Surgical instrument

Abstract

The invention relates to a surgical instrument. The surgical instrument comprises a cutting knife assembly, a nail bin assembly, a motor, a jaw assembly and a motor driving control circuit, and the motor driving control circuit is connected with the motor and used for controlling the motor to drive the cutting knife assembly to move between a first position and a safety position at a first speed; the motor is controlled to drive the cutting knife assembly to move between the safety position and the second position at the second speed; wherein the first speed is smaller than the second speed, the first positions are the initial percussion position and the cutter returning position of the cutter assembly, the second positions are the initial percussion position and the cutter returning position of the cutter assembly, and the safety position is located between the first positions and the second positions. The motor can be stably controlled to operate at different positions and at different speeds, the motor is limited to the safety position when the nail bin assembly is not installed or the used nail bin assembly is installed, and the safety of the surgical instrument is improved.

Description

Technical Field

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

[0002] As motor manufacturing technology matures, motors with simple operation, convenient control and diversified functions are increasingly used in various industries, and the design of motor drive circuits has also received extensive attention. Motors can be used in surgical instruments such as staplers to provide driving force for the internal structure of surgical instruments. However, the current motor drive control function in surgical instruments is single and cannot meet the product application requirements of surgical instruments. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present application aims to provide a surgical instrument with adjustable motor rotation speed.

[0004] In order to solve the above technical problems, this application is implemented through the following technical solutions:

[0005] A surgical instrument comprising:

[0006] Cutting knife assembly;

[0007] A nail magazine assembly is provided with a channel for the cutting knife assembly to move;

[0008] A motor is connected to the cutting blade assembly to drive the cutting blade assembly to move in the channel;

[0009] A jaw assembly, the jaw assembly comprising a nail anvil and a nail cartridge seat pivotally connected to the nail anvil, the nail cartridge assembly being detachably mounted on the nail cartridge seat, and the nail cartridge seat having a safety position;

[0010] A motor drive control circuit is connected to the motor, and is used to control the motor to drive the cutting knife assembly to move between the first position and the safety position at a first speed, and to control the motor to drive the cutting knife assembly to move between the safety position and the second position at a second speed; wherein the first speed is less than the second speed, and the safety position is located between the first position and the second position.

[0011] Furthermore, when the motor drive control circuit controls the motor to move in a first direction, the cutting knife assembly moves forward, the first position is the initial firing position of the cutting knife assembly, and the second position is the bottom firing position of the cutting knife assembly; when the motor drive control circuit controls the motor to move in a second direction, the cutting knife assembly moves backward, the first position is the bottom returning position of the cutting knife assembly, and the second position is the initial returning position of the cutting knife assembly; wherein the first direction and the second direction are opposite.

[0012] Furthermore, the nail magazine seat is provided with a limiting mechanism, and the nail magazine assembly is installed on the side of the limiting mechanism away from the motor; when the nail magazine assembly is not installed on the nail magazine seat or a used nail magazine assembly is installed, the limiting mechanism limits the cutting knife assembly to the safety position.

[0013] Furthermore, the cutting blade assembly is provided with a limiting portion, and the limiting portion cooperates with the limiting mechanism to limit the cutting blade assembly to the safety position.

[0014] Furthermore, one of the limiting portion and the limiting mechanism is a groove, and the other is a protrusion.

[0015] Furthermore, the motor drive control circuit comprises:

[0016] A driving circuit, generating a first driving signal according to a received input signal;

[0017] a deceleration circuit, connected to the output end of the drive circuit and the motor, respectively, the deceleration circuit performs voltage reduction processing on the received first drive signal, and outputs a second drive signal to the motor; wherein the second speed of the motor driven by the first drive signal is greater than the first speed driven by the second drive signal;

[0018] A switch circuit is connected in parallel with the deceleration circuit, wherein:

[0019] When the cutting blade assembly moves between the first position and the safety position, the switch circuit is in an off state, and the drive circuit outputs the first drive signal to the motor via the deceleration circuit to drive the motor to run at the first speed;

[0020] When the cutting blade assembly moves between the safety position and the second position, the switch circuit is in an on state, and the drive circuit outputs the second drive signal to the motor via the switch circuit to drive the motor to run at the second speed.

[0021] Furthermore, the switching circuit includes a switch having a movable actuator, and the surgical instrument also includes a rack, which is respectively connected to the cutting knife assembly and the motor, and the motor drives the rack to move to drive the cutting knife assembly to move; when the rack drives the cutting knife assembly to pass the safety position, the rack actuates the movable actuator to switch the switch to an on-off state.

[0022] Further, the input signal includes a firing signal and a knife return signal, and the driving signal includes a first sub-driving signal and a second sub-driving signal;

[0023] The driving circuit includes a first input port, a second input port, a first output port, and a second output port, wherein the first input port is used to receive the firing signal, and the second input port is used to receive the return signal, and the driving circuit is used to generate the first sub-driving signal and the second sub-driving signal according to the return signal and the firing signal, wherein the first sub-driving signal is output via the first output port, and the second sub-driving signal is output via the second output port.

[0024] Further, when the firing signal has a first level and the return signal has a second level, the driving circuit generates the first sub-driving signal with a third level and the second sub-driving signal with a fourth level to drive the motor to rotate in a first rotation direction; wherein the first level is different from the second level, and the third level is different from the fourth level;

[0025] When the firing signal has the second level and the return signal has the first level, the driving circuit generates the first sub-driving signal having the fourth level and the second sub-driving signal having the third level, and the motor rotates in the second rotation direction; wherein the first rotation direction is opposite to the second rotation direction.

[0026] Furthermore, the driving circuit is a driving chip, wherein the driving chip is configured with the first input port, the second input port, the first output port and the second output port.

[0027] Furthermore, the deceleration circuit comprises:

[0028] A voltage stabilizing module, wherein an input terminal of the voltage stabilizing module is grounded;

[0029] A voltage regulating module, wherein the voltage regulating module is respectively connected to the output end of the voltage stabilizing module, the output end of the drive circuit, the switch circuit and the motor, and the voltage regulating module regulates the first drive signal according to the voltage stabilizing value of the voltage stabilizing module to reduce the voltage of the first drive signal and output the second drive signal.

[0030] Furthermore, the voltage regulation module includes a switch tube, a first resistor and a second resistor; wherein,

[0031] The first electrode of the switch tube is respectively connected to the output end of the drive circuit, the first end of the switch circuit, and the first end of the first resistor, and the second end of the first resistor is respectively connected to the output end of the voltage stabilizing module and the second end of the second resistor;

[0032] The control end of the switch tube is connected to the first end of the second resistor, and the second pole of the switch tube is respectively connected to the second end of the switch circuit and the motor.

[0033] Furthermore, the voltage stabilizing module comprises:

[0034] A voltage regulator diode, wherein an anode of the voltage regulator diode is grounded, and a cathode of the voltage regulator diode is respectively connected to the second end of the first resistor and the second end of the second resistor.

[0035] Furthermore, the deceleration circuit includes at least one third resistor, wherein the third resistor is connected in parallel with the switch circuit.

[0036] Furthermore, the motor drive control circuit further includes:

[0037] A fuse, wherein a first end of the fuse is respectively connected to the output end of the drive circuit and the first end of the switch circuit, and a second end of the fuse is connected to the first end of the deceleration circuit.

[0038] Furthermore, when the cutting blade assembly is limited to the safety position, the fuse disconnects the path between the output end of the driving circuit and the first end of the deceleration circuit to stop the motor.

[0039] Furthermore, the motor drive control further includes:

[0040] A first diode, wherein a cathode of the first diode is connected to a first end of the fuse and a first end of the switch circuit respectively, and an anode of the first diode is connected to a first end of the deceleration circuit.

[0041] Furthermore, the motor drive control circuit further includes:

[0042] A reverse conducting circuit, wherein a first end of the reverse conducting circuit is connected to a first end of the deceleration circuit, and a second end of the reverse conducting circuit is connected to a second end of the deceleration circuit, wherein:

[0043] When the switch circuit is in an off state and the second terminal voltage of the reverse conducting circuit is greater than the first terminal voltage of the reverse conducting circuit, the drive circuit outputs a third drive signal to the motor via the reverse conducting circuit, and the first rotation direction of the motor driven by the third drive signal is opposite to the second rotation direction, and the second rotation direction is the rotation direction of the motor driven by the first drive signal or the second drive signal when the second terminal voltage of the reverse conducting circuit is less than the first terminal voltage of the reverse conducting circuit.

[0044] Furthermore, the reverse conduction circuit includes at least one reverse diode, an anode of the reverse diode is respectively connected to the second end of the deceleration circuit and the motor, and a cathode of the reverse diode is respectively connected to the first end of the deceleration circuit, the first end of the switching circuit, and the output end of the drive circuit. The reverse diode is used to conduct the path between the drive circuit and the motor and output the third drive signal to the motor when the switching circuit is in an off state and the anode voltage of the reverse diode is greater than the cathode voltage of the reverse conduction circuit.

[0045] Furthermore, the motor drive control circuit further includes:

[0046] An inductor, wherein a first end of the inductor is respectively connected to a second end of the deceleration circuit and a second end of the switch circuit, and a second end of the inductor is connected to the motor.

[0047] The above-mentioned surgical instrument includes a cutting knife assembly, a nail magazine assembly, a jaw assembly, a motor and a motor drive control circuit, wherein the nail magazine assembly is detachably mounted on the nail magazine seat, the nail magazine seat is provided with a channel for the movement of the cutting knife assembly, and the motor drive control circuit can control the motor to drive the cutting knife assembly to move between the first position and the safety position at a first speed, and control the motor to drive the cutting knife assembly to move between the safety position and the second position at a second speed; the present application can not only adjust the motor speed during the firing process, but also adjust the motor speed during the knife return process, that is, during the firing process, the motor first runs at a low speed, and when the cutting knife assembly passes the safety position, it switches to a high-speed operation; During the knife return process, the motor first runs at high speed, and then switches to low speed when the cutting knife assembly passes the safety position, thereby ensuring that the cutting knife assembly moves at a lower speed before firing and passing the safety position and before the knife is returned and moves at a higher speed after firing and passing the safety position and before the knife is returned and passes the safety position. By stably and effectively controlling the motor speed, stable and effective control of the cutting knife assembly speed is achieved, ensuring that the cutting knife assembly can stop at the first position in time during the knife return process, avoiding the cutting knife assembly from passing the first position at an excessively high speed and causing damage to the nail magazine assembly or other components and causing safety accidents, thereby improving the safety and reliability of surgical instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] 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.

[0049] Figure 1One of the structural schematic diagrams of a surgical instrument provided by an embodiment;

[0050] Figure 2 A schematic diagram of the structure of a motor drive control circuit, a motor and a cutting blade assembly provided in an embodiment;

[0051] Figure 3 A schematic diagram of the structure of a cutting blade assembly and a mandrel provided in an embodiment;

[0052] Figure 4 A schematic diagram of the structure of a motor and a transmission assembly provided in an embodiment;

[0053] Figure 5 A schematic diagram of the structure of a staple cartridge assembly and a cutting knife provided in an embodiment;

[0054] Figure 6 A schematic structural diagram of a cutting knife assembly in a first position when an unused nail cartridge assembly is installed on a nail cartridge seat provided by an embodiment;

[0055] Figure 7 A schematic structural diagram of a cutting knife assembly in a first position when a nail magazine seat provided by an embodiment is not installed with a nail magazine assembly or is installed with a used nail magazine assembly;

[0056] Figure 8 This is a schematic structural diagram of a cutting knife assembly being limited by a limiting mechanism when a nail magazine assembly is not installed or a used nail magazine assembly is installed on a nail magazine seat provided by an embodiment;

[0057] Fig. 9 One of the structural schematic diagrams of a motor drive control circuit provided by an embodiment;

[0058] Fig.10 A schematic diagram of the structure of a rack and a movable actuator provided by an embodiment when they are in a first position;

[0059] Fig.11 A schematic diagram of the structure of a rack provided in another embodiment when a switch is triggered by a movable actuator;

[0060] Fig.12 A schematic diagram of the structure of a rack and a movable actuator provided by an embodiment after the rack and the movable actuator pass through the safety position during the firing process of the cutting knife assembly;

[0061] Fig.13 A second structural schematic diagram of a motor drive control circuit provided by an embodiment;

[0062] Fig.14 A third structural diagram of a motor drive control circuit provided by an embodiment;

[0063] Fig.15A fourth structural diagram of a motor drive control circuit provided by an embodiment;

[0064] Fig.16 A fifth structural diagram of a motor drive control circuit provided by an embodiment;

[0065] Fig.17 A sixth structural diagram of a motor drive control circuit provided by an embodiment;

[0066] Fig.18 A seventh structural diagram of a motor drive control circuit provided by an embodiment;

[0067] Fig.19 An eighth structural diagram of a motor drive control circuit provided by an embodiment;

[0068] Fig. 20 A ninth structural diagram of a motor drive control circuit provided by an embodiment;

[0069] Fig.21 A tenth structural diagram of a motor drive control circuit provided by an embodiment;

[0070] Fig. 22 The eleventh structural diagram of a motor drive control circuit provided by an embodiment;

[0071] Fig.23 A twelfth structural diagram of a motor drive control circuit provided by an embodiment;

[0072] Fig.24 A schematic structural diagram of a motor drive control circuit, a motor and a cutting blade assembly provided in another embodiment.

[0073] Description of reference numerals:

[0074] 1-motor, 2-motor drive control circuit, 21-drive circuit, 211-drive chip, 22-deceleration circuit, 221-voltage stabilizing module, 222-voltage regulating module, 23-switching circuit, 231-movable actuator, 232-switch, 233-actuator lever, 24-reverse conduction circuit, 3-cutting knife assembly, 31-knife rod, 32-cutting knife, 321-protrusion, 322-matching part, 4-nail magazine assembly, 41-channel, 42-nail pushing block, 421-lifting part, 5-jaw assembly, 51-nail support, 52-nail magazine seat, 61-motor gear, 62-gear assembly, 63-rack, 631-recess, 64-core shaft, 65-sleeve, 66-instrument body. DETAILED DESCRIPTION

[0075] 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.

[0076] 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.

[0077] 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.

[0078] The user of the surgical instrument can be a clinician, who operates the surgical instrument during surgery to perform the surgery. The terms "near", "back", "far", and "front" used herein are relative to the clinician who manipulates the surgical instrument. The terms "near" and "back" refer to the part relatively close to the clinician, and the terms "far" and "front" refer to the part relatively far away from the clinician. It should be understood that the directions of "near", "back", "far", and "front" are defined for the convenience of description, however, surgical instruments can be used in many directions and positions, so these terms expressing relative positional relationships are not limited and absolute. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limitations on the present invention. The connection in the present invention includes electrical connection and mechanical connection.

[0079] In one embodiment, a surgical instrument is provided. Figures 1 to 5The surgical instrument includes a motor 1, a motor drive control circuit 2, a cutting knife assembly 3, a nail magazine assembly 4, and a jaw assembly 5. The nail magazine assembly 4 is provided with a channel 41 for the cutting knife assembly 3 to move. The motor 1 is transmission-connected to the cutting knife assembly 3, and is used to drive the cutting knife assembly 3 to move in the channel 41 of the nail magazine assembly 4. The jaw assembly 5 includes a nail anvil 51 and a nail magazine seat 52 pivotally connected to the nail anvil 51. The nail magazine assembly 4 is detachably mounted on the nail magazine seat 52. The nail magazine seat 52 has a safety position.

[0080] The motor drive control circuit 2 is connected to the motor 1, and the motor drive control circuit 2 is used to control the motor 1 to drive the cutting knife assembly 3 to move between the first position and the safety position at a first speed, and to control the motor 1 to drive the cutting knife assembly 3 to move between the safety position and the second position at a second speed. The first speed is less than the second speed, the first position is the firing initial position and the knife return position of the cutting knife assembly 3, the second position is the firing position and the knife return initial position of the cutting knife assembly 3, and the safety position is between the first position and the second position.

[0081] In one embodiment, when the motor drive control circuit 2 controls the motor 1 to move in the first direction, the cutting knife assembly 3 moves forward, during which the first position is the initial firing position of the cutting knife assembly 3, and the second position is the firing bottom position of the cutting knife assembly 3. When the motor drive control circuit 2 controls the motor 1 to move in the second direction, the cutting knife assembly 3 moves backward, during which the first position is the bottom return position of the cutting knife assembly 3, and the second position is the initial return position of the cutting knife assembly 3. The first direction is opposite to the second direction. Exemplarily, the first direction is the forward direction of the motor 1, and the second direction is the reverse direction of the motor 1.

[0082] For a better understanding, the application process is described by taking the surgical instrument, a stapler, as an example. Figure 3 and Figure 4 As shown, the motor 1 can drive the cutting knife assembly 3 to move through the transmission assembly, wherein the transmission assembly can include a motor gear 61, a gear assembly 62, a rack 63 and a core shaft 64 connected in sequence, and the core shaft 64 is accommodated in a sleeve 65, and the sleeve 65 is used to connect the jaw assembly 5 and the instrument body 66. The cutting knife assembly 3 can include a knife rod 31 and a cutting knife 32 connected to the knife rod 31. The cutting knife assembly 3 is connected to the rack 63 through the core shaft. Figure 5As shown, the staple cartridge assembly 4 includes a staple cartridge body 43, staples, a staple driver for driving the staples, and a staple pusher block 42 for driving the staple driver. Further, a plurality of through holes are provided in the staple cartridge body 43 from top to bottom, and the through holes form a staple cavity. At least a portion of the staple driver and the staples are located in the staple cavity, and the staple pusher block 42 is provided at the rear end of the staple cartridge body 43. Since at least a portion of the staple driver is provided in the staple cavity, the staple cavity limits the staple driver and the staples to be able to move up and down only relative to the staple cartridge body 43. Under the premise that the jaw assembly 5 is closed, the staple pusher block 42 moves from the rear end of the staple cartridge body 43 to the front end of the staple cartridge body 43 under the push of an external force. During the movement, the staple pusher block 42 pushes the staple driver to move upward in the staple cavity, thereby causing the staples to move upward, penetrate the patient's tissue, and suture the patient's wound until the staples are out of the staple cavity. The staple cartridge body 43 is provided with a channel 41 for the cutting knife assembly 3 to pass through, and specifically, the channel is a knife groove. The knife groove is provided through the staple cartridge body 43. The cutting knife assembly 3 is driven by the motor 1 to move in the channel of the staple cartridge assembly 4 to cut the tissue and push the staples of the staple cartridge assembly 4 out through the staple pushing block 42 to sew the tissue.

[0083] It can be understood that the cutting knife assembly 3 in the stapler includes a firing process (i.e., a cutting process) and a knife return process. During the firing process, the motor drive control circuit 2 can control the motor 1 to rotate forward. Specifically, before the cutting knife assembly 3 passes the safety position, the motor drive control circuit 2 controls the motor 1 to rotate forward at a low speed, thereby driving the cutting knife assembly 3 to move from the firing initial position to the safety position at a low speed; after the cutting knife assembly 3 passes the safety position, the motor drive control circuit 2 controls the motor 1 to rotate forward at a high speed, thereby driving the cutting knife assembly 3 to move from the safety position to the firing bottom position at a high speed. During the knife return process, the motor drive control circuit 2 can control the motor 1 to reverse. Specifically, before the cutting knife assembly 3 passes the safety position, the motor drive control circuit 2 controls the motor 1 to reverse at a high speed, thereby driving the cutting knife assembly 3 to move from the knife return initial position to the safety position at a high speed; after the cutting knife assembly 3 passes the safety position, the motor drive control circuit 2 controls the motor 1 to reverse at a low speed, thereby driving the cutting knife assembly 3 to move from the safety position to the knife return bottom position at a low speed. The firing initial position and the knife return position are the same position, that is, the aforementioned first position. The firing position and the knife return initial position are the same position, that is, the aforementioned second position. During the firing process, the movement direction of the cutting knife assembly 3 is from the firing initial position to the firing position; during the knife return process, the movement direction of the cutting knife assembly 3 is from the knife return initial position to the knife return position, and the movement direction of the cutting knife assembly 3 during the firing process is opposite to the movement direction of the cutting knife assembly 3 during the knife return process.

[0084] The above-mentioned surgical instrument includes a cutting knife assembly 3, a nail magazine assembly 4, a jaw assembly 5, a motor 1 and a motor drive control circuit 2, wherein the nail magazine assembly 4 can be detachably mounted on the nail magazine seat 52, the nail magazine seat 52 is provided with a channel 41 for movement of the cutting knife assembly 3, and the motor drive control circuit 2 can control the motor 1 to drive the cutting knife assembly 3 to move between the first position and the safety position at a first speed, and control the motor 1 to drive the cutting knife assembly 3 to move between the safety position and the second position at a second speed. The present application can not only adjust the motor speed during the firing process, but also adjust the motor speed during the knife return process, that is, during the firing process, the motor first runs at a low speed, and when the cutting knife assembly passes the safety position, it switches to a high speed operation; during the knife return process, the motor first runs at a high speed, and when the cutting knife assembly passes the safety position, it switches to a low speed operation, thereby ensuring that the cutting knife assembly 3 moves at a lower speed between the first position and the safety position, and moves at a higher speed between the safety position and the second position. By stably and effectively controlling the motor speed, stable and effective control of the cutting knife assembly speed is achieved, ensuring that the cutting knife assembly can stop at the first position in time during the knife return process, avoiding the excessive speed of the cutting knife assembly passing the first position to damage the nail magazine assembly or other components and cause safety accidents, thereby improving the safety and reliability of surgical instruments.

[0085] In one embodiment, Figures 5 to 8 As shown, the nail magazine seat 52 in the surgical instrument can be provided with a limiting mechanism. Among them, the nail magazine assembly 4 is installed on the side of the limiting mechanism away from the motor 1. The limiting mechanism is used to limit the cutting knife assembly 3 to the safety position when the nail magazine seat 52 is not installed with the nail magazine assembly 4 or the used nail magazine assembly 4 is installed. Specifically, the cutting knife assembly 3 is provided with a limiting portion, and the limiting portion cooperates with the limiting mechanism to limit the cutting knife assembly 3 to the safety position. One of the limiting portion and the limiting mechanism is a groove, and the other is a protrusion. In this example, the limiting portion is a protrusion 321, and the limiting mechanism is a groove. The cutting knife assembly 3 is also provided with a matching portion 322, and the nail pushing block 42 also includes a lifting portion 421. The unused nail magazine assembly 4 is installed in the nail magazine seat 52, and its nail pushing block 42 is located at the proximal position of the nail magazine body 43 of the nail magazine assembly 4. The lifting portion 421 of the nail pushing block 42 cooperates with the matching portion 322 of the cutting knife assembly 3 so that the cutting knife assembly 3 can pass through the limiting mechanism and move forward to the safety position.

[0086] The surgical instrument is a stapler. In the application process, when an unused staple cartridge assembly 4 is installed in the staple cartridge seat 52, the cutting knife assembly 3 is located at the initial firing position by default. Figure 6As shown. During the firing process, before the cutting knife assembly 3 passes the safety position, the motor drive control circuit 2 controls the motor 1 to rotate forward at a low speed, driving the cutting knife assembly 3 to move forward at a low speed in the channel of the nail magazine assembly 4. As can be seen from the above, when the unused nail magazine assembly 4 is installed in the nail magazine seat 52, the cutting knife assembly 3 can move distally toward the safety position through the limiting mechanism; after the cutting knife assembly 3 passes the safety position, the motor drive control circuit 2 controls the motor 1 to rotate forward at a high speed, driving the cutting knife assembly 3 to move forward at a high speed in the channel until it is fired to the bottom position. During the knife return process, the motor drive control circuit 2 controls the motor 1 to reverse at a high speed, driving the cutting knife assembly 3 to retreat at a high speed in the channel until it reaches the safety position. After the cutting knife assembly 3 passes the safety position, the motor drive control circuit 2 controls the motor 1 to reverse at a low speed, driving the cutting knife assembly 3 to retreat at a low speed in the channel until it reaches the bottom position.

[0087] When the nail magazine assembly 4 is not installed in the nail magazine seat 52, or when a used nail magazine assembly 4 is installed in the nail magazine seat 52, the cutting knife assembly 3 is located in the initial firing position by default. After the cutting knife assembly 3 is fired, the motor drive control circuit 2 controls the motor 1 to rotate forward at a low speed, and the cutting knife assembly 3 moves forward at a low speed from the initial firing position to the safety position. When the cutting knife assembly 3 moves to the safety position, the lifting portion 421 of the nail pushing block cannot cooperate with the matching portion 322 of the cutting knife assembly 3, so the limiting portion of the cutting knife assembly 3 is lifted from the limiting mechanism, so that the cutting knife assembly 3 is limited to the safety position by the limiting mechanism. When the cutting knife assembly 3 is limited to the safety position by the limiting mechanism, the motor drive control circuit 2 controls the motor 1 to stop rotating, thereby stopping the cutting knife assembly 3 from moving. Figure 8 shown.

[0088] The above-mentioned surgical instrument can stably control the speed of the motor 1 through the motor drive control circuit 2, thereby controlling the stable movement of the cutting knife assembly 3, and during the firing and retracting process, the motor drive control circuit 2 can ensure that the cutting knife assembly 3 moves at a lower speed before passing the empty nail magazine safety position, and moves forward at a higher speed after passing the empty nail magazine safety position by controlling the motor 1, thereby achieving effective control of the running speed of the motor 1, thereby achieving effective control of the moving speed of the cutting knife assembly 3. In addition, the surgical instrument provided in the embodiment of the present application can also limit the cutting knife assembly 3 to the safety position through a limiting mechanism when the nail magazine assembly 4 is not installed or the used nail magazine assembly 4 is installed, ensuring that the cutting knife assembly 3 will not move beyond the safety position to the distal end. In this process, the speed of the motor 1 is relatively low, reducing the possibility of damaging the cutting knife assembly 3 or other components or even causing safety accidents, thereby improving the safety and reliability of the surgical instrument.

[0089] It should be noted that the present invention may also adopt limiting mechanisms and limiting parts of other structures, as long as they can achieve the function of limiting the cutting knife assembly 3 to the safe position when the nail magazine assembly 4 is not installed in the nail magazine seat 52, or when the used nail magazine assembly 4 is installed in the nail magazine seat 52.

[0090] In one embodiment, Fig. 9 As shown, the motor drive control circuit 2 includes a drive circuit 21, a deceleration circuit 22 and a switch circuit 23. The drive circuit 21 is used to generate a first drive signal according to the received input signal. The input signal is used for the drive circuit 21 to generate the first drive signal. The input signal can change according to the application requirements. The input signal can come from an external control circuit, and no limitation is made to the input signal. The first drive signal is used to drive the motor 1 to rotate. The first drive signal corresponds to the input signal and can change according to the change of the input signal.

[0091] The deceleration circuit 22 is connected to the output end of the driving circuit 21 and the motor 1 respectively. The deceleration circuit 22 is used to step down the received first driving signal and output a second driving signal to the motor 1. The voltage of the second driving signal is less than the voltage of the first driving signal. The second speed at which the motor 1 rotates under the first driving signal is greater than the first speed at which the motor 1 rotates under the second driving signal.

[0092] The switch circuit 23 is connected in parallel with the deceleration circuit 22. In other words, the first end of the switch circuit 23 is respectively connected to the output end of the drive circuit 21 and the first end of the deceleration circuit 22, and the second end of the switch circuit 23 is respectively connected to the second end of the deceleration circuit 22 and the motor 1. Exemplarily, the switch circuit 23 may include a single-pole single-throw (SPST) switch.

[0093] When the cutting blade assembly 3 moves between the first position and the safety position, the switch circuit 23 is in the disconnected state, and the first drive signal output by the drive circuit 21 is reduced in voltage by the deceleration circuit 22, and then the second drive signal output by the deceleration circuit 22 is transmitted to the motor 1, and the motor 1 runs at the first speed under the drive of the second drive signal. In actual application, during the firing process, before the cutting blade assembly 3 reaches the safety position, the switch circuit 23 is in the disconnected state, at which time the motor 1 rotates forward at a low speed, and the cutting blade assembly 3 moves from the initial firing position to the safety position at a low speed; during the return process, after the cutting blade assembly 3 passes the safety position, the switch circuit 23 is in the disconnected state, at which time the motor 1 rotates reversely at a low speed, and the cutting blade assembly 3 moves from the safety position to the return bottom position at a low speed.

[0094] When the cutting blade assembly 3 moves between the safety position and the second position, the switch circuit 23 is in the on state, the switch circuit 23 short-circuits the deceleration circuit 22, and the first drive signal output by the drive circuit 21 is transmitted to the motor 1 through the switch circuit 23, and the motor 1 runs at the second speed under the action of the first drive signal. In actual application, during the firing process, after the cutting blade assembly 3 passes the safety position, the switch circuit 23 is in the on state, at which time the motor 1 rotates forward at high speed, and the cutting blade assembly 3 moves from the safety position to the firing bottom position at high speed; during the knife return process, before the cutting blade assembly 3 reaches the safety position, the switch circuit 23 is in the on state, at which time the motor 1 rotates reversely at high speed, and the cutting blade assembly 3 moves from the initial position of the knife return to the safety position at high speed.

[0095] The motor drive control circuit 2 includes a drive circuit 21, a deceleration circuit 22 and a switch circuit 23. Since the switch circuit 23 is connected in parallel with the deceleration circuit 22, the switch circuit 23 is in an on state, and the switch circuit 23 can short-circuit the deceleration circuit 22. The first drive signal output by the drive circuit 21 is transmitted to the motor 1 via the switch circuit 23. The switch circuit 23 is in an off state, and the first drive signal cannot be transmitted from the switch circuit 23 to the motor 1. At this time, after the first drive signal is reduced in voltage by the deceleration circuit 22, the second drive signal generated by the deceleration circuit 22 is transmitted to the motor 1. Since the voltage of the first drive signal is greater than the voltage of the second drive signal, the second speed of the motor 1 driven by the first drive signal is greater than the second speed of the motor 1 driven by the first drive signal. Speed. In this way, by switching the on-off state of the switch circuit 23, the signal transmission path between the drive circuit 21 and the motor 1 can be switched, so that the type of drive signal output to the motor 1 can be switched, so that the motor 1 rotates at a faster speed when driven by the first drive signal, and rotates at a slower speed when driven by the second drive signal, thereby realizing the regulation of the rotation speed of the motor 1, and when the nail magazine assembly 4 is not installed or the used nail magazine assembly 4 is installed, the cutting knife assembly 3 can be limited to the safety position through the limiting mechanism to ensure that the cutting knife assembly 3 will not move beyond the safety position to the distal end. In this process, the speed of the motor 1 is relatively low, which reduces the possibility of damaging the cutting knife assembly 3 or other components and even causing safety accidents, thereby improving the safety and reliability of surgical instruments.

[0096] In one embodiment, Figures 10 to 12As shown, the switch circuit 23 may include a switch 232 having a movable actuator 231, and the rack 63 of the surgical instrument is connected to the cutting knife assembly 3 and the motor 1 respectively, and the motor 1 drives the rack 63 to move to drive the cutting knife assembly 3 to move. When the rack 63 drives the cutting knife assembly 3 to pass the safety position, the rack 63 actuates the movable actuator 231 to switch the switch 232 to the on-off state. Specifically, during the firing process, the cutting knife assembly 3 moves from the first position to the safety position. When the cutting knife assembly 3 passes the safety position, the rack actuates the movable actuator 231 to switch the switch 232 from the off state to the on state, and the switch 232 short-circuits the deceleration circuit 22. The first drive signal output by the drive circuit 21 is transmitted to the motor 1 through the switch 232, and the motor 1 runs at the second speed under the action of the first drive signal. During the knife return process, the cutting knife assembly 3 moves from the second position to the safety position. When the cutting knife assembly 3 passes the safety position, the rack 63 actuates the movable actuator 231 to switch the switch 232 from the on state to the off state. The first drive signal output by the drive circuit 21 is reduced in voltage by the deceleration circuit 22, and the second drive signal output by the deceleration circuit 22 is transmitted to the motor 1. The motor 1 runs at the first speed driven by the second drive signal.

[0097] Exemplarily, the rack 63 may include a recess 631, the movable actuator 231 may include an actuator lever 233, and the rack 63 actuates the movable actuator 231 through the actuator lever 233. In the application process, the firing process is taken as an example for explanation. At the initial moment of firing, when the cutting knife assembly 3 is located at the first position, the actuator lever 233 is located in the recess 631, and the switch 232 is not triggered and is in an off state. Fig.10 As shown; when the cutting knife assembly 3 moves from the first position to the safety position, the actuator lever 233 remains in the recess 631, and the switch 232 is not triggered and remains in the disconnected state; when the cutting knife assembly 3 passes the safety position, the movable actuator 231 moves relative to the rack 63 to the inclined surface of the recess 631, and the actuator lever 233 is actuated by the top surface of the rack 63, triggering the switch 232 to switch from the disconnected state to the on state, as shown in FIG. Fig.11 When the cutting knife assembly 3 moves to the second position after passing the safety position, the rack 63 continues to move toward the second position, and the actuator lever 233 is kept actuated by the top surface of the proximal side of the recess 631 of the rack 63, so that the switch 232 remains in the on state, as shown Fig.12As shown. It can be understood that the return process is opposite to the firing process. Specifically, when the cutting knife assembly 3 moves between the second position and the safety position, the actuator lever 233 is braked by the top surface near the recess 631 of the rack 63, and the switch remains in the on state; when the cutting knife assembly 3 passes the safety position, the actuator lever 233 moves back to the recess 631 relative to the rack 63, so that the trigger switch 232 switches from the on state to the off state; when the cutting knife assembly 3 passes the safety position and moves to the first position, the actuator lever 233 keeps moving in the recess 631 relative to the rack 63, and the trigger switch 232 remains in the off state.

[0098] The above-mentioned surgical instrument, wherein the switch circuit 23 includes a switch 232 with a movable actuator 231, and the surgical instrument is connected to the cutting knife assembly 3 and the motor 1 respectively through the rack 63, so that the motor 1 drives the rack 63 to move, so as to drive the cutting knife assembly 3 to move, and when the rack 63 drives the cutting knife assembly 3 to pass the safety position, the movable actuator 231 is actuated by the rack 63 to switch the switch 232 to an on-off state, so that during the firing process, when the cutting knife assembly 3 passes the safety position, the switch 232 is switched from an off state to an on state through the rack 63 and the movable actuator 231, so that the motor 1 is switched from a first speed to a second speed. Second speed, thereby switching the cutting knife assembly 3 from low speed to high speed; in the process of returning the knife, when the cutting knife assembly 3 passes the safety position, the switch 232 is switched from the on state to the off state through the rack 63 and the movable actuator 231, so that the motor 1 is switched from the second speed to the first speed, thereby switching the cutting knife assembly 3 from high speed to low speed, so that the speed of the motor can be regulated during the firing and returning processes, and the cutting knife assembly 3 can stop at the first position in time when returning the knife, avoiding the cutting knife assembly 3 returning too fast and passing the first position to cause damage to other components, thereby improving the reliability and safety of surgical instruments.

[0099] In one embodiment, Fig.13 As shown, the deceleration circuit 22 includes a voltage stabilizing module 221 and a voltage regulating module 222. Among them, the input end of the voltage stabilizing module 221 is grounded. The first end of the voltage regulating module 222 is connected to the output end of the voltage stabilizing module 221, the second end of the voltage regulating module 222 is respectively connected to the output end of the drive circuit 21 and the first end of the switch circuit 23, and the third end of the voltage regulating module 222 is respectively connected to the second end of the switch circuit 23 and the motor. The voltage regulating module 222 is used to adjust the first drive signal according to the voltage stabilizing value of the voltage stabilizing module 221, so as to reduce the voltage of the first drive signal and output the second drive signal to the motor. In other words, the voltage regulating module 222 changes the voltage of the first drive signal according to the voltage stabilizing value of the voltage stabilizing module 221, and generates a second drive signal after voltage reduction. Among them, the voltage value of the second drive signal can be determined according to the voltage stabilizing value of the voltage stabilizing module 221.

[0100] The above-mentioned deceleration circuit 22, through the regulated voltage value output by the voltage stabilizing module 221, plays the role of stabilizing the output signal voltage, and adjusts the voltage of the first drive signal according to the regulated voltage value through the voltage regulating module 222, thereby realizing the voltage reduction processing of the first drive signal, and outputting the second drive signal after the voltage reduction, so that the second drive signal can be used to drive the motor to rotate at a smaller first speed. Since the regulated voltage value output by the voltage stabilizing module 221 is stable, the voltage of the second drive signal also has good stability and will not be affected by other factors, such as fluctuations in the power supply voltage, changes in the impedance of the load connected to the motor, etc., so that the motor has a stable speed and a constant torque, thereby improving the stability of the motor when running at a slow speed.

[0101] In one embodiment, Fig.14 As shown, the voltage regulating module 222 includes a switch tube Q1, a first resistor R1 and a second resistor R2. The first electrode of the switch tube Q1 is respectively connected to the output end of the driving circuit 21, the first end of the switch circuit 23, and the first end of the first resistor R1, and the second end of the first resistor R1 is respectively connected to the output end of the voltage stabilizing module 221 and the second end of the second resistor R2. The control end of the switch tube Q1 is connected to the first end of the second resistor R2, and the second electrode of the switch tube Q1 is respectively connected to the second end of the switch circuit 23 and the motor, and the second electrode of the switch tube Q1 serves as the output end of the voltage regulating module 222.

[0102] Exemplarily, the switch tube Q1 may be a triode or a MOS tube. The switch tube Q1 may select a suitable device type according to actual application requirements. For example, taking the motor drive control power supply applied to a cutting device as an example, the switch tube Q1 may select a triode for adjusting voltage, and may also be used as a power amplifier device. The type of the switch tube Q1 is not limited here. The first resistor R1 and the second resistor R2 may select suitable resistance values ​​according to actual use conditions.

[0103] Exemplarily, the resistance of the first resistor R1 can be any suitable value such as 0.9kΩ, 1kΩ, 1.2Ω, etc., and the resistance of the second resistor R2 can be any suitable value such as 4Ω, 4.7Ω, 5.1Ω, etc. It is only necessary to avoid the situation where the resistance of the first resistor R1 and the second resistor R2 is too large, causing obvious fluctuations in the voltage of the second drive signal, and the resistance of the first resistor R1 and the second resistor R2 is too small, damaging the components.

[0104] Taking the transistor Q1 as an NPN transistor as an example, the process of adjusting the voltage by the voltage regulating module 222 is described. When the power is just turned on, the emitter E voltage of the transistor Q1 is 0, the collector C voltage rises quickly to Vbat, and the base B obtains the voltage from the collector through the first resistor R1 and the second resistor R2, which gradually rises from 0. The base B and the emitter E of the transistor Q1 can be regarded as a diode. For a diode, when the forward voltage exceeds its own voltage drop, there will be current, so when Vb>Vbe, there will be current between the base B and the emitter E of the transistor Q1. For the transistor Q1, there is current between the base B and the emitter E of the transistor Q1, and there will be current between the collector C and the emitter E, and the current between the collector C and the emitter E is large, and this current will cause the voltage of the emitter E to increase. The voltage of emitter E gradually increases until it is equal to the voltage of base B -Vbe. The voltage difference between base B and emitter E is too small to conduct. There is no current between base B and emitter E, and the current between collector C and emitter E disappears. The voltage of emitter E is in a stable state. After running for a period of time, motor 1 will consume the voltage of emitter E, destroying its stable state and returning to the state when it was just powered on, and then reach a stable state again. This process is the so-called dynamic balance process.

[0105] The maximum voltage of the base B of the transistor Q1 is controlled by the voltage stabilizing module 221. Specifically, the voltage stabilizing module 221 allows the voltage of the base B of the transistor Q1 to rise only to its stabilizing value at most. The first resistor R1 is used to determine the speed of the voltage rise of the base B, and the second resistor R2 is used to determine the current passing through the base B and the emitter E. The first resistor R1 and the second resistor R2 jointly affect the speed of establishing the above-mentioned steady state.

[0106] The voltage regulating module 222 forms a dynamic balance circuit through the switch tube Q1, the first resistor R1 and the second resistor R2. After the circuit is powered on, there is current between the two poles of the switch tube Q1, so that the voltage at the output end of the voltage regulating module 222 gradually rises until it reaches the regulated voltage value of the voltage stabilizing module 221. At this time, the voltage regulating module 222 enters a balanced state, and the output end of the voltage regulating module 222 stably outputs the second driving signal after voltage reduction. The voltage value of the second driving signal is the difference between the regulated voltage value of the voltage stabilizing module 221 and the voltage drop value of the switch tube Q1. When the load is connected at the rear end, causing the voltage at the output end of the voltage regulating module 222 to drop, the balanced state is broken, and the switch tube Q1 re-establishes the current loop, and controls the time to reach the balanced state again through the first resistor R1 and the second resistor R2, that is, controls the circuit response speed, thereby realizing the regulation of the motor speed, and can control the motor to run at a stable speed, reducing the impact of the load on the motor 1.

[0107] Please continue reading Fig.14In one embodiment, the voltage stabilizing module 221 includes a voltage stabilizing diode ZD, the anode of the voltage stabilizing diode ZD is grounded, and the cathode of the voltage stabilizing diode ZD is respectively connected to the second end of the first resistor R1 and the second end of the second resistor R2 of the voltage regulating module 222. The voltage stabilizing diode ZD can adjust the control terminal voltage of the switch tube Q1 of the voltage regulating module 222 according to the selected voltage stabilizing value, control the opening and closing of Q1, so that the switch tube Q1 adjusts the voltage stabilizing value and outputs the second driving signal with a stable voltage after the voltage is stepped down, so that the motor has a constant torque and is not affected by other factors, thereby ensuring the stable operation of the motor.

[0108] Please continue reading Fig.14 , exemplarily, the voltage of the first driving signal output by the driving power supply 10 is recorded as Vbat, and the voltage of the second driving signal is recorded as Vo. Among them, the switch tube Q1 is a transistor Q1, and the transistor Q1 can be used as a voltage regulating device and a power amplifier device. The transistor Q1 changes the value of the voltage Vo of the second driving signal by changing the voltage stabilization value of the voltage stabilizing diode ZD.

[0109] The deceleration circuit composed of the transistor Q1, the first resistor R1, the second resistor R2 and the Zener diode ZD is a dynamically balanced circuit, and its working process is specifically as follows: when the circuit is powered on, the voltage Vo of the second drive signal is 0V. At this time, the current flows from the collector of the transistor Q1, i.e., the Vbat end, through the first resistor R1 and the second resistor R2 to the emitter of the transistor Q1, i.e., the Vo end. Due to the amplification characteristics of the transistor, i.e., Ic=βIb, where Ic represents the collector current and Ib represents the base current, there is current between the collector and the emitter of the transistor Q1, i.e., the current flows from the Vbat end to the Vo end, causing the voltage at the Vo end to gradually rise.

[0110] When the voltage at the Vo terminal gradually rises to the voltage stabilization value of the voltage stabilizing diode ZD (such as 7V), there is no more current between the collector and emitter of the transistor Q1, the voltage at the Vo terminal stops rising, and the transistor Q1 enters a balanced state. At this time, the voltage value at the Vo terminal is stabilized at 7V-0.7V (the voltage drop value of the emitter of the transistor Q1) = 6.3V. After the back end is connected to the load, the voltage value at the Vo terminal will drop, and the current will appear again between the collector and emitter of the transistor Q1, so that the voltage at the Vo terminal will return to a stable value and return to a balanced state again. Among them, the time to reach the balanced state can be changed by adjusting the resistance values ​​of the first resistor R1 and the second resistor R2, that is, the circuit response speed can be adjusted.

[0111] Fig.14 The deceleration circuit shown has a stable voltage Vo of the second drive signal outputted, and when the battery voltage changes, it does not affect the motor speed, and the motor torque is constant.

[0112] In one embodiment, Fig.15 As shown, the deceleration circuit 22 includes at least one third resistor R3, wherein the third resistor R3 is connected in parallel with the switch circuit 23. The first end of the third resistor R3 is respectively connected to the output end of the drive circuit 21 and the first end of the switch circuit 23, and the second end of the third resistor R3 is respectively connected to the second end of the switch circuit 23 and the input end of the motor 1. The deceleration circuit 22 may include one third resistor R3, or may include multiple third circuits R3 connected in parallel. The number of the third resistors R3 may be determined according to actual application requirements, such as the deceleration requirements of the motor, the power requirements of the motor, and other application requirements. The number of the third resistors R3 is not limited here.

[0113] The above-mentioned deceleration circuit 22 includes a third resistor R3 connected in parallel with the switch circuit 23. When the switch circuit 23 is in the disconnected state, the drive circuit 21 and the motor form a path through the third resistor R3. The third resistor 30 is connected to the circuit as a load, dividing part of the voltage, thereby reducing the voltage of the first drive signal. Based on this, the motor rotates slowly when driven by the second drive signal output by the third resistor R3 through the first drive signal, thereby realizing the regulation of the motor speed and expanding the function of the motor.

[0114] In one embodiment, Fig.16 and Fig.17 As shown, the motor drive control circuit includes a drive circuit 21, a deceleration circuit 22, a switch circuit 23 and a fuse PTC. The first end of the fuse PTC is connected to the output end of the drive circuit 21 and the first end of the switch circuit 23, respectively, and the second end of the fuse PTC is connected to the first end of the deceleration circuit 22. Exemplarily, the fuse PTC can be a positive temperature coefficient (PTC) resistor. Based on this, when the circuit current is too large and the temperature rises, the resistance of the fuse PTC increases. For example, during the firing process, before the switch circuit 23 is closed, the current passes through the fuse PTC and is output to the motor 1 via the switch tube Q1. If the motor 1 is blocked, the current increases, causing the fuse PTC to heat up. When the heat exceeds a certain range, the resistance of the fuse PTC will increase a lot, so that the current cannot flow through the fuse PTC. The fuse PTC can play a disconnecting role, thereby protecting other circuits and improving the safety and reliability of the motor drive control circuit; and, after the temperature drops, the resistance of the fuse PTC decreases accordingly, and the current can flow through the fuse PTC, and the motor drive control circuit resumes normal operation.

[0115] Please continue reading Fig.16 and Fig.17In one embodiment, the fuse PTC can also be used to disconnect the paths between the output end of the drive circuit 21, the first end of the switch circuit 23 and the first end of the deceleration circuit 22 respectively when the cutting blade assembly 3 is limited to the safety position, so as to stop the motor 1. Based on the above-mentioned related content, it can be understood that when the nail magazine seat 52 is not installed with the nail magazine assembly 4 or is installed with the used nail magazine assembly 4, the cutting blade assembly 3 is limited to the safety position. At this time, the fuse PTC can disconnect the transmission path of the drive signal, so that the motor 1 is stopped, ensuring that the cutting blade assembly 3 will not move to the distal end beyond the safety position, reducing the possibility of damaging the cutting blade assembly 3 or other components or even causing safety accidents, and improving the safety and reliability of surgical instruments.

[0116] In one embodiment, the motor drive control circuit further includes a first diode D1, the cathode of the first diode D1 is connected to the first end of the fuse PTC and the first end of the switch circuit 23, and the anode of the first diode D1 is connected to the first end of the deceleration circuit 22. Fig.16 Taking the deceleration circuit 22 shown as an example, the anode of the first diode D1 is connected to the emitter of the transistor Q1 and the second end of the switch circuit 23, and the cathode of the first diode D1 is connected to the output end of the drive circuit 21, the first end of the switch circuit 23, and the first end of the fuse PTC. Fig.17 Taking the deceleration circuit 22 shown as including at least one resistor R3 as an example, the anode of the first diode D1 is respectively connected to the first end of the resistor R3 and the second end of the fuse PTC, and the cathode of the first diode D1 is respectively connected to the output end of the drive circuit 21 and the first end of the switch circuit 23.

[0117] In the above-mentioned motor drive control circuit, when the circuit current is too large and the temperature rises, the resistance of the fuse PTC increases. For example, during the firing process, before the switch circuit 23 is closed, the current passes through the fuse PTC and is output to the motor 1 via the switch tube Q1. If the motor 1 is blocked, the current increases, causing the fuse PTC to heat up. When the heat exceeds a certain range, the resistance of the fuse PTC will increase a lot, making it impossible for the current to pass through the fuse PTC. At this time, the first diode D1 can provide a new current reverse loop, so that the current can flow out from the first diode D1, playing a role of diversion, avoiding damage to components due to excessive current, and improving the safety and reliability of the motor drive control circuit.

[0118] In one embodiment, Fig.18As shown, the motor drive control circuit includes a drive circuit 21, a deceleration circuit 22, a switch circuit 23 and a reverse conduction circuit 24, wherein a first end of the reverse conduction circuit 24 is connected to a first end of the deceleration circuit 22, and a second end of the reverse conduction circuit 24 is connected to a second end of the deceleration circuit 22. The impedance of the reverse conduction circuit 24 is less than the impedance of the deceleration circuit 22.

[0119] When the switch circuit 23 is in the off state and the voltage at the second end (P end) of the reverse conducting circuit 24 is greater than the voltage at the first end (N end) of the reverse conducting circuit 24, that is, the switch circuit 23 is off and V P >V N When the third driving signal is outputted from the drive circuit 21 to the motor via the reverse conducting circuit 24, the deceleration circuit 22 is not connected to the current loop, or the deceleration circuit 22 does not work, and the current flows from the drive circuit 21 through the motor and the reverse conducting circuit 24 back to the drive circuit 21, and the motor rotates in the first rotation direction. The voltage of the third driving signal is less than the voltage of the first driving signal, and greater than the voltage of the second driving signal.

[0120] When the voltage at the second terminal of the reverse conducting circuit 24 is less than the voltage at the first terminal of the reverse conducting circuit 24, that is, V P <V N When the switch circuit 23 is in the on state, the drive circuit 21 outputs the first drive signal to the motor via the switch circuit 23. At this time, the reverse conduction circuit 24 does not work, and the current flows through the drive circuit 21, the switch circuit 23, and the motor back to the drive circuit 21, and the motor rotates in the second rotation direction, which is opposite to the first rotation direction.

[0121] When the voltage at the second terminal of the reverse conducting circuit 24 is less than the voltage at the first terminal of the reverse conducting circuit 24, that is, V P <V N When the switch circuit 23 is in the off state, the drive circuit 21 outputs the second drive signal to the motor via the deceleration circuit 22. At this time, the reverse conducting circuit 24 is not connected to the current loop, or the reverse conducting circuit 24 does not work. The current flows through the drive circuit 21, the deceleration circuit 22, the motor and returns to the drive circuit 21, and the motor rotates in the second rotation direction.

[0122] The motor drive control circuit provides a new reverse current loop for the motor through the drive circuit 21 and the reverse conduction circuit 24. Based on this, when the circuit state is switched, the current loop is reversed.

[0123] In one embodiment, Fig.19As shown, the reverse conducting circuit 24 includes at least one reverse diode D2. The reverse conducting circuit 24 may include one reverse diode D2, or may include multiple reverse diodes D2 connected in series, and the number of reverse diodes D2 is not limited here. The anode of the reverse diode D2 is respectively connected to the second end of the deceleration circuit 22 and the motor, and the cathode of the reverse diode D2 is respectively connected to the first end of the deceleration circuit 22, the first end of the switch circuit 23, and the output end of the drive circuit 21. The reverse diode D2 is used to conduct the path between the drive circuit 21 and the motor when the switch circuit 23 is in the off state and the anode voltage of the reverse diode D2 is greater than the cathode voltage of the reverse conducting circuit 24, and output the third drive signal to the motor.

[0124] like Fig. 20 As shown, taking the deceleration circuit 22 including the resistor R3 as an example, Fig. 20 In the embodiment, the reverse conduction circuit 24 includes three reverse diodes D2 connected in series, and connected in parallel with the switch circuit 23 and the resistor R3. The number of reverse diodes D2 affects the voltage V across PN during the return process. PN That is, the more reverse diodes D2 are, the greater the V PN The bigger.

[0125] Based on the above, the motor drive control circuit provides a new reverse current loop for the motor through the drive circuit 21 and the reverse diode D2. When the circuit state is changed, the voltage across the reverse diode D2 will be clamped within its own voltage drop range, and the impedance of the reverse diode D2 is small, so there will be no obvious deceleration during the motor reversal process.

[0126] In one embodiment, Fig.21 As shown, the input signal includes a firing signal and a return signal. The first drive signal includes a first sub-drive signal and a second sub-drive signal. The drive circuit is configured with a first input port BI, a second input port FI, a first output port BO and a second output port FO. Among them, the first input port BI is used to receive the firing signal, the second input port FI is used to receive the return signal, the first output port BO is respectively connected to the first end of the deceleration circuit 22 and the first end of the switch circuit 23, the second end of the deceleration circuit 22 and the second end of the switch circuit 23 are respectively connected to the first input end of the motor 1, and the second output port FO is connected to the second output end of the motor 1. The drive circuit 21 is used to generate the first sub-drive signal and the second sub-drive signal according to the return signal and the firing signal. Among them, the first sub-drive signal is output through the first output port BO, and the second sub-drive signal is output through the second output port FO.

[0127] Specifically, when the firing signal received at the first input port BI has a first level and the return signal received at the second input port FI has a second level, the driving circuit 21 can generate a first sub-driving signal with a third level according to the firing signal and the return signal and output it through the first output port BO, and generate a second sub-driving signal with a fourth level and output it through the second output port FO, in which case the motor 1 rotates in the first rotation direction. The first level is different from the second level, and the third level is different from the fourth level.

[0128] In the case where the firing signal received at the first input port BI has the second level and the return signal received at the second input port FI has the first level, the driving circuit 21 can generate a first sub-driving signal with a fourth level according to the firing signal and the return signal and output it through the first output port BO, and generate a second sub-driving signal with a third level and output it through the second output port FO, in which case the motor 1 rotates in the second rotation direction. The first rotation direction is opposite to the second rotation direction.

[0129] Exemplarily, the first level and the third level are high levels, and the second level and the fourth level are low levels; or, the first level and the third level are low levels, and the second level and the fourth level are high levels. The level values ​​of the first level and the third level may be the same or different; the level values ​​of the second level and the fourth level may be the same or different. There is no limitation on each level here, and the specific design can be made according to the structure of the circuit and the application scenario. Tables 1 and 2 show the level of the input signal received by each input port (input PIN) and the level of the signal output by each output port (output PIN), where H represents a high level and L represents a low level.

[0130] Table 1 Relationship between input and output signal levels of driving circuit

[0131] Table 2 Relationship between input and output signal levels of driving circuit

[0132] Taking the truth table shown in Table 1 above as an example, when the firing signal received at the first input port BI is at a high level and the return signal received at the second input port FI is at a low level, the first sub-drive signal output by the first output port BO is at a high level, and the second sub-drive signal output by the second output port FO is at a low level. At this time, the current flows from the first output port BO through the deceleration circuit 22 or the switch circuit 23, and returns to the second output port FO through the motor 1, and the motor rotates in the first rotation direction. When the firing signal received at the first input port BI is at a low level and the return signal received at the second input port FI is at a high level, the first sub-drive signal output by the first output port BO is at a low level, and the second sub-drive signal output by the second output port FO is at a high level. At this time, the current flows from the second output port FO through the motor, and returns to the first output port BO through the deceleration circuit 22 or the switch circuit 23, and the motor 1 reverses in the second rotation direction.

[0133] For example, Fig. 22 As shown, the driving circuit 21 may be a driving chip 211. The driving chip 211 is configured with a first input port BI, a second input port FI, a ground port GND, a power port VCC, two first output ports BO and two second output ports FO.

[0134] In the above-mentioned motor drive control circuit 2, the drive circuit 21 receives the firing signal through the first input port BI, and receives the return signal through the second input port FI, that is, the drive circuit 21 receives the input signal, so that the drive circuit 21 outputs the first sub-drive signal through the first output port BO and outputs the second sub-drive signal through the second output port FO when the firing signal and the return signal have different levels, that is, the drive circuit 21 outputs the first drive signal, and drives the motor 1 to rotate in the first rotation direction when the first sub-drive signal has a third level and the second sub-drive signal has a fourth level, and drives the motor 1 to rotate in the second rotation direction when the first sub-drive signal has a fourth level and the second sub-drive signal has a third level, thereby realizing the forward and reverse rotation of the motor 1 and further expanding the function of the motor 1 to meet more needs.

[0135] In one embodiment, Fig.23 As shown, a motor drive control circuit 2 is provided, including: a drive chip 211, a SPST switch, a fuse PTC, a reverse diode D2, a voltage regulator diode ZD, a transistor Q1, a first resistor R1 and a second resistor R2.

[0136] The driver chip 211 is provided with a first input port BI, a second input port FI, a ground port GND, a power port VCC, a first output port BO, and a second output port FO. The ground port GND is grounded, the power port VCC is connected to the power supply, the first output port BO is respectively connected to the first end of the fuse PTC and the first end of the SPST switch, and the second output port FO is connected to the motor 1. The second end of the fuse PTC is respectively connected to the collector of the transistor Q1 and the first end of the first resistor R1, the second end of the first resistor R1 is respectively connected to the second end of the second resistor R2 and the cathode of the voltage stabilizing diode ZD, the base of the transistor Q1 is connected to the first end of the second resistor R2, and the emitter of the transistor Q1 is respectively connected to the anode of the reverse diode D2 and the second end of the SPST.

[0137] After the driver chip 211 is powered on, the first input port BI of the driver chip 211 receives a high-level firing signal, and the second input port FI receives a low-level return signal, that is, the true value of the first input port BI and the second input port FI is (H, L), and the first output port BO and the second output port FO correspond to the true value of the first drive signal output (H, L). In this case, if the SPST switch is closed, the current flows from the first output port BO through the SPST switch to the motor 1 and then back to the second output port FO, and the motor 1 rotates forward at high speed. If the SPST switch is disconnected, the current flows from the first output port BO through the PTC resistor and the transistor Q1 to the motor 1 and then back to the second output port FO, and the motor 1 rotates forward at a slow speed.

[0138] The first input port BI of the driver chip 211 receives a low-level firing signal, and the second input port FI receives a high-level return signal, that is, the true value of the first input port BI and the second input port FI is (L, H), and the true value of the first drive signal corresponding to the first output port BO and the second output port FO is (L, H). In this case, if the SPST switch is disconnected, the current flows from the second output port FO through the reverse diode D2 to the motor 1 and then back to the first output port BO, and the motor 1 reverses slowly. If the SPST switch is closed, the current flows from the second output port FO through the SPST switch to the motor 1 and then back to the first output port BO, and the motor 1 rotates forward at high speed.

[0139] The above-mentioned motor drive control circuit 2 can support both forward and reverse rotation of the motor 1 and high-speed and slow rotation of the motor 1. It expands the function of the motor 1 from the two dimensions of the rotation direction and speed of the motor 1, improves the control performance of the motor drive control circuit 2 on the motor 1, and can limit the cutting knife assembly 3 to the safety position through the limiting mechanism when the nail magazine assembly 4 is not installed or the used nail magazine assembly 4 is installed, to ensure that the cutting knife assembly 3 will not move to the distal end beyond the safety position. During this process, the speed of the motor 1 is relatively low, reducing the possibility of damaging the cutting knife assembly 3 or other components or even causing safety accidents, thereby improving the safety and reliability of surgical instruments. In addition, the driving signal voltage output by the motor drive control circuit 2 to the motor 1 is stable, and the motor 1 is not affected by the battery voltage and load. The torque of the motor 1 is constant and the speed is stable. It can also prevent the circuit from overcurrent or high temperature from damaging components, and the circuit has high safety and reliability.

[0140] In one embodiment, Fig.24 As shown, the motor drive control circuit 2 also includes an inductor L1, the first end of the inductor L1 is respectively connected to the second end of the deceleration circuit and the second end of the switch circuit in the motor drive control circuit 2, and the second end of the inductor L1 is connected to the motor 1. Exemplarily, the inductor L1 can be an induction coil. Based on this, the inductor L1 can couple the drive signal output by the motor drive control circuit 2 to adapt the operation of the motor 1 and improve the working performance of the motor 1.

[0141] 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.

[0142] 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: It includes: Cutting knife assembly; A nail magazine assembly is provided with a channel for the cutting knife assembly to move; A motor is connected to the cutting blade assembly to drive the cutting blade assembly to move in the channel; A jaw assembly, the jaw assembly comprising a nail anvil and a nail cartridge seat pivotally connected to the nail anvil, the nail cartridge assembly being detachably mounted on the nail cartridge seat, and the nail cartridge seat having a safety position; A motor drive control circuit is connected to the motor, and is used to control the motor to drive the cutting knife assembly to move between the first position and the safety position at a first speed, and to control the motor to drive the cutting knife assembly to move between the safety position and the second position at a second speed; wherein the first speed is less than the second speed, and the safety position is located between the first position and the second position.

2. The surgical instrument according to claim 1, characterized in that When the motor drive control circuit controls the motor to move in a first direction, the cutting knife assembly moves forward, the first position is the initial firing position of the cutting knife assembly, and the second position is the bottom firing position of the cutting knife assembly; when the motor drive control circuit controls the motor to move in a second direction, the cutting knife assembly moves backward, the first position is the bottom returning position of the cutting knife assembly, and the second position is the initial returning position of the cutting knife assembly; wherein, the first direction and the second direction are opposite.

3. The surgical instrument according to claim 1, characterized in that The nail magazine seat is provided with a limiting mechanism, and the nail magazine assembly is installed on a side of the limiting mechanism away from the motor; when the nail magazine seat is not installed with the nail magazine assembly or is installed with a used nail magazine assembly, the limiting mechanism limits the cutting knife assembly to the safety position.

4. The surgical instrument according to claim 3, characterized in that The cutting blade assembly is provided with a limiting portion, and the limiting portion cooperates with the limiting mechanism to limit the cutting blade assembly to the safety position.

5. The surgical instrument according to claim 4, characterized in that One of the limiting portion and the limiting mechanism is a groove, and the other is a protrusion.

6. The surgical instrument according to claim 1, characterized in that The motor drive control circuit comprises: A driving circuit, generating a first driving signal according to a received input signal; a deceleration circuit, connected to the output end of the drive circuit and the motor, respectively, the deceleration circuit performs voltage reduction processing on the received first drive signal, and outputs a second drive signal to the motor; wherein the second speed of the motor driven by the first drive signal is greater than the first speed driven by the second drive signal; A switch circuit is connected in parallel with the deceleration circuit, wherein: When the cutting blade assembly moves between the first position and the safety position, the switch circuit is in an off state, and the drive circuit outputs the first drive signal to the motor via the deceleration circuit to drive the motor to run at the first speed; When the cutting blade assembly moves between the safety position and the second position, the switch circuit is in an on state, and the drive circuit outputs the second drive signal to the motor via the switch circuit to drive the motor to run at the second speed.

7. The surgical instrument according to claim 6, characterized in that The switch circuit includes a switch with a movable actuator, and the surgical instrument also includes a rack, which is connected to the cutting knife assembly and the motor respectively, and the motor drives the rack to move, so as to drive the cutting knife assembly to move; When the rack drives the cutting blade assembly to pass the safety position, the rack actuates the movable actuator to switch the switch to an on-off state.

8. The surgical instrument according to claim 6, characterized in that The input signal includes a firing signal and a knife return signal, and the driving signal includes a first sub-driving signal and a second sub-driving signal; The driving circuit includes a first input port, a second input port, a first output port, and a second output port, wherein the first input port is used to receive the firing signal, and the second input port is used to receive the return signal, and the driving circuit is used to generate the first sub-driving signal and the second sub-driving signal according to the return signal and the firing signal, wherein the first sub-driving signal is output via the first output port, and the second sub-driving signal is output via the second output port.

9. The surgical instrument according to claim 8, characterized in that When the firing signal has a first level and the return signal has a second level, the driving circuit generates the first sub-driving signal with a third level and the second sub-driving signal with a fourth level to drive the motor to rotate in a first rotation direction; wherein the first level is different from the second level, and the third level is different from the fourth level; When the firing signal has the second level and the return signal has the first level, the driving circuit generates the first sub-driving signal having the fourth level and the second sub-driving signal having the third level, and the motor rotates in the second rotation direction; wherein the first rotation direction is opposite to the second rotation direction.

10. The surgical instrument according to claim 8, characterized in that The driving circuit is a driving chip, wherein the driving chip is configured with the first input port, the second input port, the first output port, and the second output port.

11. The surgical instrument according to claim 6, characterized in that The deceleration circuit comprises: A voltage stabilizing module, wherein an input terminal of the voltage stabilizing module is grounded; A voltage regulating module, wherein the voltage regulating module is respectively connected to the output end of the voltage stabilizing module, the output end of the drive circuit, the switch circuit and the motor, and the voltage regulating module regulates the first drive signal according to the voltage stabilizing value of the voltage stabilizing module to reduce the voltage of the first drive signal and output the second drive signal.

12. The surgical instrument according to claim 11, characterized in that The voltage regulation module includes a switch tube, a first resistor and a second resistor; wherein, The first electrode of the switch tube is respectively connected to the output end of the drive circuit, the first end of the switch circuit, and the first end of the first resistor, and the second end of the first resistor is respectively connected to the output end of the voltage stabilizing module and the second end of the second resistor; The control end of the switch tube is connected to the first end of the second resistor, and the second pole of the switch tube is respectively connected to the second end of the switch circuit and the motor.

13. The surgical instrument according to claim 12, characterized in that The voltage stabilizing module comprises: A voltage regulator diode, wherein an anode of the voltage regulator diode is grounded, and a cathode of the voltage regulator diode is respectively connected to the second end of the first resistor and the second end of the second resistor.

14. The surgical instrument according to claim 6, characterized in that The deceleration circuit includes at least one third resistor, wherein the third resistor is connected in parallel with the switch circuit.

15. The surgical instrument according to any one of claims 6 to 14, characterized in that The motor drive control circuit also includes: A fuse, wherein a first end of the fuse is respectively connected to the output end of the drive circuit and the first end of the switch circuit, and a second end of the fuse is connected to the first end of the deceleration circuit.

16. The surgical instrument according to claim 15, characterized in that When the cutting blade assembly is limited to the safety position, the fuse disconnects the path between the output end of the driving circuit and the first end of the deceleration circuit to stop the motor.

17. The surgical instrument according to claim 15, characterized in that The motor drive control further includes: A first diode, wherein a cathode of the first diode is connected to a first end of the fuse and a first end of the switch circuit respectively, and an anode of the first diode is connected to a first end of the deceleration circuit.

18. The surgical instrument according to claim 6, characterized in that The motor drive control circuit also includes: A reverse conducting circuit, wherein a first end of the reverse conducting circuit is connected to a first end of the deceleration circuit, and a second end of the reverse conducting circuit is connected to a second end of the deceleration circuit, wherein: When the switch circuit is in an off state and the second terminal voltage of the reverse conducting circuit is greater than the first terminal voltage of the reverse conducting circuit, the drive circuit outputs a third drive signal to the motor via the reverse conducting circuit, and the first rotation direction of the motor driven by the third drive signal is opposite to the second rotation direction, and the second rotation direction is the rotation direction of the motor driven by the first drive signal or the second drive signal when the second terminal voltage of the reverse conducting circuit is less than the first terminal voltage of the reverse conducting circuit.

19. The surgical instrument according to claim 18, characterized in that The reverse conduction circuit includes at least one reverse diode, the anode of the reverse diode is respectively connected to the second end of the deceleration circuit and the motor, and the cathode of the reverse diode is respectively connected to the first end of the deceleration circuit, the first end of the switching circuit, and the output end of the drive circuit. The reverse diode is used to conduct the path between the drive circuit and the motor and output the third drive signal to the motor when the switching circuit is in an off state and the anode voltage of the reverse diode is greater than the cathode voltage of the reverse conduction circuit.

20. The surgical instrument according to claim 6, characterized in that The motor drive control circuit also includes: An inductor, wherein a first end of the inductor is respectively connected to a second end of the deceleration circuit and a second end of the switch circuit, and a second end of the inductor is connected to the motor.

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