Surgical instrument

Abstract

The application relates to a surgical instrument. The surgical instrument comprises a cutting knife assembly, a staple cartridge assembly, a motor, a jaw assembly and a motor driving control circuit, wherein the motor driving control circuit is connected with the motor and is 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 and to drive the cutting knife assembly to move between the safety position and a second position at a second speed; wherein the first speed is smaller than the second speed, the first position is a cutting knife assembly firing initial position and a back knife to the bottom position, the second position is a cutting knife assembly firing to the bottom position and a back knife initial position, and the safety position is located between the first position and the second position. The application can stably control the motor to operate at different speeds in different positions, and limit the motor in the safety position when the staple cartridge assembly is not installed or the used staple cartridge assembly is installed, thereby improving the safety of the surgical instrument.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a surgical instrument. Background Technology

[0002] With the increasing maturity of motor manufacturing technology, motors that are simple to operate, easy to control, and versatile in function are being used more and more in various industries, and the design of motor drive circuits has also received widespread attention. Motors can be used in surgical instruments such as staplers to provide driving force for the internal structure of surgical instruments. However, the motor drive control functions in current surgical instruments are limited and cannot meet the product application requirements of surgical instruments. Summary of the Invention

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

[0004] To solve the above-mentioned technical problems, this application provides the following technical solution:

[0005] A surgical instrument comprising:

[0006] Cutting blade assembly;

[0007] The staple cartridge assembly is provided with a channel for the cutting blade assembly to move;

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

[0009] A jaw assembly, the jaw assembly including a pin seat and a staple cartridge seat pivotally connected to the pin seat, the staple cartridge assembly being detachably mounted to the staple cartridge seat, the staple cartridge seat having a safety position;

[0010] A motor drive control circuit, connected to the motor, is used to control the motor to drive the cutting blade assembly to move between a first position and a safety position at a first speed, and to control the motor to drive the cutting blade assembly to move between the safety position and a 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 along the first direction, the cutting blade assembly advances, the first position is the initial firing position of the cutting blade assembly, and the second position is the final firing position of the cutting blade assembly; when the motor drive control circuit controls the motor to move along the second direction, the cutting blade assembly retracts, the first position is the final return position of the cutting blade assembly, and the second position is the initial return position of the cutting blade assembly; wherein the first direction and the second direction are opposite.

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

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

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

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

[0016] The driving circuit generates a first driving signal based on the received input signal;

[0017] A speed reduction circuit is connected to the output terminal of the drive circuit and the motor respectively. The speed reduction circuit performs voltage reduction processing on the received first drive signal and outputs a second drive signal to the motor. The second speed of the motor under the first drive signal is greater than the first speed under the second drive signal.

[0018] The switching 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 switching circuit is in the off state, and the drive circuit outputs the first drive signal to the motor through 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 switching circuit is in the conducting state, and the drive circuit outputs the second drive signal to the motor through the switching circuit to drive the motor to run at the second speed.

[0021] Furthermore, the switching circuit includes a switch with a movable actuator, and the surgical instrument also includes a rack connected to the cutting blade assembly and the motor, respectively. The motor drives the rack to move, thereby driving the cutting blade assembly to move. When the rack drives the cutting blade assembly past the safety position, the rack actuates the movable actuator to switch the switch to an on / off state.

[0022] Furthermore, the input signal includes a firing signal and a return signal, and the drive signal includes a first sub-drive signal and a second sub-drive signal;

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

[0024] Furthermore, when the firing signal has a first level and the return signal has a second level, the driving circuit generates a first sub-driving signal with a third level and a 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 drive circuit generates the first sub-drive signal having the fourth level and the second sub-drive signal having the third level, and the motor rotates in a 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 a first input port, a second input port, a first output port, and a second output port.

[0027] Furthermore, the deceleration circuit includes:

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

[0029] A voltage regulation module is connected to the output terminal of the voltage regulator module, the output terminal of the drive circuit, the switching circuit, and the motor. The voltage regulation module adjusts the first drive signal according to the voltage regulation value of the voltage regulator module to step down the voltage of the first drive signal and outputs the second drive signal.

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

[0031] The first terminal of the switching transistor is connected to the output terminal of the driving circuit, the first terminal of the switching circuit, and the first terminal of the first resistor, respectively. The second terminal of the first resistor is connected to the output terminal of the voltage regulator module and the second terminal of the second resistor, respectively.

[0032] The control terminal of the switching transistor is connected to the first terminal of the second resistor, and the second terminal of the switching transistor is connected to the second terminal of the switching circuit and the motor, respectively.

[0033] Furthermore, the voltage regulator module includes:

[0034] A Zener diode, wherein the anode of the Zener diode is grounded, and the cathode of the Zener diode is connected to the second terminal of the first resistor and the second terminal of the second resistor, respectively.

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

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

[0037] A fuse, the first end of which is connected to the output terminal of the drive circuit and the first terminal of the switch circuit, and the second end of which is connected to the first terminal 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 terminal of the drive circuit and the first terminal of the deceleration circuit, thereby stopping the motor.

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

[0040] The first diode has its cathode connected to the first end of the fuse and the first end of the switching circuit, and its anode connected to the first end of the deceleration circuit.

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

[0042] A reverse conduction circuit is provided, wherein a first terminal of the reverse conduction circuit is connected to a first terminal of the deceleration circuit, and a second terminal of the reverse conduction circuit is connected to a second terminal of the deceleration circuit.

[0043] When the switching circuit is in the off state and the voltage at the second terminal of the reverse conduction circuit is greater than the voltage at the first terminal of the reverse conduction circuit, the driving circuit outputs a third driving signal to the motor through the reverse conduction circuit. The first rotation direction of the motor driven by the third driving signal is opposite to the second rotation direction. The second rotation direction is the rotation direction of the motor driven by the first driving signal or the second driving signal when the voltage at the second terminal of the reverse conduction circuit is less than the voltage at the first terminal of the reverse conduction circuit.

[0044] Furthermore, the reverse conduction circuit includes at least one reverse diode. The anode of the reverse diode is connected to the second terminal of the deceleration circuit and the motor, respectively. The cathode of the reverse diode is connected to the first terminal of the deceleration circuit, the first terminal of the switching circuit, and the output terminal of the drive circuit, respectively. 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 the open 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 also includes:

[0046] An inductor, the first end of which is connected to the second end of the deceleration circuit and the second end of the switching circuit, and the second end of which is connected to the motor.

[0047] The aforementioned surgical instrument includes a cutting blade assembly, a staple cartridge assembly, a jaw assembly, a motor, and a motor drive control circuit. The staple cartridge assembly is detachably mounted on a staple cartridge holder, which has a channel for the movement of the cutting blade assembly. The motor drive control circuit can control the motor to drive the cutting blade assembly to move between a first position and a safety position at a first speed, and to control the motor to drive the cutting blade assembly to move between the safety position and a second position at a second speed. This application can adjust the motor speed not only during firing but also during blade return; that is, during firing, the motor initially operates at a low speed, and switches to high speed when the cutting blade assembly passes the safety position. During the retraction process, the motor initially runs at high speed, then switches to low speed when the cutting blade assembly passes the safety position. This ensures that the cutting blade assembly moves at a lower speed before firing and before retraction, and at a higher speed after firing and before retraction. By effectively controlling the motor speed, the speed of the cutting blade assembly is also effectively controlled, ensuring that the cutting blade assembly stops at the first position in time during the retraction process. This prevents the cutting blade assembly from moving too fast past the first position and causing damage to the staple cartridge assembly or other components, thus improving the safety and reliability of surgical instruments. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1One of the schematic diagrams of a surgical instrument provided in one embodiment;

[0050] Figure 2 This is a schematic diagram of the structure of a motor drive control circuit, a motor, and a cutting blade assembly provided in one embodiment.

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

[0052] Figure 4 This is a schematic diagram of the structure of a motor and transmission assembly provided in one embodiment;

[0053] Figure 5 This is a schematic diagram of the staple cartridge assembly and cutting blade provided in one embodiment;

[0054] Figure 6 A schematic diagram of a structure in which the cutting blade assembly is in a first position when an unused staple cartridge assembly is installed on the staple cartridge holder according to an embodiment;

[0055] Figure 7 This is a schematic diagram of a structure provided in an embodiment where the cutting blade assembly is in a first position when the staple cartridge holder is not equipped with the staple cartridge assembly or when the staple cartridge assembly is installed and in use.

[0056] Figure 8 This is a schematic diagram of a structure provided in one embodiment, showing the cutting blade assembly being limited by a limiting mechanism when the staple cartridge holder is not equipped with a staple cartridge assembly or is equipped with a used staple cartridge assembly.

[0057] Figure 9 One of the schematic diagrams of a motor drive control circuit provided in one embodiment;

[0058] Figure 10 A schematic diagram of the rack and movable actuator in a first position according to one embodiment;

[0059] Figure 11 A schematic diagram of the rack and pinion mechanism when a switch is triggered by a movable actuator, as provided in another embodiment;

[0060] Figure 12 This is a schematic diagram of the rack and movable actuator after they have passed the safety position during the firing of the cutting blade assembly, according to one embodiment.

[0061] Figure 13 A second schematic diagram of the structure of a motor drive control circuit provided in one embodiment;

[0062] Figure 14 A third schematic diagram of the structure of a motor drive control circuit provided in one embodiment;

[0063] Figure 15Fourth schematic diagram of a motor drive control circuit provided in one embodiment;

[0064] Figure 16 Fifth schematic diagram of a motor drive control circuit provided in one embodiment;

[0065] Figure 17 Sixth schematic diagram of the structure of a motor drive control circuit provided in one embodiment;

[0066] Figure 18 Seventh schematic diagram of the structure of a motor drive control circuit provided in one embodiment;

[0067] Figure 19 Eighth schematic diagram of the structure of a motor drive control circuit provided in one embodiment;

[0068] Figure 20 Schematic diagram nine of a motor drive control circuit provided in one embodiment;

[0069] Figure 21 A schematic diagram of the structure of a motor drive control circuit provided in one embodiment;

[0070] Figure 22 11. A schematic diagram of the structure of a motor drive control circuit provided in one embodiment;

[0071] Figure 23 12. A schematic diagram of the structure of a motor drive control circuit provided in one embodiment;

[0072] Figure 24 A schematic diagram of the structure of the motor drive control circuit, motor, and cutting blade assembly provided in another embodiment.

[0073] Explanation of reference numerals in the attached figures:

[0074] 1-Motor, 2-Motor drive control circuit, 21-Drive circuit, 211-Drive chip, 22-Reduction circuit, 221-Voltage stabilizing module, 222-Voltage regulation module, 23-Switch circuit, 231-Movable actuator, 232-Switch, 233-Actuator lever, 24-Reverse conduction circuit, 3-Cut blade assembly, 31-Blade bar, 32-Cut blade, 321-Protrusion, 322-Matching part, 4-Staple cartridge assembly, 41-Channel, 42-Staple pusher block, 421-Lifting part, 5-Jaw assembly, 51-Staple anchor, 52-Staple cartridge seat, 61-Motor gear, 62-Gear assembly, 63-Rack, 631-Recess, 64-Mandrel, 65-Sleeve, 66-Instrument body. Detailed Implementation

[0075] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0076] In this invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, a movable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements, such as contact. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. It should be noted that when "connected" or "linked" is preceded by a qualifier, it has the meaning defined by that qualifier, excluding only obviously excluded cases, but not other possible cases. For example, "detachable connection" refers to a detachable connection, excluding an integral part, but movable connections are not excluded.

[0077] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.

[0078] Surgical instruments are used by clinicians who manipulate them during surgery. The terms "proximal," "posterior," "far," and "anterior" as used herein are relative to the clinician manipulating the surgical instruments. The terms "proximal" and "posterior" refer to portions relatively close to the clinician, while "far" and "anterior" refer to portions relatively far from the clinician. It should be understood that these orientations—"proximal," "posterior," "far," and "anterior"—are defined for ease of description; however, surgical instruments can be used in many directions and positions, therefore these terms expressing relative positional relationships are not limited or absolute. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention. Connections in this invention include electrical connections and mechanical connections.

[0079] In one embodiment, a surgical instrument is provided. See also Figures 1 to 5The surgical instrument includes a motor 1, a motor drive control circuit 2, a cutting blade assembly 3, a staple cartridge assembly 4, and a jaw assembly 5. The staple cartridge assembly 4 has a channel 41 for moving the cutting blade assembly 3. The motor 1 is drively connected to the cutting blade assembly 3 and drives the cutting blade assembly 3 to move within the channel 41 of the staple cartridge assembly 4. The jaw assembly 5 includes a staple abutment 51 and a staple cartridge seat 52 pivotally connected to the staple abutment 51. The staple cartridge assembly 4 is detachably mounted to the staple cartridge seat 52. The staple cartridge seat 52 has a safety position.

[0080] The motor drive control circuit 2 is connected to the motor 1. The motor drive control circuit 2 is used to control the motor 1 to drive the cutting blade assembly 3 to move between a first position and a safety position at a first speed, and to control the motor 1 to drive the cutting blade 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 initial firing position and the bottom return position of the cutting blade assembly 3. The second position is the bottom firing position and the initial return position of the cutting blade assembly 3. The safety position is located 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 a first direction, the cutting blade assembly 3 advances. During this process, the first position is the initial firing position of the cutting blade assembly 3, and the second position is the final firing position of the cutting blade assembly 3. When the motor drive control circuit 2 controls the motor 1 to move in a second direction, the cutting blade assembly 3 retracts. During this process, the first position is the final return position of the cutting blade assembly 3, and the second position is the initial return position of the cutting blade assembly 3. The first and second directions are opposite. For example, the first direction is the forward rotation direction of the motor 1, and the second direction is the reverse rotation direction of the motor 1.

[0082] To better understand, let's take a surgical instrument, such as a stapler, as an example to illustrate its application. For example... Figure 3 and Figure 4 As shown, motor 1 can drive the cutting blade assembly 3 to move via a transmission assembly. The transmission assembly may include a motor gear 61, a gear assembly 62, a rack 63, and a spindle 64 connected in sequence. The spindle 64 is housed within a sleeve 65, which connects the jaw assembly 5 and the instrument body 66. The cutting blade assembly 3 may include a blade shank 31 and a cutting blade 32 connected to the blade shank 31. The cutting blade assembly 3 is connected to the rack 63 via the spindle. 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, the staple cartridge body 43 has several through holes extending vertically, forming a staple cavity. At least a portion of the staple driver and the staple are located within this cavity, and the staple pusher block 42 is located at the rear end of the staple cartridge body 43. Because at least a portion of the staple driver is located within the cavity, the cavity restricts the staple driver and the staple to only moving vertically relative to the staple cartridge body 43. With the jaw assembly 5 closed, the staple pusher block 42 moves from the rear end to the front end of the staple cartridge body 43 under external force. During this movement, the staple pusher block 42 pushes the staple driver upward within the cavity, thereby moving the staple upward, piercing the patient's tissue, and suturing the wound until the staple is dislodged from the cavity. The staple cartridge body 43 has a channel 41 for the cutting blade assembly 3 to pass through; specifically, the channel is a blade groove. The blade groove extends vertically within the staple cartridge body 43. Driven by motor 1, the cutting blade assembly 3 moves within the channel of the staple cartridge assembly 4 to cut tissue and suture tissue by pushing the staples out of the staple cartridge assembly 4 through the staple pusher block 42.

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

[0084] The aforementioned surgical instrument includes a cutting blade assembly 3, a staple cartridge assembly 4, a jaw assembly 5, a motor 1, and a motor drive control circuit 2. The staple cartridge assembly 4 is detachably mounted on a staple cartridge base 52, which has a channel 41 for moving the cutting blade assembly 3. The motor drive control circuit 2 can control the motor 1 to drive the cutting blade assembly 3 to move between a first position and a safety position at a first speed, and to control the motor 1 to drive the cutting blade assembly 3 to move between the safety position and the second position at a second speed. This application not only allows adjustment of the motor speed during firing but also during the return stroke. Specifically, during firing, the motor initially operates at low speed, switching to high speed when the cutting blade assembly passes the safety position. During return stroke, the motor initially operates at high speed, switching to low speed when the cutting blade assembly passes the safety position. This ensures that the cutting blade assembly 3 moves at a lower speed between the first and safety positions, and at a higher speed between the safety and second positions. Through stable and effective control of the motor speed, stable and effective control of the cutting blade assembly speed is achieved, ensuring that the cutting blade assembly stops at the first position in a timely manner during return stroke. This prevents the cutting blade assembly from exceeding the first position and causing damage to the staple cartridge or other components, thus improving the safety and reliability of surgical instruments.

[0085] In one embodiment, such as Figures 5 to 8 As shown, the staple cartridge holder 52 in the surgical instrument can be provided with a limiting mechanism. The staple cartridge 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 blade assembly 3 to a safe position when the staple cartridge holder 52 is not equipped with the staple cartridge assembly 4 or when a used staple cartridge assembly 4 is installed. Specifically, the cutting blade assembly 3 is provided with a limiting part that cooperates with the limiting mechanism to limit the cutting blade assembly 3 to the safe position. One of the limiting part and the limiting mechanism is a groove, and the other is a protrusion. In this example, the limiting part is a protrusion 321, and the limiting mechanism is a groove. The cutting blade assembly 3 is also provided with a mating part 322, and the pusher block 42 includes a lifting part 421. When an unused staple cartridge assembly 4 is installed in the staple cartridge holder 52, its pusher block 42 is located near the end of the staple cartridge body 43 of the staple cartridge assembly 4. The lifting part 421 of the pusher block 42 cooperates with the mating part 322 of the cutting blade assembly 3 to allow the cutting blade assembly 3 to move forward toward the safe position via the limiting mechanism.

[0086] The surgical instrument used is a stapler. During application, with the unused staple cartridge assembly 4 installed in the staple cartridge holder 52, the cutting blade assembly 3 is in the default initial firing position, such as... Figure 6As shown. During firing, before the cutting blade assembly 3 passes the safety position, the motor drive control circuit 2 controls the motor 1 to rotate forward at low speed, driving the cutting blade assembly 3 to move forward at low speed within the channel of the staple cartridge assembly 4. As can be seen above, when the unused staple cartridge assembly 4 is installed in the staple cartridge holder 52, the cutting blade assembly 3 can move towards the safety position via the limiting mechanism; after the cutting blade assembly 3 passes the safety position, the motor drive control circuit 2 controls the motor 1 to rotate forward at high speed, driving the cutting blade assembly 3 to move forward at high speed within the channel until the firing position is reached. During the return process, the motor drive control circuit 2 controls the motor 1 to reverse at high speed, driving the cutting blade assembly 3 to retract at high speed within the channel until the safety position is reached. After the cutting blade assembly 3 passes the safety position, the motor drive control circuit 2 controls the motor 1 to reverse at low speed, driving the cutting blade assembly 3 to retract at low speed within the channel until the return position is reached.

[0087] If the staple cartridge assembly 4 is not installed in the staple cartridge holder 52, or if a used staple cartridge assembly 4 is installed in the staple cartridge holder 52, the cutting blade assembly 3 is in the default firing initial position. After the cutting blade assembly 3 is fired, the motor drive control circuit 2 controls the motor 1 to rotate forward at a low speed, and the cutting blade assembly 3 moves forward at a low speed from the firing initial position to the safety position. When the cutting blade assembly 3 moves to the safety position, the lifting part 421 of the pusher block cannot cooperate with the mating part 322 of the cutting blade assembly 3, thus lifting the limiting part of the cutting blade assembly 3 from the limiting mechanism, so that the cutting blade assembly 3 is limited to the safety position by the limiting mechanism. When the cutting blade 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 movement of the cutting blade assembly 3. Figure 8 As shown.

[0088] The aforementioned surgical instrument, through the motor drive control circuit 2, can stably control the speed of the motor 1, thereby controlling the stable movement of the cutting blade assembly 3. Furthermore, during firing and retraction, the motor drive control circuit 2 can ensure that the cutting blade assembly 3 moves at a lower speed before passing the empty staple cartridge safety position and at a higher speed after passing the empty staple cartridge safety position, thus achieving effective control over the operating speed of the motor 1 and consequently, effective control over the movement speed of the cutting blade assembly 3. In addition, the surgical instrument provided in this embodiment can also limit the cutting blade assembly 3 to the safety position through a limiting mechanism when the staple cartridge assembly 4 is not installed or when the staple cartridge assembly 4 is installed, ensuring that the cutting blade assembly 3 does not move beyond the safety position to the distal end. During this process, the motor 1 operates at a lower speed, reducing the possibility of damage to the cutting blade assembly 3 or other components, or even causing a safety accident, thereby improving the safety and reliability of the surgical instrument.

[0089] It should be noted that the present invention can also employ other limiting mechanisms and limiting parts, as long as they can achieve the function of limiting the cutting blade assembly 3 to a safe position when the staple cartridge assembly 4 is not installed in the staple cartridge holder 52, or when the staple cartridge assembly 4 that has been used is installed in the staple cartridge holder 52.

[0090] In one embodiment, such as Figure 9 As shown, the motor drive control circuit 2 includes a drive circuit 21, a reduction circuit 22, and a switching circuit 23. The drive circuit 21 generates a first drive signal based on the received input signal. The input signal is used by the drive circuit 21 to generate the first drive signal. The input signal can vary according to application requirements and can come from an external control circuit; no limitations are placed on the input signal here. The first drive signal drives the motor 1 to rotate. The first drive signal corresponds to the input signal and can change according to changes in the input signal.

[0091] The reduction circuit 22 is connected to both the output terminal of the drive circuit 21 and the motor 1. The reduction circuit 22 steps down the received first drive signal and outputs a second drive signal to the motor 1. The voltage of the second drive signal is lower than the voltage of the first drive signal. The second speed at which the motor 1 rotates under the first drive signal is greater than the first speed at which it rotates under the second drive signal.

[0092] The switching circuit 23 and the reduction circuit 22 are connected in parallel. In other words, the first terminal of the switching circuit 23 is connected to the output terminal of the drive circuit 21 and the first terminal of the reduction circuit 22, respectively, and the second terminal of the switching circuit 23 is connected to the second terminal of the reduction circuit 22 and the motor 1, respectively. For example, the switching 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 switching circuit 23 is in the open state. The first driving signal output by the drive circuit 21 is stepped down by the reduction circuit 22, and then the second driving signal output by the reduction circuit 22 is transmitted to the motor 1. The motor 1 runs at the first speed under the drive of the second driving signal. In actual application, during the firing process, before the cutting blade assembly 3 reaches the safety position, the switching circuit 23 is in the open state. At this time, the motor 1 rotates forward at low speed, and the cutting blade assembly 3 moves slowly from the initial firing position to the safety position. During the return process, after the cutting blade assembly 3 passes the safety position, the switching circuit 23 is in the open state. At this time, the motor 1 reverses at low speed, and the cutting blade assembly 3 moves slowly from the safety position to the return position.

[0094] When the cutting blade assembly 3 moves between the safety position and the second position, the switching circuit 23 is in the conducting state, short-circuiting the deceleration circuit 22. The first drive signal output by the drive circuit 21 is transmitted to the motor 1 via the switching 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 switching circuit 23 is in the conducting state. At this time, the motor 1 rotates forward at high speed, and the cutting blade assembly 3 moves at high speed from the safety position to the firing-to-the-end position. During the return process, before the cutting blade assembly 3 reaches the safety position, the switching circuit 23 is in the conducting state. At this time, the motor 1 reverses at high speed, and the cutting blade assembly 3 moves at high speed from the initial return position to the safety position.

[0095] The aforementioned motor drive control circuit 2 includes a drive circuit 21, a reduction circuit 22, and a switching circuit 23. Since the switching circuit 23 is connected in parallel with the reduction circuit 22, when the switching circuit 23 is in the ON state, it can short-circuit the reduction circuit 22. The first drive signal output by the drive circuit 21 is transmitted to the motor 1 via the switching circuit 23. When the switching circuit 23 is in the OFF state, the first drive signal cannot be transmitted from the switching circuit 23 to the motor 1. At this time, the first drive signal is stepped down by the reduction circuit 22, and the second drive signal generated by the reduction circuit 22 is transmitted to the motor 1. Because 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 driven by the first drive signal. Speed: 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, thereby switching the type of drive signal output to the motor 1. This allows the motor 1 to rotate at a faster speed under the first drive signal and at a slower speed under the second drive signal, thus achieving speed control of the motor 1. Furthermore, when the staple cartridge assembly 4 is not installed or is already in use, the limiting mechanism can restrict the cutting blade assembly 3 to a safe position, ensuring that the cutting blade assembly 3 will not move beyond the safe position to the distal end. During this process, the motor 1 operates at a lower speed, reducing the possibility of damage to the cutting blade assembly 3 or other components, or even causing a safety accident, thereby improving the safety and reliability of the surgical instrument.

[0096] In one embodiment, such as Figures 10 to 12As shown, the switching circuit 23 may include a switch 232 with a movable actuator 231. The rack 63 of the surgical instrument is connected to the cutting blade assembly 3 and the motor 1, respectively. The motor 1 drives the rack 63 to move, thereby driving the cutting blade assembly 3 to move. When the rack 63 drives the cutting blade assembly 3 past the safety position, the rack 63 actuates the movable actuator 231 to switch the switch 232 to an on / off state. Specifically, during firing, the cutting blade assembly 3 moves from the first position to the safety position. When the cutting blade assembly 3 passes the safety position, the rack actuates the movable actuator 231 to switch the switch 232 from an off state to an on state. 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 via the switch 232. The motor 1 runs at a second speed under the action of the first drive signal. During the retraction process, the cutting blade assembly 3 moves from the second position to the safety position. When the cutting blade 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 stepped down by the deceleration circuit 22 and then transmitted to the motor 1 by the second drive signal output by the deceleration circuit 22. The motor 1 runs at the first speed under the drive of the second drive signal.

[0097] For example, the rack 63 may include a recess 631, and the movable actuator 231 may include an actuator lever 233. The rack 63 actuates the movable actuator 231 via the actuator lever 233. In application, taking the firing process as an example, at the initial moment of firing, when the cutting blade assembly 3 is in the first position, the actuator lever 233 is located within the recess 631, and the switch 232 is not triggered and is in the open state. Figure 10 As shown; when the cutting blade assembly 3 moves from the first position to the safety position, the actuator lever 233 remains within the recess 631, and the switch 232 is not triggered and remains in the open state; when the cutting blade assembly 3 passes the safety position, the movable actuator 231 moves relative to the rack 63 to the inclined surface of the recess 631, the actuator lever 233 is actuated by the top surface of the rack 63, and the trigger switch 232 switches from the open state to the on state, as shown. Figure 11 As shown; when the cutting blade assembly 3 moves to the second position after passing the safety position, the rack 63 continues to advance to the second position, and the actuator lever 233 is held actuated by the top surface near the recess 631 of the rack 63, keeping the switch 232 in the conducting state, as shown. Figure 12As shown. It can be understood that the return process is the reverse of the firing process. Specifically, when the cutting blade assembly 3 moves between the second position and the safety position, the actuator lever 233 is held and braked by the top surface near the recess 631 of the rack 63, and the switch remains in the on state; when the cutting blade assembly 3 passes the safety position, the actuator lever 233 moves back into the recess 631 relative to the rack 63, causing the trigger switch 232 to switch from the on state to the off state; when the cutting blade assembly 3 moves towards the first position after passing the safety position, the actuator lever 233 remains in the recess 631 relative to the rack 63, and the trigger switch 232 remains in the off state.

[0098] The aforementioned surgical instrument, wherein the switching circuit 23 includes a switch 232 with a movable actuator 231, is connected to the cutting blade assembly 3 and the motor 1 respectively via a rack 63. The motor 1 drives the rack 63 to move, thereby driving the cutting blade assembly 3. When the rack 63 drives the cutting blade assembly 3 past the safety position, the movable actuator 231 is actuated by the rack 63 to switch the switch 232 between on and off states. Thus, during firing, when the cutting blade assembly 3 passes the safety position, the switch 232 is switched from the off state to the on state via the rack 63 and the movable actuator 231, causing the motor 1 to switch from a first speed to a second speed. The second speed allows the cutting blade assembly 3 to switch from low speed to high speed. During the return stroke, when the cutting blade assembly 3 passes the safety position, the switch 232 is switched from the on state to the off state via the rack 63 and the movable actuator 231, causing the motor 1 to switch from the second speed to the first speed. This allows the cutting blade assembly 3 to switch from high speed to low speed, enabling speed control of the motor during both firing and return strokes. This ensures that the cutting blade assembly 3 can stop at the first position in time during return strokes, preventing the cutting blade assembly 3 from returning too quickly and damaging other components, thus improving the reliability and safety of the surgical instrument.

[0099] In one embodiment, such as Figure 13 As shown, the deceleration circuit 22 includes a voltage regulator module 221 and a voltage adjustment module 222. The input terminal of the voltage regulator module 221 is grounded. The first terminal of the voltage adjustment module 222 is connected to the output terminal of the voltage regulator module 221, the second terminal of the voltage adjustment module 222 is connected to the output terminal of the drive circuit 21 and the first terminal of the switching circuit 23, and the third terminal of the voltage adjustment module 222 is connected to the second terminal of the switching circuit 23 and the motor. The voltage adjustment module 222 is used to adjust the first drive signal according to the voltage regulation value of the voltage regulator module 221 to step down the voltage of the first drive signal and output a second drive signal to the motor. In other words, the voltage adjustment module 222 changes the voltage of the first drive signal according to the voltage regulation value of the voltage regulator module 221 and generates a stepped-down second drive signal. The voltage value of the second drive signal can be determined based on the voltage regulation value of the voltage regulator module 221.

[0100] The aforementioned deceleration circuit 22 uses the regulated voltage output by the voltage regulator module 221 to stabilize the output signal voltage. The voltage regulation module 222 adjusts the voltage of the first drive signal according to the regulated voltage, thereby reducing the voltage of the first drive signal and outputting the reduced-voltage second drive signal. This allows the motor to be driven to rotate at a lower first speed using the second drive signal. Since the regulated voltage output by the voltage regulator module 221 is stable, the voltage of the second drive signal also has good stability and is not affected by other factors, such as fluctuations in the power supply voltage or changes in the impedance of the load connected to the motor. This ensures that the motor has a stable speed and constant torque, thereby improving the stability of the motor during slow operation.

[0101] In one embodiment, such as Figure 14 As shown, the voltage regulation module 222 includes a switching transistor Q1, a first resistor R1, and a second resistor R2. The first terminal of the switching transistor Q1 is connected to the output terminal of the drive circuit 21, the first terminal of the switching circuit 23, and the first terminal of the first resistor R1. The second terminal of the first resistor R1 is connected to the output terminal of the voltage regulation module 221 and the second terminal of the second resistor R2. The control terminal of the switching transistor Q1 is connected to the first terminal of the second resistor R2. The second terminal of the switching transistor Q1 is connected to the second terminal of the switching circuit 23 and the motor. The second terminal of the switching transistor Q1 serves as the output terminal of the voltage regulation module 222.

[0102] For example, the switching transistor Q1 can be a transistor or a MOSFET. The appropriate type of switching transistor Q1 can be selected based on the actual application requirements. For instance, taking the motor drive control power supply applied to a cutting device as an example, the switching transistor Q1 can be a transistor for voltage regulation, or it can be used as a power amplification device. There are no restrictions on the type of switching transistor Q1 here. The first resistor R1 and the second resistor R2 can be selected with appropriate resistance values ​​based on the actual application.

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

[0104] Taking an NPN transistor Q1 as an example, the voltage regulation process of the voltage regulation module 222 is explained. Upon power-up, the emitter (E) voltage of transistor Q1 is 0, while the collector (C) voltage rapidly rises to Vbat. The base (B) receives voltage from the collector through the first resistor R1 and the second resistor R2, gradually increasing from 0. The base (B) and emitter (E) of transistor Q1 can be considered as a diode. For a diode, current flows when the forward voltage exceeds its voltage drop. Therefore, when Vb > Vbe, there is current between the base (B) and emitter (E) of transistor Q1. For transistor Q1, current flows between the base (B) and emitter (E), and this larger current between the collector (C) and emitter (E) causes the emitter (E) voltage to rise. The voltage at the emitter E gradually increases until it equals the voltage at the base B - Vbe. The voltage difference across the diode formed by the base B and emitter E is too small to conduct, so there is no current between the base B and emitter E. The current between the collector C and emitter E also disappears, and the voltage at the emitter E reaches a stable state. After the motor 1 runs for a period of time, it consumes the voltage at the emitter E, disrupting its stable state and returning it to its initial state upon power-on, eventually reaching a stable state again. This process is known as the dynamic equilibrium process.

[0105] The maximum voltage of the base B of transistor Q1 is controlled by the voltage regulator module 221. Specifically, the voltage regulator module 221 ensures that the voltage of the base B of transistor Q1 can only rise to its regulated value. The first resistor R1 is used to determine the speed at which the voltage of the base B rises, and the second resistor R2 is used to determine the current through the base B and the emitter E. The first resistor R1 and the second resistor R2 together affect the speed at which the above steady state is established.

[0106] The voltage regulation module 222 forms a dynamic balance circuit through the switching transistor Q1, the first resistor R1, and the second resistor R2. After the circuit is powered on, there is a current between the two terminals of the switching transistor Q1, causing the voltage at the output terminal of the voltage regulation module 222 to gradually rise until it reaches the regulated voltage value of the voltage regulator module 221. At this time, the voltage regulation module 222 enters a balanced state, and the output terminal of the voltage regulation module 222 stably outputs the stepped-down second drive signal. The voltage value of the second drive signal is the difference between the regulated voltage value of the voltage regulator module 221 and the voltage drop value of the switching transistor Q1. When the load is connected to the downstream end, causing the voltage at the output terminal of the voltage regulation module 222 to drop, the balanced state is broken. The switching transistor Q1 re-establishes the current loop, and the time to re-enter the balanced state is controlled by the first resistor R1 and the second resistor R2, i.e., the control circuit response speed, thereby realizing the regulation of the motor speed and enabling the motor to run at a stable speed, reducing the impact of the load on the motor 1.

[0107] Please continue reading. Figure 14In one embodiment, the voltage regulator module 221 includes a Zener diode ZD. The anode of the Zener diode ZD is grounded, and the cathode of the Zener diode ZD is connected to the second terminal of the first resistor R1 and the second terminal of the second resistor R2 of the voltage regulation module 222, respectively. The Zener diode ZD can adjust the control terminal voltage of the switching transistor Q1 of the voltage regulation module 222 according to the selected regulated voltage value, controlling the on and off states of Q1. This allows the switching transistor Q1 to adjust the regulated voltage value and output a second drive signal with a stable voltage after voltage reduction, ensuring that the motor has a constant torque, unaffected by other factors, and guaranteeing stable motor operation.

[0108] Please continue reading. Figure 14 For example, the voltage of the first drive signal output by the drive power supply 10 is denoted as Vbat, and the voltage of the second drive signal is denoted as Vo. The switching transistor Q1 is a transistor Q1, which can function as a voltage regulation device and a power amplification device. Transistor Q1 changes the value of the second drive signal voltage Vo by changing the voltage regulation value of the Zener diode ZD.

[0109] The deceleration circuit composed of transistor Q1, first resistor R1, second resistor R2, and Zener diode ZD is a dynamically balanced circuit. Its working process is 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 transistor Q1, i.e., the Vbat terminal, through the first resistor R1 and the second resistor R2 to the emitter of transistor Q1, i.e., the Vo terminal. 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 a current between the collector and emitter of transistor Q1, i.e., the current flows from the Vbat terminal to the Vo terminal, causing the voltage at the Vo terminal to gradually rise.

[0110] When the voltage at the Vo terminal gradually rises to the Zener diode ZD's regulated voltage (e.g., 7V), there is no longer any current between the collector and emitter of transistor Q1, the voltage at the Vo terminal stops rising, and transistor Q1 enters an equilibrium state. At this point, the voltage at the Vo terminal stabilizes at 7V - 0.7V (the voltage drop across the emitter of transistor Q1) = 6.3V. Connecting a load to the downstream circuit causes the voltage at the Vo terminal to drop, and current reappears between the collector and emitter of transistor Q1, restoring the voltage at the Vo terminal to its stable value and returning it to the equilibrium state. The time to reach the equilibrium state, i.e., the circuit response speed, can be adjusted by changing the values ​​of the first resistor R1 and the second resistor R2.

[0111] Figure 14 The deceleration circuit shown outputs a stable voltage Vo for the second drive signal. When the battery voltage changes, it does not affect the motor speed, and the motor torque remains constant.

[0112] In one embodiment, such as Figure 15 As shown, the deceleration circuit 22 includes at least one third resistor R3, which is connected in parallel with the switching circuit 23. The first end of the third resistor R3 is connected to the output terminal of the drive circuit 21 and the first terminal of the switching circuit 23, respectively. The second end of the third resistor R3 is connected to the second terminal of the switching circuit 23 and the input terminal of the motor 1, respectively. The deceleration circuit 22 may include one third resistor R3 or multiple third resistors R3 connected in parallel. The number of third resistors R3 can be determined according to actual application requirements, such as the motor's deceleration requirements or power requirements. Therefore, no limitation is placed on the number of third resistors R3 here.

[0113] The aforementioned deceleration circuit 22 includes a third resistor R3 connected in parallel with the switching circuit 23. When the switching circuit 23 is in the open 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, diverting part of the voltage and reducing the voltage of the first drive signal. Based on this, the motor rotates slowly under the drive of the second drive signal output from the first drive signal through the third resistor R3, realizing the regulation of the motor speed and expanding the function of the motor.

[0114] In one embodiment, such as Figure 16 and Figure 17 As shown, the motor drive control circuit includes a drive circuit 21, a reduction circuit 22, a switching circuit 23, and a PTC fuse. The first terminal of the PTC fuse is connected to the output terminal of the drive circuit 21 and the first terminal of the switching circuit 23, respectively, and the second terminal of the PTC fuse is connected to the first terminal of the reduction circuit 22. For example, the PTC fuse can be a positive temperature coefficient (PTC) resistor. Based on this, when the circuit current is too high and the temperature rises, the resistance of the PTC fuse increases. For example, during the firing process, before the switch circuit 23 closes, the current flows through the PTC fuse and is output to the motor 1 via the switch Q1. If the motor 1 stalls, the current increases, causing the PTC fuse to heat up. When the heat exceeds a certain range, the resistance of the PTC fuse increases significantly, preventing the current from flowing through it. The PTC fuse then disconnects the circuit, protecting other circuits and improving the safety and reliability of the motor drive control circuit. Furthermore, after the temperature drops, the resistance of the PTC fuse decreases accordingly, allowing the current to flow through it, and the motor drive control circuit resumes normal operation.

[0115] Please continue reading. Figure 16 and Figure 17In one embodiment, the PTC fuse can also be used to disconnect the path between the output terminal of the drive circuit 21, the first terminal of the switch circuit 23, and the first terminal of the deceleration circuit 22 when the cutting blade assembly 3 is in the safety position, thereby stopping the motor 1. Based on the above, it can be understood that when the staple cartridge holder 52 is not equipped with the staple cartridge assembly 4 or is equipped with a used staple cartridge assembly 4, the cutting blade assembly 3 is limited to the safety position. At this time, the PTC fuse can disconnect the transmission path of the drive signal, causing the motor 1 to stop, ensuring that the cutting blade assembly 3 will not move beyond the safety position to the distal end, reducing the possibility of damage to the cutting blade assembly 3 or other components or even causing a safety accident, 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 terminal of the fuse PTC and the first terminal of the switching circuit 23, respectively, and the anode of the first diode D1 is connected to the first terminal of the reduction circuit 22. Figure 16 Taking the deceleration circuit 22 shown as an example, which includes a switching transistor Q1, the anode of the first diode D1 is connected to the emitter of the transistor Q1 and the second terminal of the switching circuit 23, respectively. The cathode of the first diode D1 is connected to the output terminal of the drive circuit 21, the first terminal of the switching circuit 23, and the first terminal of the fuse PTC, respectively. Figure 17 Taking the deceleration circuit 22 shown as an example, which includes at least one resistor R3, the anode of the first diode D1 is connected to the first end of the resistor R3 and the second end of the fuse PTC, respectively, and the cathode of the first diode D1 is connected to the output end of the drive circuit 21 and the first end of the switch circuit 23, respectively.

[0117] In the aforementioned motor drive control circuit, when the circuit current is too high and the temperature rises, the resistance of the PTC fuse increases. For example, during the firing process, before the switch circuit 23 closes, the current flows through the PTC fuse and is output to the motor 1 via the switch transistor Q1. If the motor 1 stalls, the current increases, causing the PTC fuse to heat up. When the heat exceeds a certain range, the resistance of the PTC fuse increases significantly, preventing the current from flowing through it. At this time, the first diode D1 provides a new reverse current loop, allowing the current to flow out from the first diode D1, thus acting as a current guide and preventing damage to components due to excessive current. This improves the safety and reliability of the motor drive control circuit.

[0118] In one embodiment, such as Figure 18As shown, the motor drive control circuit includes a drive circuit 21, a reduction circuit 22, a switching circuit 23, and a reverse conduction circuit 24. The first terminal of the reverse conduction circuit 24 is connected to the first terminal of the reduction circuit 22, and the second terminal of the reverse conduction circuit 24 is connected to the second terminal of the reduction circuit 22. The impedance of the reverse conduction circuit 24 is less than the impedance of the reduction circuit 22.

[0119] When the switching circuit 23 is in the open state, and the voltage at the second terminal (P terminal) of the reverse conduction circuit 24 is greater than the voltage at the first terminal (N terminal) of the reverse conduction circuit 24, that is, when the switching circuit 23 is open and V P >V N At this time, the drive circuit 21 outputs a third drive signal to the motor via the reverse conduction circuit 24. At this time, the reduction circuit 22 is not connected to the current loop, or in other words, the reduction circuit 22 is inactive. Current flows from the drive circuit 21 through the motor, and back to the drive circuit 21 via the reverse conduction circuit 24, causing the motor to rotate in the first rotation direction. The voltage of the third drive signal is less than the voltage of the first drive signal, but greater than the voltage of the second drive signal.

[0120] When the voltage at the second terminal of the reverse conduction circuit 24 is less than the voltage at the first terminal of the reverse conduction circuit 24, i.e., V P <V N When the switch circuit 23 is in the conducting state, the drive circuit 21 outputs the first drive signal to the motor through the switch circuit 23. At this time, the reverse conduction circuit 24 does not work. The current flows through the drive circuit 21, through the switch circuit 23, and back to the drive circuit 21. 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 conduction circuit 24 is less than the voltage at the first terminal of the reverse conduction circuit 24, i.e., V P <V N When the switch circuit 23 is in the open state, the drive circuit 21 outputs the second drive signal to the motor through the deceleration circuit 22. At this time, the reverse conduction circuit 24 is not connected to the current loop, or in other words, the reverse conduction circuit 24 does not work. The current flows through the drive circuit 21, through the deceleration circuit 22, and back to the drive circuit 21. The motor rotates in the second rotation direction.

[0122] The aforementioned 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, the current loop reverses when the circuit state changes.

[0123] In one embodiment, such as Figure 19As shown, the reverse conduction circuit 24 includes at least one reverse diode D2. The reverse conduction circuit 24 may include one reverse diode D2 or multiple reverse diodes D2 connected in series; the number of reverse diodes D2 is not limited here. The anode of the reverse diode D2 is connected to the second terminal of the reduction circuit 22 and the motor, respectively, and the cathode of the reverse diode D2 is connected to the first terminal of the reduction circuit 22, the first terminal of the switching circuit 23, and the output terminal of the drive circuit 21, respectively. The reverse diode D2 is used to conduct the path between the drive circuit 21 and the motor, and output a third drive signal to the motor, when the switching circuit 23 is in the open state and the anode voltage of the reverse diode D2 is greater than the cathode voltage of the reverse conduction circuit 24.

[0124] like Figure 20 As shown, taking the deceleration circuit 22 including resistor R3 as an example, in Figure 20 In the circuit, the reverse conduction circuit 24 includes three reverse diodes D2 connected in series, and is connected in parallel with the switching circuit 23 and the resistor R3. The number of reverse diodes D2 affects the voltage V across PN during the return process. PN In other words, the more reverse diodes D2 there are, the higher V will be. PN The larger.

[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 changes, 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, such as Figure 21 As shown, the input signals include 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. The first input port BI receives the firing signal, the second input port FI receives the return signal, the first output port BO is connected to the first terminal of the reduction circuit 22 and the first terminal of the switching circuit 23, the second terminals of the reduction circuit 22 and the second terminals of the switching circuit 23 are connected to the first input terminal of the motor 1, and the second output port FO is connected to the second output terminal of the motor 1. The drive circuit 21 generates the first sub-drive signal and the second sub-drive signal based on the return signal and the firing signal. 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 drive circuit 21 can generate a first sub-drive signal with a third level and output it through the first output port BO, and generate a second sub-drive signal with a fourth level and output it through the second output port FO. In this 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] When the firing signal received at the first input port BI has a second level and the return signal received at the second input port FI has a first level, the drive circuit 21 can generate a first sub-drive signal with a fourth level and output it through the first output port BO, and generate a second sub-drive signal with a third level and output it through the second output port FO. In this case, the motor 1 rotates in the second rotation direction. The first rotation direction is opposite to the second rotation direction.

[0129] For example, the first and third levels are high, and the second and fourth levels are low; or, the first and third levels are low, and the second and fourth levels are high. The values ​​of the first and third levels can be the same or different; the values ​​of the second and fourth levels can also be the same or different. No restrictions are placed on the levels here; the specific design can be tailored to the circuit structure and application scenario. Tables 1 and 2 show the level of the input signals received by each input port (input PIN) and the signals 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 the Drive Circuit

[0131] Table 2 Relationship between Input and Output Signal Levels of the Drive 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 high and the return signal received at the second input port FI is low, the first sub-drive signal output at the first output port BO is high, and the second sub-drive signal output at the second output port FO is low. At this time, current flows from the first output port BO through the reduction circuit 22 or the switching circuit 23, and returns to the second output port FO via the motor 1, causing the motor to rotate in the first rotation direction. When the firing signal received at the first input port BI is low and the return signal received at the second input port FI is high, the first sub-drive signal output at the first output port BO is low, and the second sub-drive signal output at the second output port FO is high. At this time, current flows from the second output port FO through the motor, and returns to the first output port BO via the reduction circuit 22 or the switching circuit 23, causing the motor 1 to reverse in the second rotation direction.

[0133] For example, such as Figure 22 As shown, the driving circuit 21 can 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 supply port VCC, two first output ports BO and two second output ports FO.

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

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

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

[0137] After the driver chip 211 is powered on, its first input port BI receives a high-level trigger signal, and its second input port FI receives a low-level return signal. That is, the true values ​​of the first input port BI and the second input port FI are (H, L). The true values ​​of the first output port BO and the second output port FO are correspondingly (H, L). In this case, if the SPST switch is closed, current flows from the first output port BO through the SPST switch to motor 1 and then back to the second output port FO, causing motor 1 to rotate forward at high speed. If the SPST switch is open, current flows from the first output port BO through the PTC resistor and transistor Q1 to motor 1 and then back to the second output port FO, causing motor 1 to rotate forward at slow speed.

[0138] The first input port BI of the driver chip 211 receives a low-level trigger signal, and the second input port FI receives a high-level return signal. That is, the true values ​​of the first input port BI and the second input port FI are (L, H). The first output port BO and the second output port FO correspondingly output the true values ​​of the first drive signal, which are also (L, H). In this case, if the SPST switch is open, current flows from the second output port FO through the reverse diode D2 to motor 1 and then back to the first output port BO, causing motor 1 to slowly reverse. If the SPST switch is closed, current flows from the second output port FO through the SPST switch to motor 1 and then back to the first output port BO, causing motor 1 to rotate forward at high speed.

[0139] The aforementioned motor drive control circuit 2 supports both forward and reverse rotation of motor 1, as well as high-speed and slow-speed rotation of motor 1. It expands the functionality of motor 1 in terms of both rotation direction and speed, improving the control performance of motor 1 by motor drive control circuit 2. Furthermore, when staple cartridge assembly 4 is not installed or is in use, the limiting mechanism can restrict the cutting blade assembly 3 to a safe position, ensuring that the cutting blade assembly 3 will not move beyond the safe position to the distal end. During this process, the speed of motor 1 is low, reducing the possibility of damage to the cutting blade assembly 3 or other components, or even causing a safety accident, thus improving the safety and reliability of surgical instruments. In addition, the drive signal voltage output from motor drive control circuit 2 to motor 1 is stable, and motor 1 is not affected by battery voltage or load. Motor 1 has constant torque and stable speed, and can also avoid damage to components due to overcurrent or high temperature. The circuit has high safety and high reliability.

[0140] In one embodiment, such as Figure 24 As shown, the motor drive control circuit 2 also includes an inductor L1. The first end of the inductor L1 is connected to the second end of the reduction circuit and the second end of the switching circuit in the motor drive control circuit 2, respectively. The second end of the inductor L1 is connected to the motor 1. For example, the inductor L1 can be a switching coil. Based on this, the inductor L1 can couple the drive signal output by the motor drive control circuit 2 to adapt to the operation of the motor 1 and improve the working performance of the motor 1.

[0141] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0142] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A surgical instrument, characterized in that, It includes: Cutting blade assembly; The staple cartridge assembly is provided with a channel for the cutting blade assembly to move; A motor is connected to the cutting blade assembly to drive the cutting blade assembly to move within the channel; A jaw assembly, the jaw assembly including a pin seat and a staple cartridge seat pivotally connected to the pin seat, the staple cartridge assembly being detachably mounted to the staple cartridge seat, the staple cartridge seat having a safety position; A motor drive control circuit, connected to the motor, is used to control the motor to drive the cutting blade assembly to move between a first position and a safety position at a first speed, and to control the motor to drive the cutting blade assembly to move between the safety position and a 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 along a first direction, the cutting blade assembly moves forward. The first position is the initial firing position of the cutting blade assembly, and the second position is the final firing position of the cutting blade assembly. When the motor drive control circuit controls the motor to move along a second direction, the cutting blade assembly moves backward. The first position is the final return position of the cutting blade assembly, and the second position is the initial return position of the cutting blade assembly. The first direction and the second direction are opposite.

3. The surgical instrument according to claim 1, characterized in that, The staple cartridge holder is provided with a limiting mechanism, and the staple cartridge assembly is installed on the side of the limiting mechanism away from the motor; when the staple cartridge assembly is not installed on the staple cartridge holder or when a used staple cartridge assembly is installed, the limiting mechanism limits the cutting blade 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 part, which 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 part 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 includes: The driving circuit generates a first driving signal based on the received input signal; A speed reduction circuit is connected to the output terminal of the drive circuit and the motor respectively. The speed reduction circuit performs voltage reduction processing on the received first drive signal and outputs a second drive signal to the motor. The second speed of the motor under the first drive signal is greater than the first speed under the second drive signal. The switching 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 switching circuit is in the off state, and the drive circuit outputs the first drive signal to the motor through 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 switching circuit is in the on state, and the drive circuit outputs the second drive signal to the motor through the switching circuit to drive the motor to run at the second speed.

7. The surgical instrument according to claim 6, characterized in that, The switching circuit includes a switch with a movable actuator, and the surgical instrument also includes a rack connected to the cutting blade assembly and the motor, respectively. The motor drives the rack to move, thereby driving the cutting blade assembly to move. When the rack drives the cutting blade assembly past the safety position, the rack actuates the movable actuator to switch the switch on / off state.

8. The surgical instrument according to claim 6, characterized in that, The input signals include a firing signal and a return signal, and the drive signals include a first sub-drive signal and a second sub-drive signal; The driving circuit includes a first input port, a second input port, a first output port, and a second output port. The first input port is used to receive the firing signal, and the second input port is used to receive the return signal. The driving circuit is used to generate a first sub-driving signal and a second sub-driving signal based on the return signal and the firing signal. The first sub-driving signal is output through the first output port, and the second sub-driving signal is output through 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 a first sub-driving signal with a third level and a 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 drive circuit generates the first sub-drive signal having the fourth level and the second sub-drive signal having the third level, and the motor rotates in a 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 a first input port, a second input port, a first output port and a second output port.

11. The surgical instrument according to claim 6, characterized in that, The deceleration circuit includes: A voltage regulator module, wherein the input terminal of the voltage regulator module is grounded; A voltage regulation module is connected to the output terminal of the voltage regulator module, the output terminal of the drive circuit, the switching circuit, and the motor. The voltage regulation module adjusts the first drive signal according to the voltage regulation value of the voltage regulator module to step down the voltage of the first drive signal and outputs the second drive signal.

12. The surgical instrument according to claim 11, characterized in that, The voltage regulation module includes a switching transistor, a first resistor, and a second resistor; wherein... The first terminal of the switching transistor is connected to the output terminal of the driving circuit, the first terminal of the switching circuit, and the first terminal of the first resistor, respectively. The second terminal of the first resistor is connected to the output terminal of the voltage regulator module and the second terminal of the second resistor, respectively. The control terminal of the switching transistor is connected to the first terminal of the second resistor, and the second terminal of the switching transistor is connected to the second terminal of the switching circuit and the motor, respectively.

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

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 switching 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, the first end of which is connected to the output terminal of the drive circuit and the first terminal of the switch circuit, and the second end of which is connected to the first terminal of the deceleration circuit.

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

17. The surgical instrument according to claim 15, characterized in that, The motor drive control also includes: The first diode has its cathode connected to the first end of the fuse and the first end of the switching circuit, and its anode connected to the 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 conduction circuit is provided, wherein a first terminal of the reverse conduction circuit is connected to a first terminal of the deceleration circuit, and a second terminal of the reverse conduction circuit is connected to a second terminal of the deceleration circuit. When the switching circuit is in the off state and the voltage at the second terminal of the reverse conduction circuit is greater than the voltage at the first terminal of the reverse conduction circuit, the driving circuit outputs a third driving signal to the motor through the reverse conduction circuit. The first rotation direction of the motor driven by the third driving signal is opposite to the second rotation direction. The second rotation direction is the rotation direction of the motor driven by the first driving signal or the second driving signal when the voltage at the second terminal of the reverse conduction circuit is less than the voltage at the first terminal of the reverse conduction 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 connected to the second terminal of the deceleration circuit and the motor, respectively. The cathode of the reverse diode is connected to the first terminal of the deceleration circuit, the first terminal of the switching circuit, and the output terminal of the drive circuit, respectively. 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 the open 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, the first end of which is connected to the second end of the deceleration circuit and the second end of the switching circuit, and the second end of which is connected to the motor.

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