needs to be cut off, the user can open the back-knife emergency door K1 to switch the emergency door switch KEY1 from the conduction state to the open state, so that the power supply path between the battery and the power supply signal terminal VCC is disconnected, at which 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 achieving effective control of the power supply paths between the power supply signal terminal VCC and the voltage reduction circuit 50 and the motor driving circuit 20 in the surgical instrument, achieving controllable purposes, and improving the safety of the surgical instrument.

[0116] Optionally, referring to Figure 13 , the motor driving circuit 20 includes a motor driving chip (IC) 210, which is configured with a plurality of input ports (BI, FI, GND and VCC) and a plurality of 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 of the power supply signal terminal VCC, the output port BO is connected with the first input end of the motor 1, and the output port FO is connected with the second input end 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 back-knife signal. In the case that the firing signal is a low-level power supply signal and the back-knife signal is a high-level ground signal, that is, 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, the cutting knife assembly 2 advances, and cutting, suturing and other operations are realized. In the case that the firing signal has a high level and the back-knife signal has a low level, that is, 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, the cutting knife assembly 2 retreats, and the back-knife is realized. In the case that the firing signal and the back-knife signal have a high level, that is, the logic levels of the input ports BI and FI are (1, 1), the output ports BO and FO output logic levels (0, 0), the motor 1 stops rotating, and the cutting knife assembly 2 stops moving; in the case that the firing signal and the back-knife signal have a low level, that is, the logic levels of the input ports BI and FI are (0, 0), the output ports BO and FO have no output, the motor 1 stops rotating, and the cutting knife assembly 2 stops moving.

[0118] In one embodiment, the input port BI is used to receive the firing signal, and the input port FI is used to receive the back-knife signal. When the firing signal is a high-level power signal and the back-knife signal is a low-level ground signal, i.e., the logic levels of the input ports BI and FI are (1, 0), the output ports BO and FO output the logic levels (1, 0), the motor 1 rotates forward, the cutting knife assembly 2 advances, and the cutting, suturing, and other operations are realized. When the firing signal has a low level and the back-knife signal has a high level, i.e., the logic levels of the input ports BI and FI are (0, 1), the output ports BO and FO output the logic levels (0, 1), the motor 1 reverses, the cutting knife assembly 2 retreats, and the back-knife is realized. When the firing signal and the back-knife signal have low levels, i.e., the logic levels of the input ports BI and FI are (0, 0), the output ports BO and FO output the logic levels (1, 1), the motor 1 stops rotating, and the cutting knife assembly 2 stops moving. When the firing signal and the back-knife signal have low levels, i.e., the logic levels of the input ports BI and FI are (1, 1), the output ports BO and FO have no output, the motor 1 stops rotating, and the cutting knife assembly 2 stops moving.

[0119] The input and output logic levels of the motor drive chip 210 are shown in the truth table of Table 2 below, wherein OPEN represents no signal output. It should be noted that the level control logic of the motor drive chip 210 is not limited to the manner of Table 2, and can also be implemented by using opposite levels to realize logic control, which is not limited herein.

[0120] Table 2 Truth table of the motor drive 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, referring to Figures 1-15 , a surgical instrument is provided, which is described by taking an anastomat as an example. The anastomat can include a release push K0, a back-knife emergency door K1, a firing trigger K4, a compression trigger K5, a motor drive circuit 20 (see Figure 15 for the motor drive chip 210), a brake control circuit 40 (see Figure 7 and related content), a step-down circuit 50 (see Figure 13 and related content), a light-emitting circuit 60 (see Figure 13 and related content), and a motor 1.

[0123] When powered on, the manual back-knife 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 (which can be another voltage value) is generated, and the power indicator light (light-emitting diode LED1) is turned on.

[0124] Press the manual pressing trigger K5 to the bottom, keep the lock position by releasing the push twist K0, so that KEY5 keeps the trigger state, and the 3.3V output by the voltage reduction circuit 50 is transmitted to the rear end, the brake control circuit 40 is activated, and the brake control circuit 40 is triggered by default.

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

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

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

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

[0129] It should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

[0130] The above detailed description merely illustrates preferred non-limiting embodiments of the application, and is not intended to limit the scope of the application. Rather, the scope of the application is defined solely by the appended claims.

Claims

1. A surgical instrument, characterized by, The surgical instrument comprises: a cutting knife assembly; a staple cartridge assembly provided with a channel for the cutting knife assembly to move in; an end effector, which comprises a staple butt and a staple cartridge seat pivotally connected with the staple butt, and the staple cartridge assembly is detachably mounted on the staple cartridge seat; a motor drivingly connected with the cutting knife assembly to drive the cutting knife assembly to move in the channel; a motor driving circuit connected with the motor, which controls the operating state of the motor according to the received firing signal and back-knife signal to control the moving state of the cutting knife assembly; a brake control circuit, multiple input ends of the brake control circuit are correspondingly connected with a ground end, a power supply signal end and an input end of the motor driving circuit, and an output end of the brake control circuit is connected with the motor, and in the case that the firing signal and the back-knife signal have the same level state, the brake control circuit generates a brake control signal to control the motor to stop rotating.

2. The surgical instrument of claim 1, wherein, The brake control circuit comprises: an exclusive or module, multiple input ends of the exclusive or module are connected with the input end of the motor driving circuit, the ground end and the power supply signal end, and in the case that the firing signal and the back-knife signal have the same level state, the exclusive or module generates a brake signal; a brake module, a first input end of the brake module is connected with an output end of the exclusive or module, a second input end of the brake module is connected with the power supply signal end, a third input end of the brake module is connected with the ground end, and an output end of the brake module is connected with an input end of the motor; under the action of the brake signal, the brake module outputs the brake control signal to control the level state of the two input ends of the motor to keep consistent, so that the motor stops rotating to control the cutting knife assembly to stop moving.

3. The surgical instrument of claim 2, wherein, The brake module comprises: a gating unit, a control end of the gating unit is connected with an output end of the exclusive or module, and a first end of the gating unit is connected with a first signal end; under the action of the brake signal, the gating unit is disconnected; a brake unit, a first input end of the brake unit is connected with a second end of the gating unit, a second input end of the brake unit is connected with a second signal end, and two output ends of the brake unit are correspondingly connected with two input ends of the motor; in the case that the gating unit is in the disconnected state, the brake unit controls the level state of the two input ends of the motor to keep consistent, so that the motor stops rotating; 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 of claim 3, wherein, The gating unit comprises a first switch tube, a first resistor and a second resistor, wherein the control end of the first switch tube is connected with the first end of the first resistor, the second end of the first resistor is connected with the first end of the second resistor and the output end of the XOR module respectively, the first end of the first switch tube is connected with the first signal end and the second end of the second resistor respectively, and the second end of the first switch tube is connected with the first input end of the brake unit; the first switch tube is turned off under the action of the brake signal.

5. The surgical instrument of claim 3, wherein, The brake unit comprises a second switch tube, a third resistor and a fourth resistor, wherein the control end of the second switch tube is connected with the first end of the third resistor, the second end of the third resistor is connected with the first end of the fourth resistor and the second end of the gating unit respectively, the second end of the fourth resistor is connected with the second signal end, the first ends of the second switch tube are interconnected, the second ends of the second switch tube are connected with the two input ends of the motor respectively, the second switch tube is turned on in the case that the gating unit is in the off state, and the level states of the two input ends of the motor are kept consistent to make the motor stop rotating.

6. The surgical instrument of claim 1, wherein, The surgical instrument further comprises: a cutting control circuit comprising a first control module and a second control module, wherein the first control module is connected with the ground end, the power signal end and the motor driving circuit respectively, the first control module outputs the back-knife signal according to the ground signal of the ground end and the power signal of the power signal end, the second control module is connected with the ground end, the power signal end and the motor driving circuit respectively, and the second control module outputs the firing signal according to the ground signal and the power signal.

7. The surgical instrument of claim 6, wherein, The first control module comprises: a photocoupling unit connected with the ground end and the power signal end respectively, the photocoupling unit is turned on in the case that the light source is not blocked, and is turned off in the case that the light source is blocked; a switch control unit connected with the ground end, the power signal end, the photocoupling unit and the motor driving circuit respectively, the switch control unit is turned off in the case that the photocoupling unit is in the on state, outputs the back-knife signal with the first level, and is turned on in the case that the photocoupling unit is in the off state, and outputs the back-knife signal with the second level.

8. The surgical instrument of claim 6, wherein, The second control module comprises a single-pole multi-throw switch connected with the ground end, the power signal end and the motor driving circuit respectively, the single-pole multi-throw switch selects to turn on the passageway between the ground end, the power signal end and the motor driving circuit; 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 of claim 1, wherein, The surgical instrument further comprises: a step-down circuit, a plurality of input ends of the step-down circuit are connected with the ground end and the power supply signal end respectively, the output end of the step-down circuit is connected with the power signal end, and the step-down circuit provides the power signal end with the power signal after performing step-down processing on the power supply signal.

10. The surgical instrument of claim 9, wherein, The surgical instrument further comprises: a light emitting circuit connected with the output end of the voltage reduction circuit, the ground end and the power signal end respectively, and emitting light under the drive of the power signal.

11. The surgical instrument of claim 9, wherein, The surgical instrument further comprises: a crushing switch connected with the output end of the voltage reduction circuit and the power signal end respectively, and selecting to turn on the path between the output end of the voltage reduction circuit and the power signal end; a crushing trigger operably connected with the end effector, and in response to the proximal movement of the crushing trigger, the anvil moves from the open position to the closed position to switch the end effector from the open state to the closed state; in the closed state, the crushing trigger triggers the crushing switch to switch the on-off state of the crushing switch.

12. The surgical instrument of claim 9, wherein, The surgical instrument further comprises: an emergency door switch connected with the battery and the power supply signal end respectively, and selecting to turn on the power supply path between the battery and the power supply signal end, and under the condition that the power supply path is in the on state, the battery supplies power to the power supply signal end to make the power supply signal end output the power supply signal; a back-knife emergency door for triggering the emergency door switch under the action of external force to switch the on-off state of the emergency door switch.

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