Motor control circuit and surgical instrument

Abstract

The invention relates to a motor control circuit and a surgical instrument. The motor control circuit comprises a cutting control circuit and a driving circuit; wherein the cutting control circuit comprises a first control circuit and a second control circuit, the first control circuit is used for outputting a percussion signal according to a grounding signal and a power signal, and the second control circuit is used for outputting a knife return signal according to the grounding signal and the power signal; the driving circuit is used for generating a first driving signal to drive the motor to rotate towards a first direction under the condition that the percussion signal has a first level and the knife return signal has a second level, and generating a second driving signal to drive the motor to rotate towards a second direction under the condition that the percussion signal has the second level and the knife return signal has the first level; and the motor is driven to rotate towards the second direction. The device is not limited by a mechanical structure, and forward and reverse rotation control of the motor can be realized through quick response of the cutting control circuit and the driving circuit, so that the rotation requirement of the motor is met.

Description

Technical Field

[0001] The present application relates to the field of circuit technology, and in particular to a motor control circuit and a surgical instrument. Background Art

[0002] With the rapid development of circuit technology, more and more surgical instruments can replace manual operations. For example, staplers can replace manual suturing operations during surgery. Its working principle is to use titanium nails to separate or staple tissues, similar to staplers, that is, firing and implanting staggered staples into the tissue for cross-stitching.

[0003] Generally, a motor is used to provide power for the cutting and suturing of the stapler. During use, the actuator in the stapler is driven by the motor to move forward to penetrate into the tissue to perform cutting and suturing operations. After the operation is completed, the motor drives the actuator to move backward and withdraw from the tissue. For this purpose, it is necessary to drive the motor forward and reverse to realize the forward and backward movement of the actuator.

[0004] In the prior art, a relatively complex motor drive circuit that does not include any non-integrated circuits is used to achieve the forward and reverse rotation of the motor. This implementation method has the problems of low sensitivity and low reliability due to the large number of electronic components and the complex circuit. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present application aims to provide a motor control circuit and a surgical instrument that are not restricted by mechanical structure and can respond quickly to realize forward and reverse rotation of the motor.

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

[0007] A motor control circuit is applied to surgical instruments, the motor control circuit comprising a cutting control circuit and a driving circuit; wherein:

[0008] The cutting control circuit comprises a first control circuit and a second control circuit, wherein the first control circuit is respectively connected to a ground terminal, a power signal terminal and the driving circuit, and the first control circuit outputs a knife return signal to the driving circuit according to a ground signal of the ground terminal and a power signal of the power signal terminal, and the second control circuit is respectively connected to the ground terminal, the power signal terminal and the driving circuit, and the second control circuit outputs a firing signal to the driving circuit according to the ground signal and the power signal;

[0009] When the firing signal has a first level and the knife return signal has a second level, the driving circuit generates a first driving signal to drive the motor to rotate in a first direction to drive the actuator of the surgical instrument to move in a forward direction, and when the firing signal has the second level and the knife return signal has the first level, the driving circuit generates a second driving signal to drive the motor to rotate in a second direction to drive the actuator to move in a backward direction; wherein the level states of the ground signal and the power supply signal are different, and the first direction is opposite to the second direction.

[0010] Further, the first control circuit includes a first switch module, which is respectively connected to the ground terminal, the power signal terminal, and the drive circuit, and is used to select a path between the ground terminal, the power signal terminal and the drive circuit respectively; wherein the on-off state of the first switch module is different, and the return signal has different levels.

[0011] Furthermore, the first switch module includes:

[0012] an optical coupling unit, connected to the ground terminal and the power signal terminal respectively, the optical coupling unit is turned on when the light source is not blocked, and is turned off when the light source is blocked;

[0013] A switch control unit is respectively connected to the ground terminal, the power signal terminal, the optical coupling unit, and the drive circuit. The switch control unit is disconnected when the optical coupling unit is in a conducting state, and outputs a return signal with the first level. The switch control unit is turned on when the optical coupling unit is in a disconnected state, and outputs a return signal with the second level.

[0014] Further, the first switch module includes a single-pole multi-throw switch, multiple first ends of the single-pole multi-throw switch are respectively connected to the ground end and the power signal end, the second end of the single-pole multi-throw switch is connected to the drive circuit, and the single-pole multi-throw switch selects to conduct the paths between the ground end, the power signal end and the drive circuit respectively.

[0015] Furthermore, the second control circuit includes a second switch module, which is respectively connected to the ground terminal, the power signal terminal, and the drive circuit, and is used to select a path between the ground terminal, the power signal terminal and the drive circuit, respectively; wherein the on-off state of the second switch module is different, and the firing signal has different levels.

[0016] Furthermore, the cutting control circuit also includes an output control circuit, which is respectively connected to the output end of the first control circuit, the output end of the second control circuit, the target signal end, the first input end and the second input end of the drive circuit. When the first control circuit and the second control circuit have no signal output, the output control circuit controls the levels of the first input end and the second input end of the drive circuit to remain consistent according to the target signal of the target signal end; wherein the target signal end is one of the ground end and the power signal end.

[0017] Further, the output control circuit includes a third resistor and a fourth resistor, wherein the first end of the third resistor is respectively connected to the output end of the first control circuit and the first input end of the drive circuit, the second end of the third resistor is respectively connected to the target signal end and the first end of the fourth resistor, and the second end of the fourth resistor is respectively connected to the output end of the second control circuit and the second input end of the drive circuit; wherein the resistance values ​​of the third resistor and the fourth resistor are the same.

[0018] Further, when the level states of the firing signal and the knife return signal are the same, the driving circuit generates a third driving signal to stop the motor.

[0019] The present application also provides a surgical instrument, comprising:

[0020] Device body;

[0021] A circuit board, arranged on the device body, comprising the motor control circuit provided in the above-mentioned embodiment;

[0022] A motor, disposed on the device body and connected to the motor control circuit;

[0023] An actuator is arranged on the instrument body and connected to the motor; when the motor rotates in the first direction, the actuator is driven forward, and when the motor rotates in the second direction, the actuator is driven backward; wherein the first direction is opposite to the second direction.

[0024] Furthermore, the first switch module in the motor control circuit includes an optical coupling unit and a switch control unit; the optical coupling unit and the switch control unit are arranged on the circuit board; wherein the surgical instrument further includes:

[0025] A transmission component, drivingly connected to the execution component;

[0026] A sliding assembly, comprising a matching portion and a shielding portion, wherein the sliding assembly is movably disposed on the instrument body;

[0027] When the actuator moves forward to the first preset position, the driving portion of the transmission assembly abuts against the matching portion, driving the sliding assembly to move forward relative to the instrument body, so that the shielding portion moves forward to shield the light source of the optical coupling unit, the optical coupling unit is in a disconnected state, and the switch control unit is in a conducting state;

[0028] When the actuator moves backward to the second preset position, the driving part of the transmission assembly abuts against the matching part, driving the sliding assembly to move backward relative to the instrument body, so that the shielding part retreats to outside the light-shielding position, the optical coupling unit is in the on state, and the switch control unit is in the off state.

[0029] Further, the sliding assembly includes a sliding body, and the matching portion and the shielding portion are arranged on the sliding body; the sliding assembly also includes a sliding portion arranged on the sliding body; the sliding portion is movably arranged in a first groove of the instrument body, and the driving portion of the transmission assembly abuts against the matching portion to drive the sliding portion to move forward or backward in the first groove relative to the instrument body.

[0030] Further, the transmission assembly includes a rack, the rack includes a second groove, a first end portion provided at the proximal end of the second groove, and a second end portion provided at the distal end of the second groove, the driving portion is the first end portion and the second end portion, and the matching portion is a protrusion; when the actuator moves forward to the first preset position, the first end portion abuts against the protrusion to drive the sliding assembly to move forward, and when the actuator moves backward to the second preset position, the second end portion abuts against the protrusion to drive the sliding assembly to move backward.

[0031] Furthermore, in the process that the actuator moves forward and reaches the first preset position, the matching portion slides relatively in the second groove, the shielding portion is outside the light shielding position, the optical coupling unit is in the on state, and the switch control unit is in the off state;

[0032] During the process of the actuator retreating and reaching the second preset position, the matching portion slides relatively in the second groove, the shielding portion shields the light source of the optical coupling unit, the optical coupling unit is in a disconnected state, and the switch control unit is in a conducting state.

[0033] Furthermore, the sliding assembly further comprises a first extension portion provided on the sliding body, and the surgical instrument further comprises:

[0034] The emergency knife return push button includes a second extension portion, the emergency knife return push button is provided with a third groove, the second extension portion is arranged in the fourth groove of the instrument body, and the first extension portion is arranged in the third groove; wherein,

[0035] In response to the emergency knife return push button being operated, the second extension portion moves along the fourth groove and drives the sliding assembly to move through the first extension portion; wherein, when the sliding assembly moves to the light-shielding position, the shielding portion of the sliding assembly blocks the light source of the optical coupling unit, the optical coupling unit is disconnected, and the switch control unit is turned on.

[0036] Furthermore, the surgical instrument further comprises a first position-limiting member arranged on the instrument body, and when the sliding assembly is driven by the emergency knife return push button to move to cooperate with the first position-limiting member, the sliding assembly stops moving.

[0037] Furthermore, the second control circuit in the motor control circuit includes a second switch module, wherein the surgical instrument further includes a firing trigger, and the firing trigger is used to receive a user operation instruction to control the on-off state of the second switch module; wherein,

[0038] The actuator is used to move forward under the drive of the motor when the optical coupling unit is in the on state and the second switch module is in the on state;

[0039] The actuator is also used to move backward under the drive of the motor when the optical coupling unit is in an off state and the second switch module is in an off state;

[0040] The execution component is also used to stop moving when the optical coupling unit is in the on state and the second switch module is in the off state, or when the optical coupling unit is in the off state and the second switch module is in the on state.

[0041] The above-mentioned motor control circuit and surgical instrument, wherein the motor control circuit includes a cutting control circuit and a driving circuit, the cutting control circuit includes a first control circuit and a second control circuit, the first control circuit can output a knife return signal according to the ground signal of the ground terminal and the power signal of the power signal terminal, the second control circuit can output a firing signal according to the ground signal and the power signal, the driving circuit can generate different driving signals to drive the motor to rotate in different directions when the firing signal and the knife return signal have different level states, that is, the driving circuit generates a first driving signal to drive the motor to rotate in the first direction when the firing signal has a first level and the knife return signal has a second level, and the driving circuit generates a second driving signal to drive the motor to rotate in the second direction when the firing signal has a second level and the knife return signal has a first level, thereby controlling the level states of the firing signal and the knife return signal through the cutting control circuit, and controlling the level states of the first driving signal and the second driving signal through the driving circuit, that is, the forward and reverse driving control of the motor is realized through the cutting control circuit and the driving circuit, the motor control circuit of the present application is relatively simple, highly reliable, and highly sensitive, shortens the motor steering response time, and improves the control performance of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 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.

[0043] Figure 1 is a structural block diagram of a motor control system according to an embodiment;

[0044] Figure 2 is a structural block diagram of a motor control system according to another embodiment;

[0045] Figure 3 A structural block diagram of a motor control system according to another embodiment;

[0046] Figure 4 One of the structural block diagrams of a motor control circuit according to an embodiment;

[0047] Figure 5 The second structural block diagram of the motor control circuit of an embodiment;

[0048] Figure 6 This is one of the structural block diagrams of the first switch module of an embodiment;

[0049] Figure 7 This is a second structural block diagram of the first switch module of an embodiment;

[0050] Figure 8 This is a third structural block diagram of the first switch module of an embodiment;

[0051] Fig. 9 The third structural block diagram of the motor control circuit of an embodiment;

[0052] Fig.10 The fourth structural block diagram of the motor control circuit of an embodiment;

[0053] Fig.11 The fifth structural block diagram of the motor control circuit of an embodiment;

[0054] Fig.12 This is a sixth structural block diagram of a motor control circuit according to an embodiment;

[0055] Fig.13 FIG7 is a structural block diagram of a motor control circuit according to an embodiment;

[0056] Fig.14 FIG8 is a structural block diagram of a motor control circuit according to an embodiment of the present invention;

[0057] Fig.15 A ninth structural block diagram of a motor control circuit according to an embodiment;

[0058] Fig.16 The tenth structural block diagram of a motor control circuit according to an embodiment;

[0059] Fig.17 One of the partial structural block diagrams of a surgical instrument according to an embodiment;

[0060] Fig.18 is a schematic structural diagram of a surgical instrument according to an embodiment;

[0061] Fig.19 This is one of the partial structural schematic diagrams of a surgical instrument according to an embodiment;

[0062] Fig. 20 The second schematic diagram of the partial structure of the surgical instrument of one embodiment;

[0063] Fig.21 This is one of the structural schematic diagrams of a sliding assembly according to an embodiment;

[0064] Fig. 22 This is a second structural schematic diagram of a sliding assembly according to an embodiment;

[0065] Fig.23 This is a third structural schematic diagram of a sliding assembly according to an embodiment;

[0066] Fig.24 The third schematic diagram of the partial structure of a surgical instrument according to an embodiment;

[0067] Fig.25 FIG4 is a partial structural schematic diagram of a surgical instrument according to an embodiment;

[0068] Fig.26 FIG5 is a partial structural schematic diagram of a surgical instrument according to an embodiment;

[0069] Fig. 27 It is a structural schematic diagram of a sliding assembly and an emergency knife return push button in one embodiment;

[0070] Fig.28 This is a schematic structural diagram of an emergency knife return push button according to an embodiment;

[0071] Fig.29 FIG6 is a partial structural schematic diagram of a surgical instrument according to an embodiment;

[0072] Fig.30 FIG7 is a partial structural schematic diagram of a surgical instrument according to an embodiment;

[0073] Fig.31 FIG8 is a partial structural schematic diagram of a surgical instrument according to an embodiment;

[0074] Fig.32 This is a ninth schematic diagram of the partial structure of a surgical instrument according to an embodiment.

[0075] Description of reference numerals:

[0076] 1-motor, 2-motor control circuit, 3-instrument body, 31-first groove, 33-first stopper, 4-circuit board, 5-actuator assembly, 51-gear assembly, 52-rack, 52a-second groove, 52b-first end, 52c-second end, 6-sliding assembly, 61-sliding body, 62-sliding part, 63-matching part, 64-shielding part, 65-first extension part, 66-groove, 7-emergency return knife push button, 71-second extension part, 72-third groove Slot, 8-firing trigger, 90-nail support, 91-nail magazine support, 10-cutting control circuit, 101-rod body assembly, 102-sleeve, 105-core shaft, 106-knife rod, 107-cutting knife, 110-first control circuit, 111-first switch module, 111a-optical coupling unit, 111b-switch control unit, 120-second control circuit, 121-second switch module, 122-self-locking control circuit, 130-output control circuit, 20-driving circuit. DETAILED DESCRIPTION

[0077] 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.

[0078] 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.

[0079] 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.

[0080] In one embodiment, Figure 1 As shown, a motor control system is provided, which includes a motor 1 and a motor control circuit 2. Among them, the motor control circuit 2 includes a cutting control circuit 10 and a drive circuit 20. The motor control circuit 2 can be applied to surgical instruments to drive the load movement in the surgical instruments. The surgical instrument can be an instrument with a motor forward and reverse rotation requirement, for example, a stapler, and the motor control circuit 2 can drive the motor 1 in the stapler to forward and reverse to realize the forward and backward movement of the actuator in the stapler, thereby realizing the cutting and return operation of the stapler.

[0081] The cutting control circuit 10 includes a first control circuit 110 and a second control circuit 120. The first control circuit 110 is connected to the ground terminal GND, the power signal terminal VDD, and the driving circuit 20 respectively. The first control circuit 120 is used to output a knife return signal according to the ground signal of the ground terminal GND and the power signal of the power signal terminal VDD. The second control circuit 120 is connected to the ground terminal GND, the power signal terminal VDD, and the driving circuit 20 respectively. The second control circuit 120 is used to output a firing signal according to the ground signal and the power signal. The level states of the ground signal and the power signal are different. For example, the power signal is 3.3V and the ground signal is 0V. The level states of the ground signal and the power signal can also be set to any other suitable values, which are only exemplified here.

[0082] The driving circuit 20 is used to generate a first driving signal to drive the motor 1 to rotate in a first direction when the firing signal has a first level and the return signal has a second level. The driving circuit 20 is also used to generate a second driving signal to drive the motor 1 to rotate in a second direction when the firing signal has a second level and the return signal has a first level. The first driving signal and the second driving signal are two different driving signals. The first driving signal corresponds to the first direction, and the second driving signal corresponds to the second direction. The first direction is opposite to the second direction. The first level and the second level are different, for example, the first level is a high level and the second level is a low level; for another example, the first level is a low level and the second level is a high level.

[0083] The motor control circuit 2 includes a cutting control circuit 10 and a driving circuit 20. The cutting control circuit 10 includes a first control circuit 110 and a second control circuit 120. The first control circuit 110 can output a return signal according to a ground signal of a ground terminal GND and a power signal of a power signal terminal VDD. The second control circuit 120 can output a firing signal according to the ground signal and the power signal. The driving circuit 20 can generate different driving signals to drive the motor 1 to rotate in different directions when the firing signal and the return signal have different level states. That is, the driving circuit 20 generates a first driving signal when the firing signal has a first level and the return signal has a second level. The first drive signal drives the motor 1 to rotate in the first direction, and the drive circuit 20 generates a second drive signal to drive the motor 1 to rotate in the second direction when the firing signal has the second level and the return knife signal has the first level. The level states of the firing signal and the return knife signal are controlled by the cutting control circuit 10, and the level states of the first drive signal and the second drive signal are controlled by the drive circuit 20. That is, the forward and reverse drive control of the motor 1 is realized through the cutting control circuit 10 and the drive circuit 20. The motor control circuit of the present application is relatively simple, reliable, and highly sensitive, which shortens the steering response time of the motor 1 and improves the control performance of the motor 1.

[0084] like Figure 2 As shown, illustratively, the drive circuit 20 may be 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 output port BO is connected to the first input terminal of the motor 1, and the second output port FO is connected to the second input terminal of the motor 1. The drive circuit 20 includes a drive chip (IC), and the drive chip is configured with a first input port BI, a second input port FI, a first output port BO, and a second output port FO.

[0085] based on Figure 2The drive circuit 20 shown, optionally, the first input port BI is connected to the output end of the first control circuit 110, and the first input port BI is used to receive the knife return signal. The second input port FI is connected to the output end of the second control circuit 120, and the second input port FI is used to receive the firing signal. Exemplarily, the first drive signal may include a first sub-drive signal and a second sub-drive signal. When the knife return signal has a high level and the firing signal has a low level, the drive circuit 20 may generate a first sub-drive signal with a high level and a second sub-drive signal with a low level, wherein 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. In this case, the drive circuit 20 can drive the motor 1 to rotate forward to drive the actuator in a surgical instrument such as a stapler to advance, thereby cutting and stapling the tissue. Exemplarily, the second drive signal may include a third sub-drive signal and a fourth sub-drive signal. When the knife return signal has a low level and the firing signal has a high level, the driving circuit 20 can generate a third sub-driving signal with a low level and a fourth sub-driving signal with a high level, wherein the third sub-driving signal is output via the first output port BO, and the fourth sub-driving signal is output via the second output port FO. In this case, the driving circuit 20 can drive the motor 1 to reverse to drive the actuator in the surgical instrument such as the stapler to retreat, thereby achieving knife return.

[0086] based on Figure 2 The driving circuit 20 shown in FIG. 1 may optionally be configured as follows: Figure 3 As shown, the first input port BI is connected to the output end of the second control circuit 120, and the first input port BI is used to receive the firing signal; the second input port FI is connected to the output end of the first control circuit 110, and the second input port FI is used to receive the knife return signal. Based on this, when the firing signal has a high level and the knife return signal has a low level, the drive circuit 20 can generate a first sub-drive signal with a high level and a second sub-drive signal with a low level, and drive the motor 1 to rotate forward to drive the surgical instrument such as the actuator in the stapler to move forward, thereby cutting and stapling the tissue. When the firing signal has a low level and the knife return signal has a high level, the drive circuit 20 can generate a third sub-drive signal with a low level and a fourth sub-drive signal with a high level, and drive the motor 1 to reverse to drive the surgical instrument such as the actuator in the stapler to retreat, thereby achieving knife return.

[0087] In one embodiment, the driving circuit 20 is further used to generate a third driving signal when the firing signal and the knife return signal have the same level state, so as to stop the motor 1. Exemplarily, when the firing signal and the knife return signal have a high level, or when the firing signal and the knife return signal have a low level, the driving circuit 20 generates the third driving signal, and the motor 1 stops under the action of the third driving signal. The third driving signal is different from the first driving signal and the second driving signal.

[0088] For example, based on the above Figure 2 and Figure 3 The driving circuit 20 shown in the figure can generate a third driving signal with a low level when the firing signal and the return signal have a high level, and the third driving signal is output through the first output port BO and the second output port FO. When the firing signal and the return signal have a low level, the driving circuit 20 does not output.

[0089] Based on the above-mentioned motor control circuit 2, the forward and reverse rotation of the driving motor 1 is realized, and the start and stop control of the motor 1 is further realized, thereby improving the control performance of the motor control circuit 2 on the motor 1. For example, taking the application of the motor 1 in the stapler drive actuator as an example, the motor 1 rotates forward to drive the actuator forward, thereby cutting and stapling the tissue; when it moves forward to the bottom, the motor 1 stops; then, the motor 1 reverses and drives the actuator backward to evacuate the tissue; when it moves backward to the bottom, the motor 1 stops. Therefore, by flexibly controlling the rotation state of the motor 1, the flexible control of the motion state of the surgical instrument actuator is achieved to meet the needs of the motor 1 in the surgical instrument scenario.

[0090] For the above-mentioned driving circuit 20, the input and output signal level control logic of the driving circuit 20 can be as shown in the truth table of Table 1, where "1" represents a high level, "0" represents a low level, and "OPEN" represents no output.

[0091] Table 1 Truth table of driving circuit 20

[0092] FI BI FO BO 1 0 1 0 0 1 0 1 1 1 0 0 0 0 OPEN OPEN

[0093] In one embodiment, Figure 4As shown, the first control circuit 110 may include a first switch module 111. The first switch module 111 is connected to the ground terminal GND, the power signal terminal VDD, and the drive circuit 20 respectively. The first switch module 111 is used to select and conduct the paths between the ground terminal GND, the power signal terminal VDD, and the drive circuit 20 respectively. Specifically, the first switch module 111 is used to conduct the path between the ground terminal GND and the first input terminal of the drive circuit 20, or to conduct the path between the power signal terminal VDD and the first input terminal of the drive circuit 20. The on-off state of the first switch module 111 is different, and the return signal has different levels.

[0094] Exemplarily, when the first switch module 111 conducts the path between the ground terminal GND and the first input terminal of the driving circuit 20, the first switch module 111 can output a low-level return signal. When the first switch module 111 conducts the path between the power signal terminal VDD and the first input terminal of the driving circuit 20, the first switch module 111 can output a high-level return signal. This is only an exemplary description, and the level state of the return signal is specifically determined according to the specific structure of the first switch module 111.

[0095] The above-mentioned first control circuit 110 selects the transmission path between the ground terminal GND, the power signal terminal VDD and the first input terminal of the driving circuit 20 through the first switch module 111, switches back to the level state of the knife signal to cooperate with the firing signal, and realizes the switching of the rotation direction of the motor 1 through the driving circuit 20, thereby realizing the forward and reverse drive control of the motor 1.

[0096] In one embodiment, Figure 5 As shown, the first switch module 111 may include an optical coupling unit 111a and a switch control unit 111b. The optical coupling unit 111a is connected to the ground terminal GND and the power signal terminal VDD respectively. The optical coupling unit 111a is used to conduct when the light source is not blocked, and to disconnect when the light source is blocked. Exemplarily, the optical coupling unit 111a may include an optical coupler.

[0097] The switch control unit 111b is respectively connected to the ground terminal GND, the power signal terminal VDD, the optical coupling unit 111a, and the driving circuit 20. The switch control unit 111b is used to disconnect when the optical coupling unit 111a is in the on state, and output a return signal with a first level. The switch control unit 111b is also used to turn on when the optical coupling unit 111a is disconnected, and output a return signal with a second level.

[0098] Alternatively, if Figure 6 and Figure 7As shown, two structural block diagrams of the first switch module 111 are provided. Specifically, the optical coupling unit 111a may include an optical coupler C and a resistor R1, and the switch control unit 111b may include a resistor R2, a resistor R3, a resistor R4, a resistor R5 and a switch tube Q1. Among them, the anode of the optical coupler C is connected to the first end of the resistor R1, the second end of the resistor R1 is connected to the power signal terminal VDD, the cathode and the emitter of the optical coupler C are respectively connected to the ground terminal GND, the collector of the optical coupler C is respectively connected to the first end of the resistor R3 and the first end of the resistor R4, the second end of the resistor R3 is respectively connected to the first end of the resistor R2 and the control end of the switch tube Q1, the second end of the resistor R2 and the first pole of the switch tube Q1 are respectively connected to the ground end, the second pole of the open tube Q1 is connected to the resistor R5, and the second end of the resistor R5 is respectively connected to the second end of the resistor R4 and the power signal terminal VDD. Exemplarily, the switch tube Q1 is an NPN type triode.

[0099] exist Figure 6 In the embodiment, the second electrode of the switch tube Q1 is used as the output terminal SW1 and is connected to the driving circuit 20. When the light source is not blocked, the receiving end of the optical coupler C, that is, the triode of the optical coupler C, is turned on, and the light-opening tube Q1 is turned off. At this time, SW1 outputs a high-level return signal. When the light source of the optical coupler C is blocked, the receiving end of the optical coupler C is turned off, and the light-opening tube Q1 is turned on. At this time, SW1 outputs a low-level return signal.

[0100] exist Figure 7 In the embodiment, the first electrode of the switch tube Q1 is used as the output terminal SW1 and is connected to the driving circuit 20. When the light source is not blocked, the receiving end of the optical coupler C is turned on, and the light-opening tube Q1 is turned off. At this time, SW1 outputs a low-level return signal. When the light source is blocked, the receiving end of the optical coupler C is turned off, and the light-opening tube Q1 is turned on. At this time, SW1 outputs a high-level return signal.

[0101] In the embodiment of the present application, for the convenience of description, the first switch module 111 includes an optical coupling unit 111a and a switch module unit 111b, and the first switch module 111 may be referred to as a photoelectric switch.

[0102] The first switch module 111 includes an optical coupling unit 111a and a switch control unit 111b, wherein the optical coupling unit 111a switches the on-off state when the light source is blocked or not, thereby switching the on-off state of the switch control unit 111b, so as to output a return signal with different levels, so that the drive circuit 20 can switch the rotation direction of the motor 1 according to the return signal and in combination with the firing signal, thereby meeting the rotation requirements of the motor 1. The first switch module 111 uses a non-contact switch to control the paths between the ground terminal GND and the power signal terminal BDD and the drive circuit 20, respectively. Compared with the method of using a mechanical structure to rely on external force to close the button to the effective stroke for control, the first switch module 111 provided in the embodiment of the present application does not need to rely on external force, and there is no problem of insufficient effective stroke after the mechanical structure such as a mechanical micro switch is repeatedly operated, and the sensitivity and reliability are higher, the response is faster, and the circuit structure is simpler.

[0103] In one embodiment, Figure 8 As shown, the first switch module 111 may include a single pole multiple throw (SPnT) switch, referred to as switch KEY1, such as SP2T, SP3T, SP5T, etc. Exemplarily, the switch KEY1 may be a mechanical switch, and the on and off state of the switch KEY1 may be controlled by a user operation.

[0104] The multiple first ends of the switch KEY1 are respectively connected to the ground terminal GND and the power signal terminal VDD, and the second end of the switch KEY1 is connected to the driving circuit 20. The switch KEY1 is used to select and conduct the paths between the ground terminal GND, the power signal terminal VDD and the driving circuit 20. When the switch KEY1 conducts the path between the ground terminal GND and the driving circuit 20, the output return signal is a ground signal, that is, the return signal is a low level. When the switch KEY1 conducts the path between the power signal terminal VDD and the driving circuit 20, the output return signal is a power signal, that is, the return signal is a high level.

[0105] The above-mentioned first switch module 111 switches the on-off state of the single-pole multi-throw switch and the level state of the return signal, so that the drive circuit 20 can switch the rotation direction of the motor 1 according to the return signal and combined with the trigger signal, thereby meeting the rotation requirements of the motor 1 and making the steering of the motor 1 operational. In addition, the first switch module 111 cooperates with the second control circuit 120 and the drive circuit 20 to realize the forward and reverse rotation of the motor 1.

[0106] In one embodiment, the second control circuit 120 may include a second switch module. The second switch module is connected to the ground terminal GND, the power signal terminal VDD, and the drive circuit 20 respectively. The second switch module is used to select the path between the ground terminal GND, the power signal terminal VDD and the drive circuit 20. Specifically, the second switch module is used to conduct the path between the ground terminal GND and the second input terminal of the drive circuit 20, or to conduct the path between the power signal terminal VDD and the second input terminal of the drive circuit 20. The on-off state of the second switch module is different, and the firing signal has different levels.

[0107] Exemplarily, when the second switch module conducts the path between the ground terminal GND and the second input terminal of the driving circuit 20, the second switch module can output a firing signal with a low level. When the second switch module conducts the path between the power signal terminal VDD and the second input terminal of the driving circuit 20, the second switch module can output a firing signal with a high level.

[0108] For example, Fig. 9 As shown, the second switch module may include a single-pole multi-throw switch KEY2, referred to as switch KEY2, such as SP2T, SP3T, SP5T, etc. Exemplarily, the switch KEY2 may be a mechanical switch, and the on and off state of the switch KEY2 may be controlled by a user operation.

[0109] Multiple first ends of the switch KEY2 are respectively connected to the ground terminal GND and the power signal terminal VDD, and the second end of the switch KEY1 is connected to the second input terminal of the driving circuit 20. The switch KEY2 is used to select the path between the ground terminal GND, the power signal terminal VDD and the second input terminal of the driving circuit 20. When the switch KEY2 conducts the path between the ground terminal GND and the second input terminal of the driving circuit 20, the output firing signal is a ground signal, that is, the firing signal is a low level. When the switch KEY2 conducts the path between the power signal terminal VDD and the second input terminal of the driving circuit 20, the output firing signal is a power signal, that is, the firing signal is a high level.

[0110] The above-mentioned second control circuit 120 selects the transmission path between the ground terminal GND, the power signal terminal VDD and the second input terminal of the driving circuit 20 through the second switch module, switches the level state of the firing signal to cooperate with the return signal, and realizes the switching of the rotation direction of the motor 1 through the driving circuit 20 to realize the forward and reverse drive control of the motor 1.

[0111] In one embodiment, Fig.10As shown, the second control circuit 120 may include a second switch module 121 and a self-locking control module 122. The self-locking control module 122 is respectively connected to the second end of the second switch module 121 and the drive circuit 20. The self-locking control module 122 is used to select and conduct the transmission path between the second end of the second switch module 121 and the drive circuit 20 based on the received self-locking control signal.

[0112] Specifically, the self-locking control module 122 disconnects the transmission path between the second end of the second switch module 121 and the drive circuit 20 based on the received first self-locking control signal. In this case, the firing signal is locked, that is, the level state of the firing signal is locked to a high level or a low level. In other words, the ground terminal GND and the power signal terminal VDD cannot be transmitted from the self-locking control module 122 to the drive circuit 20, that is, the switching of the on-off state of the second switch module 121 cannot be fed back to the drive circuit 20. The self-locking control module 122 turns on the transmission path between the second end of the second switch module 121 and the drive circuit 20 based on the received second self-locking control signal, wherein the first self-locking control signal and the second self-locking control signal have different level states. In this case, the ground terminal GND and the power signal terminal VDD can be transmitted from the second switch module 121 to the drive circuit 20 via the self-locking control module 122.

[0113] For example, Fig.11 As shown, the self-locking control module 122 may include a first switch tube Q2, a first resistor R6, and a second resistor R7. The first end of the first resistor R6 is respectively connected to the second end of the second switch module 121 and the first pole of the first switch tube Q2, the second end of the first resistor R6 is respectively connected to the first end of the second resistor R7, the second end of the second resistor R7 is connected to the control end of the first switch tube Q2, and the second pole of the first switch tube Q2 is connected to the drive circuit 20. The second end of the first resistor R6 is the LOCK end, which is used to receive the self-locking control signal.

[0114] Exemplarily, the first switch tube Q2 is an N-type MOS tube or a P-type MOS tube. Fig.11 As shown, when the first switch tube Q2 is NMOS, the first switch tube Q2 is turned on under the action of a self-locking control signal with a high level, and is turned off under the action of a self-locking control signal with a low level. When the second opening tube Q2 is PMOS, the first switch tube Q2 is turned on under the action of a self-locking control signal with a low level, and is turned off under the action of a self-locking control signal with a high level. In practical applications, the type of the appropriate first switch tube Q2 can be selected according to the specific structure of the circuit. Based on this, different types of MOS tubes can be used as the first switch tube Q2 to adapt to different circuit designs.

[0115] The above-mentioned second control circuit 120 can turn on the transmission path between the second switch module 121 and the drive circuit 20 through the self-locking control circuit 122, so that the second switch module 121 can control the firing signal to switch back and forth between the ground signal and the power supply signal by switching the on-off state. In this case, the drive circuit 20 can realize forward and reverse control of the motor 1 according to the firing signal and the return signal; in addition, the transmission path between the second switch module 121 and the drive circuit 20 can be disconnected by the self-locking control circuit 122 to make the second switch module 121 invalid and lock the level state of the firing signal. In this case, the drive circuit 20 realizes locking of the rotation direction of the motor 1 according to the locked firing signal and the return signal, that is, the motor 1 can only rotate in a fixed direction or stop, which further improves the control performance of the motor control circuit 2 on the motor 1 and expands the rotation state of the motor 1. For example, in a scenario where the motor 1 is used in a medical device (such as a stapler) to drive a load (such as an actuator), the motor 1 reverses to drive the actuator backward, and the motor control circuit 2 locks the rotation direction of the motor 1 to the reverse direction. At this time, the actuator is also locked to the backward direction, thereby preventing the actuator from firing again, avoiding safety issues such as accidental triggering during re-firing, and improving the safety and reliability of the medical device.

[0116] In one embodiment, Fig.12 As shown, the cutting control circuit 10 may include a first control circuit 110, a second control circuit 120 and an output control circuit 130. The output control circuit 130 is respectively connected to the output end of the first control circuit 110, the output end of the second control circuit 120, the target signal end SG, and the drive circuit 20. The target signal end SG is one of the ground end GND and the power signal end VDD. The target signal end SG can select a suitable signal end according to the actual circuit structure, and no limitation is made here.

[0117] The output control circuit 130 is used to control the first input terminal and the second input terminal of the driving circuit 20 to keep the same level according to the target signal of the target signal terminal when there is no signal output from the first control circuit 110 and the second control circuit 120. Based on this, it can be avoided that when there is no signal output from the first control circuit 110 and the second control circuit 120, the level state of each input terminal of the driving motor 20 fluctuates, causing the fluctuation of the rotation state of the motor 1, thereby improving the stability of the motor control circuit 2, thereby improving the stability of the motor 1.

[0118] In one embodiment, please refer to Fig.12, the output control circuit 130 may include a third resistor R8 and a fourth resistor R9. The first end of the third resistor R8 is respectively connected to the output end of the first control circuit 110 and the first input end of the drive circuit 20, the second end of the third resistor R8 is respectively connected to the target signal end SG and the first end of the fourth resistor R9, and the second end of the fourth resistor R9 is respectively connected to the output end of the second control circuit 120 and the second input end of the drive circuit 20. The resistance values ​​of the third resistor R8 and the fourth resistor R9 are the same. Based on this, when there is no signal output from the first control circuit 110 and the second control circuit 120, the output control circuit 130 can keep the level of the first input end of the drive circuit 20 consistent with the level of the second input end through the third resistor R8 and the fourth resistor R9, so as to avoid the fluctuation of the input end signal of the drive circuit 20 on the motor 1, thereby improving the stability of the motor 1.

[0119] In one embodiment, Figures 13 to 16 As shown, a motor control circuit 2 is provided, and the motor control circuit 2 is applied to a stapler as an example for explanation. The motor control circuit 2 includes a first control circuit 110, a second control circuit 120, an output control circuit 130 and a drive circuit 20. Among them, the second control circuit 120 includes an SP2T switch KEY2 and a self-locking control module 122. The self-locking control module 122 can be seen in Fig. 9 The output control circuit 130 can be found in Fig.11 And related instructions. The driving circuit 20 can refer to Figure 2 and Figure 3 The structure shown and related instructions.

[0120] exist Fig.13 In the embodiment, the first control circuit 110 adopts Figure 6 The structure shown. Among them, the output terminal SW1 of the first control circuit 110 is respectively connected to the first input terminal A (i.e., the first input port BI) of the driving circuit 20 and the first end of the third resistor R8 in the output control circuit 130. A first end 1 of the switch KEY2 is connected to the ground terminal GND, and the other first end 2 of the switch KEY2 is connected to the power signal terminal VDD. The second end of the switch KEY2 is connected to the source of the NMOS tube Q2 in the self-locking control module 122 and the first end of the first resistor R6. The drain of the NMOS tube Q2 is respectively connected to the second end of the fourth resistor R9 in the output control circuit 130 and the second input terminal B (i.e., the second input port FI) of the driving circuit 20.

[0121] In actual application, in the initial state, when the switch KEY2 is in the normally closed state, the first terminal 2 of the switch KEY2 is connected to the second terminal of the switch KEY2, that is, the power signal terminal VDD is connected. The NMOS tube is in the on state, and the optical coupler C is in the on state.

[0122] When the switch KEY2 is pressed, the first terminal 1 of the switch KEY2 is connected to the second terminal of the switch KEY2, and the switch KEY2 outputs a low-level signal; the optical coupler C is not blocked and its receiving terminal is turned on, the NPN transistor Q1 is turned off, and a high-level return signal is output and transmitted to the first input terminal A of the drive circuit 20. At this time, the LOCK terminal receives a high-level self-locking control signal, and the NMOS tube Q2 is turned on, so that the switch KEY2 outputs a low-level trigger signal that can be transmitted to the second input terminal B of the drive circuit 20. At this time, the logic level of AB is (1,0), and the drive circuit 20 generates a first drive signal, that is, the logic levels of the first output port BO and the second output port of the drive circuit 20 are (1,0), and the drive motor 1 rotates forward, and the motor 1 drives the actuator in the stapler to move forward to cut and suture the tissue.

[0123] When the actuator moves to the bottom, the light source of the optical coupler C is blocked, the receiving end is disconnected, the NPN transistor Q1 is turned on, and a low-level return signal is output and transmitted to the first input terminal A of the drive circuit 20. At this time, the logic level of AB becomes (0,0), the drive circuit 20 does not output, the motor 1 stops, and the actuator stops moving.

[0124] At this time, the switch KEY2 is released, the switch KEY2 is turned on, that is, the second end of the switch KEY2 is connected to the first end 2, and the switch KEY2 outputs a high level signal. At this time, the logic level of AB becomes (0,1), and the drive circuit 20 generates a second drive signal, that is, the logic levels of the first output port BO and the second output port of the drive circuit 20 are (0,1), and the drive motor 1 is reversed, and the motor 1 drives the actuator in the stapler to retreat to achieve the return of the knife.

[0125] During the knife return process, when a low-level self-locking control signal is received at the LOCK end, the NMOS tube Q2 is disconnected and the locking trigger signal is high, that is, the rotation direction of the motor 1 is locked in the reverse direction. At this time, the movement direction of the actuator is also locked in the backward direction, which can prevent the actuator from being triggered again and avoid accidental touch.

[0126] When the knife is returned to the bottom, the optical coupler C is not blocked again, the receiving end is turned on again, the NPN transistor Q1 is turned off, and a knife return signal with a high level is output and transmitted to the first input terminal A of the driving circuit 20. At this time, the logic level of AB becomes (1,1), and the driving circuit 20 generates a third driving signal, that is, the logic level of the first output port BO and the second output port of the driving circuit 20 is (0,0), so that the motor 1 stops rotating, so that the actuator stops moving, and the operation is completed.

[0127] exist Fig.14 In the embodiment, the first control circuit 110 adopts Figure 7In the structure shown, accordingly, the output terminal SW1 of the first control circuit 110 is connected to the second input terminal B of the driving circuit 20, and the first input terminal A of the driving circuit 20 is connected to the drain of the PMOS tube Q2 and the second end of the fourth resistor R9 in the output circuit 130. Fig.14 The application process of the structure shown is Fig.13 Similarly, the level control is opposite, but the logic is the same. For details, please refer to the above related description, which will not be repeated here.

[0128] exist Fig.15 In the embodiment, the first control circuit 110 uses a SP2T switch KEY1, and the switch KEY1 is connected to the first input terminal A of the driving circuit 20. The self-locking control module 122 uses an NMOS tube Q2. Fig.11 The application process is similar. When switch KEY1 and switch KEY2 are in the normally closed state, each first end 2 is connected to the corresponding second end, that is, the power signal end VDD is connected. When starting the firing, press switch KEY2 to connect the second end of switch KEY2 to the first end 1, that is, the ground end GND is connected. At this time, the logic level of AB is (1,0), and motor 1 rotates forward. When the firing is fully completed, press switch KEY1, the logic level of AB is (0,0), and motor 1 stops. Then, release switch KEY2, the logic level of AB is (0,1), and motor 1 reverses. When the reverse is fully completed, release switch KEY1, the logic level of AB is (1,1), and motor 1 stops.

[0129] exist Fig.16 In the embodiment, the second control circuit 110 also uses the SP2T switch KEY2. Fig.15 , Fig.16 The self-locking control module 122 in the embodiment uses a PMOS tube Q2, and the switch KEY2 is connected to the first input terminal A of the driving circuit 20. Fig.16 The application process of the structure shown is Fig.15 Similarly, the level control is opposite, but the logic is the same. For details, please refer to the above related description, which will not be repeated here.

[0130] In one embodiment, Figures 17 to 32 As shown, a surgical instrument is provided, which may include an instrument body 3, a circuit board 4, a motor 1 and an actuator 5. Exemplarily, the surgical instrument may be any instrument used in the surgical field that needs to be driven by the motor 1, such as a stapler.

[0131] Exemplarily, the surgical instrument may be a stapler. The stapler may include an instrument body 3, a shaft assembly 101 extending from the instrument body 3, and an end effector disposed at the distal end of the shaft assembly 101. The shaft assembly 101 includes a sleeve 102 and a mandrel 105 accommodated in the sleeve 102. The end effector includes a staple cartridge seat 91, an anvil seat 90, and a staple cartridge assembly. The staple cartridge seat 91 is pivotally connected to the anvil seat 90. The staple cartridge seat 91 is used to operably support the staple cartridge assembly (not shown) located therein. The anvil seat 90 can selectively move between an open position and a closed position, thereby cooperating with the staple cartridge seat 91 and the staple cartridge assembly to loosen or clamp the tissue. The stapler also includes an electric module, a gear assembly 51, and a transmission assembly. The electric module includes a motor 1 and a motor gear connected to the motor 1; the motor 1 drives the gear assembly 51 to move through the motor gear, thereby driving the transmission assembly to move. The transmission assembly includes a rack 52, and the proximal end of the mandrel 105 is connected to the rack 52. In this embodiment, the actuator 5 includes a cutting knife assembly, which is connected to the distal end of the core shaft 105. The cutting knife assembly is used to cut tissue, and the cutting knife assembly includes a knife rod 106 and a cutting knife 107 connected to the knife rod 106; the motor 1 drives the gear assembly 51 to move through the motor gear, and then drives the rack 52 and the core shaft 105 to move, thereby realizing the movement of the cutting knife assembly.

[0132] Among them, the circuit board 4 is arranged on the instrument body 3, and the circuit board 4 integrates the motor control circuit 2. The motor control circuit 2 can be the motor control circuit 2 provided in any of the above embodiments. For details, please refer to the above related content, which will not be repeated here. The motor 2 is arranged on the instrument body 3, and the motor 1 is connected to the motor control circuit 2. Specifically, the motor 1 is connected to the drive circuit 20 in the motor control system 2, and is used to rotate in the first direction under the drive of the first drive signal output by the drive circuit 20, and to rotate in the second direction under the drive of the second drive signal output by the drive circuit 20.

[0133] The actuator 5 is disposed on the instrument body 3, and the actuator 5 is connected to the motor 2. The actuator 5 is used to move forward under the drive of the motor 1 when the motor 1 rotates in a first direction, and to move backward under the drive of the motor 1 when the motor 1 rotates in a second direction. The forward direction is opposite to the backward direction. The actuator 5 refers to a related device that moves under the drive of the motor 1, and the corresponding structure can be set according to the type of surgical instrument, and no limitation is made here. For example, Fig.16 As shown, when the surgical instrument is a stapler, the actuator 5 may include a cutting knife assembly.

[0134] For example, the first direction is the forward direction of the motor 1, and the motor 1 rotates forward to drive the actuator 5 forward; the second direction is the reverse direction of the motor 1, and the motor 1 rotates reversely to drive the actuator backward. In actual applications, the first direction can also be set as the reverse direction of the motor 1, and the second direction can be set as the forward direction of the motor 1, and the corresponding settings can be made according to specific scenarios.

[0135] The above-mentioned surgical instrument includes an instrument body 3, a circuit board 4, a motor 1 and an actuator 5, wherein the motor 1 can rotate forward and reverse under the drive of the motor control circuit 2 on the circuit board 4, so that the actuator 5 can move forward and backward under the drive of the motor 1, thereby realizing effective control of the movement direction of the actuator 5 to meet the application requirements of the surgical instrument.

[0136] In one embodiment, Figure 6 and Figure 7 As shown, the first switch module 111 in the motor control system includes an optical coupling unit 111a and a switch control unit 111b. The optical coupling unit 111a and the switch control unit 111b are arranged on the circuit board 4. That is, the first control circuit 110 in the motor control system adopts a photoelectric switch solution, and the photoelectric switch is arranged on the circuit board 4.

[0137] Based on the above, the surgical instrument may further include a transmission assembly and a sliding assembly 6. The transmission assembly is drivingly connected to the actuator 5. The sliding assembly 6 includes a sliding body 61 and a sliding portion 62, a matching portion 63 and a shielding portion 64 arranged on the sliding body 61. The sliding portion 62 is movably arranged in the first groove 31 on the instrument body 3.

[0138] When the actuator 5 moves forward to the first preset position, the driving portion of the transmission assembly abuts against the matching portion 63, driving the sliding portion 62 to move forward relative to the instrument body 3 in the first groove 31, so that the shielding portion 64 moves in the forward direction so that the shielding portion 64 blocks the light source of the optical coupling unit 111a. In this case, the optical coupling unit 111a is in a disconnected state and the switch control unit 111b is in a conducting state.

[0139] When the actuator 5 moves backward to the second preset position, the driving part of the transmission assembly contacts the matching part 63, driving the sliding part 62 to move backward relative to the instrument body 3 in the first groove 31, so that the shielding part 64 moves backward, so that the shielding part 64 moves out of the light shielding position. In this case, the optical coupling unit 111a is in the on state, and the switch control unit 111b is in the off state. The first preset position is the position where the actuator 5 moves forward close to the bottom but not to the bottom, and the second preset position is the position where the actuator 5 moves backward close to the bottom but not to the bottom.

[0140] The above surgical instrument can cooperate with the transmission component, the sliding component 6 and the optical coupling unit 111a, so that when the actuator 5 moves to the first preset position, the driving part of the transmission component abuts with the matching part of the sliding component, so that the shielding part 64 in the sliding component 6 shields the light source of the optical coupling unit 111a, and the state of the optical coupling unit 111a is switched to the disconnected state, so that the switch control unit 111b is switched to the on state; and when it moves to the second preset position, the driving part of the transmission component abuts with the matching part of the sliding component, so that the shielding part 64 in the sliding component 6 moves to the outside of the light shielding position, and the light is turned on. The coupling unit 111a is switched to the on state, thereby switching the switch control unit 111b to the off state, and then switching the level state of the knife return signal, so that the drive circuit 20 can switch the rotation state of the motor 1 according to the knife return signal and in combination with the firing signal, thereby switching the motion state of the actuator 5 in the surgical instrument. Compared with the switching achieved by using a mechanical microswitch, the embodiment of the present application realizes automatic switching of the motion direction of the actuator 5 without the need for external force, and there is no problem of insufficient effective stroke of the mechanical microswitch after repeated use. The sensitivity and reliability are higher, and the circuit and structure are simpler.

[0141] In one embodiment, the transmission assembly may include a rack 52, the rack 52 includes a second groove 52a, a first end 52b disposed at the proximal end of the second groove 52a, and a second end 52c disposed at the distal end of the second groove 52a, the driving portion of the transmission assembly is the first end 52b and the second end 52c, and the matching portion 63 of the sliding assembly 6 is a protrusion. When the actuator 5 moves forward to the first preset position, the first end 52b abuts against the protrusion to drive the sliding portion 62 to move forward, and when the actuator 5 moves backward to the second preset position, the second end 52c abuts against the protrusion to drive the sliding portion 62 to move backward.

[0142] Optionally, the transmission assembly may include a rack 52, the rack 52 includes a rack protrusion, and the matching portion 63 of the sliding assembly 6 is a matching groove, the matching groove includes a first end 52b located at the proximal end of the groove and a second end 52c located at the distal end of the groove. When the actuator 5 moves forward to the first preset position, the rack protrusion cooperates with the first end 52c to drive the sliding portion 62 to move forward, and when the actuator 5 moves backward to the second preset position, the rack protrusion cooperates with the second end 52b with the groove to drive the sliding portion 62 to move backward.

[0143] In one embodiment, when the actuator 5 moves forward and reaches the first preset position, the mating portion 63 slides relatively in the second groove 52a, the shielding portion 64 is outside the light shielding position, the optical coupling unit 111a is in the on state, and the switch control unit 111b is in the off state.

[0144] When the actuator 5 moves backward and reaches the second preset position, the mating portion 63 slides relatively in the second groove 52a, and the shielding portion 64 shields the light source of the optical coupling unit 111a. The optical coupling unit 111a is in the disconnected state, and the switch control unit 111b is in the on state.

[0145] Exemplarily, the surgical instrument is described as a stapler. When the motor 1 rotates forward, the actuator 5 moves forward. During this process, the shielding portion 64 remains outside the light-shielding position, so that the actuator 5 performs a firing operation to cut the stapled tissue. When firing to the bottom, the shielding portion 64 blocks the light source of the optical coupler C, triggering the motor 1 to reverse, so that the actuator 5 retreats to achieve the return of the knife. During the return process, the sliding assembly 6 relies on the friction force with the stapler body to keep the shielding portion 64 blocking the light source, so that the motor 1 keeps reversing to keep the actuator retreating. When the knife is returned to the bottom, the shielding portion 64 moves outside the light-shielding position and returns to the initial state.

[0146] In the above-mentioned surgical instrument, when the actuator 5 moves forward and reaches the first preset position, the shielding portion 64 remains outside the light-shielding position to ensure that the actuator 5 moves forward, and when the actuator 5 moves backward and reaches the second preset position, the shielding portion 64 maintains the shielding state of the light source to ensure that the actuator 5 moves backward, thereby meeting the application requirements of the surgical instrument.

[0147] In one embodiment, the sliding assembly 6 also includes a first extension portion 65 provided on the sliding body, wherein the surgical instrument also includes an emergency knife return push button 7, the emergency knife return push button 7 includes a second extension portion 71, a third groove 72 is provided on the emergency knife return push button 7, the second extension portion 71 is provided in a fourth groove (not shown in the figure) of the instrument body 3, and the first extension portion 65 is provided in the third groove 72. When the sliding assembly 6 is driven to move by the rack 52, the first extension portion 65 slides relative to the emergency knife return push button 7 in the third groove 72.

[0148] The emergency knife return push button 7 is used to move the second extension part 71 along the fourth groove under the action of external force, and drive the sliding component 6 to move through the first extension part 65. When the sliding component 6 moves to the preset light shielding position, the shielding part 64 of the sliding component 6 shields the light source of the photoelectric switch. In this case, the optical coupling unit 111a is disconnected and the switch module unit 111b is turned on.

[0149] For example, the surgical instrument is a stapler. When the motor 1 rotates forward, the actuator 5 moves forward. During this process, the user presses the emergency knife return button 7, and the trigger signal level state changes. In this case, the emergency knife return can be achieved by changing the knife return signal level state.

[0150] For the above-mentioned surgical instrument, during the process of the actuator 5 moving forward, the user can press the emergency return button 7 to make the shielding part 64 block the light source of the optical coupler C, so that the optical coupler C switches to the disconnected state, and the switch control unit 111b switches to the on state, thereby realizing the switching of the firing signal level, so that the drive circuit 20 can change the rotation direction of the motor 1 according to the firing signal and combined with the return signal to meet emergency needs.

[0151] In one embodiment, the surgical instrument may further include a first limit member 33 disposed on the instrument body 3, and the sliding assembly 6 may further include a groove 66, which may engage with the first limit member 33; when pushed by the emergency knife return push button 7, the sliding assembly 6 moves until its groove 66 engages with the first limit member 33, specifically, the groove wall of the groove 66 abuts against the first limit member, and the sliding assembly 6 stops moving. The first limit member 33 may be used to effectively control the movement stroke of the sliding assembly 6, limit the position of the sliding assembly 6, and achieve effective control of the sliding assembly 6, giving the user feedback, facilitating user operation, and improving the operability of the surgical instrument.

[0152] In one embodiment, the second control circuit 120 in the motor control circuit 2 includes a second switch module 121. The surgical instrument further includes a firing trigger 8. The firing trigger 8 is used to receive user operation instructions and control the on / off state of the second switch module 121. Based on this, the actuator 5 is used to move forward under the drive of the motor 1 when the optical coupling unit 111a is in the on state and the second switch module 121 is in the on state. The actuator 5 is also used to move backward under the drive of the motor 1 when the optical coupling unit 111a is in the off state and the second switch module 121 is in the off state. The actuator 5 is also used to stop the movement when the optical coupling unit 111a is in the on state and the second switch module 121 is in the off state, or when the optical coupling unit 111a is in the off state and the second switch module 121 is in the on state.

[0153] The above-mentioned surgical instrument realizes the on-off control of the second control circuit 120 in the motor control circuit 2 through the firing trigger 8, so that the level state of the knife return signal can be switched through user operation. Combined with the firing signal, the rotation direction of the motor 1 can be switched, thereby realizing the switching of the movement direction of the actuator 5, thereby improving the operability of the surgical instrument.

[0154] In one embodiment, the surgical instrument is a stapler, and the stapler provided in the embodiment of the present application is described in conjunction with the above-mentioned drawings.

[0155] When firing is required, the firing trigger 8 is pressed to actuate the firing switch KEY2, so that its (normally high signal) is connected to a low level, that is, the A terminal (i.e., the BI pin) of the motor driver IC is connected to a low level, and at this time, the end-of-stroke switch, i.e., the light source of the photoelectric switch is not blocked, and remains turned on (normally high signal), that is, the B terminal (i.e., the FI pin) of the motor driver IC is connected to a high level, and the BI input is low, then the output terminal FO of the motor outputs a high level, and the output terminal BO outputs a low level, the motor rotates forward, and the control rack 51 drives the cutting knife assembly forward to perform cutting. When the cutting knife assembly moves to the end of the stroke, the first end 52b of the rack 51 is combined with the matching portion 63 of the sliding assembly 6 to drive the sliding assembly 6 to move from its proximal position to the distal end to the distal position. When the cutting knife assembly moves to the firing bottom position, the light source of the photoelectric switch is blocked, and the optical coupler of the photoelectric switch is disconnected, and the conduction signal becomes a low level, that is, the FI inputs a low level, and at this time, the BI also inputs a low level, the motor driver IC has no valid output signal, and the motor stops. At this time, the firing trigger 8 is released to release the firing switch KEY2, so that it returns from the low position to the high position, that is, BI inputs a high level. At this time, since the sliding assembly 6 blocks the light source of the photoelectric switch, the photoelectric switch remains in a low position, that is, FI inputs a low level. At this time, the motor FO outputs a low level, and BO outputs a high level. The motor reverses and controls the rack 51 to drive the cutting knife assembly to retreat, that is, the knife returns. During the knife return process, the matching portion 63 of the sliding assembly 6 moves relative to the rack 51 and is not pushed by the rack 51, and remains in its distal position, that is, the light shielding portion 64 of the sliding assembly 6 blocks the light source of the photoelectric switch. Until the cutting knife assembly moves to a position close to the knife return bottom, the second end portion 52c of the rack 51 is combined with the matching portion 63 of the sliding assembly 6 to drive the sliding assembly 6 to move from its distal position to the proximal position. When the cutting knife assembly retreats to the knife return bottom position, the sliding assembly 6 leaves the light shielding position, so that the light source of the photoelectric switch is not blocked, and the photoelectric switch returns to a high position, that is, FI inputs a high level. At this time, FO and BO both output low level, the motor stops, and returns to the initial state. As can be seen from the above, during the knife return process, the sliding component 6 keeps blocking the light source of the photoelectric switch, and the photoelectric switch remains in a low position, that is, FI continues to input a low level. If you want to stop the knife return, press the cutting button KEY2, and the trigger switch KEY2 returns to a low position, that is, BI inputs a low level. At this time, FO and BO both output low level, the motor stops, and enters the knife return pause state. Release the cutting button KEY2 to continue the knife return action.During the process of the cutting knife assembly moving toward the distal end to cut the tissue, if thick tissue or hard tissue is encountered and it is impossible to continue firing, the operator can release the firing trigger 8 and operate the emergency knife return push button 8 outside the instrument housing to drive the sliding assembly 6 to move toward the distal end, so that the shielding portion 64 of the sliding assembly 6 blocks the light source of the photoelectric switch, and the photoelectric switch remains in a low position, that is, FI inputs a low level. At this time, since it is in a released state, the firing switch KEY2 is not actuated and is connected to a high position, that is, BI inputs a high level. That is, at this time, the motor FO outputs a low level, BO outputs a high level, and the motor reverses to control the rack 51 to drive the cutting knife assembly to retreat, that is, start to retract the knife, until the second end 52c of the rack 51 drives the shielding portion 64 of the sliding assembly 6 to leave the distal position and return to the initial position, the light source of the photoelectric switch is not blocked again, FI becomes a high level, and the knife return ends, that is, the knife returns to the initial position.

[0156] 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.

[0157] 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 motor control circuit, characterized in that: Applied to surgical instruments, the motor control circuit includes a cutting control circuit and a drive circuit; wherein, The cutting control circuit comprises a first control circuit and a second control circuit, wherein the first control circuit is respectively connected to a ground terminal, a power signal terminal and the driving circuit, and the first control circuit outputs a knife return signal to the driving circuit according to a ground signal of the ground terminal and a power signal of the power signal terminal, and the second control circuit is respectively connected to the ground terminal, the power signal terminal and the driving circuit, and the second control circuit outputs a firing signal to the driving circuit according to the ground signal and the power signal; When the firing signal has a first level and the knife return signal has a second level, the driving circuit generates a first driving signal to drive the motor to rotate in a first direction to drive the actuator of the surgical instrument to move in a forward direction, and when the firing signal has the second level and the knife return signal has the first level, the driving circuit generates a second driving signal to drive the motor to rotate in a second direction to drive the actuator to move in a backward direction; wherein the level states of the ground signal and the power supply signal are different, and the first direction is opposite to the second direction.

2. The motor control circuit according to claim 1, characterized in that: The first control circuit includes a first switch module, which is respectively connected to the ground terminal, the power signal terminal, and the drive circuit, and is used to select and conduct the paths between the ground terminal, the power signal terminal and the drive circuit respectively; wherein the on-off state of the first switch module is different, and the return signal has different levels.

3. The motor control circuit according to claim 2, characterized in that: The first switch module comprises: an optical coupling unit, connected to the ground terminal and the power signal terminal respectively, the optical coupling unit is turned on when the light source is not blocked, and is turned off when the light source is blocked; A switch control unit is respectively connected to the ground terminal, the power signal terminal, the optical coupling unit, and the drive circuit. The switch control unit is disconnected when the optical coupling unit is in a conducting state, and outputs a return signal with the first level. The switch control unit is turned on when the optical coupling unit is in a disconnected state, and outputs a return signal with the second level.

4. The motor control circuit according to claim 2, characterized in that: The first switch module includes a single-pole multi-throw switch, multiple first ends of the single-pole multi-throw switch are respectively connected to the ground end and the power signal end, the second end of the single-pole multi-throw switch is connected to the drive circuit, and the single-pole multi-throw switch selects to conduct the paths between the ground end, the power signal end and the drive circuit respectively.

5. The motor control circuit according to claim 1, characterized in that: The second control circuit includes a second switch module, which is respectively connected to the ground terminal, the power signal terminal, and the drive circuit, and is used to select and conduct the paths between the ground terminal, the power signal terminal and the drive circuit respectively; wherein the on-off state of the second switch module is different, and the firing signal has different levels.

6. The motor control circuit according to claim 1, characterized in that: The cutting control circuit also includes an output control circuit, which is respectively connected to the output end of the first control circuit, the output end of the second control circuit, the target signal end, the first input end and the second input end of the drive circuit. When the first control circuit and the second control circuit have no signal output, the output control circuit controls the first input end of the drive circuit and the second input end of the drive circuit to keep the levels consistent according to the target signal of the target signal end; wherein the target signal end is one of the ground end and the power signal end.

7. The motor control circuit according to claim 6, characterized in that: The output control circuit includes a third resistor and a fourth resistor, wherein the first end of the third resistor is respectively connected to the output end of the first control circuit and the first input end of the drive circuit, the second end of the third resistor is respectively connected to the target signal end and the first end of the fourth resistor, and the second end of the fourth resistor is respectively connected to the output end of the second control circuit and the second input end of the drive circuit; wherein the resistance values ​​of the third resistor and the fourth resistor are the same.

8. The motor control circuit according to claim 1, characterized in that: When the level states of the firing signal and the knife return signal are the same, the driving circuit generates a third driving signal to stop the motor.

9. A surgical instrument, characterized in that: include: Device body; A circuit board, arranged on the device body, comprising a motor control circuit as claimed in any one of claims 1 to 8; A motor, disposed on the device body and connected to the motor control circuit; An actuator is arranged on the instrument body and connected to the motor; when the motor rotates in the first direction, the actuator is driven forward, and when the motor rotates in the second direction, the actuator is driven backward; wherein the first direction is opposite to the second direction.

10. The surgical instrument according to claim 9, characterized in that The first switch module in the motor control circuit includes an optical coupling unit and a switch control unit; the optical coupling unit and the switch control unit are arranged on the circuit board; wherein the surgical instrument further includes: A transmission component, drivingly connected to the execution component; A sliding assembly, comprising a matching portion and a shielding portion, wherein the sliding assembly is movably disposed on the instrument body; When the actuator moves forward to the first preset position, the driving portion of the transmission assembly abuts against the matching portion, driving the sliding assembly to move forward relative to the instrument body, so that the shielding portion moves forward to shield the light source of the optical coupling unit, the optical coupling unit is in a disconnected state, and the switch control unit is in a conducting state; When the actuator moves backward to the second preset position, the driving part of the transmission assembly abuts against the matching part, driving the sliding assembly to move backward relative to the instrument body, so that the shielding part retreats to outside the light-shielding position, the optical coupling unit is in the on state, and the switch control unit is in the off state.

11. The surgical instrument according to claim 10, characterized in that The sliding assembly includes a sliding body, and the matching portion and the shielding portion are arranged on the sliding body; the sliding assembly also includes a sliding portion arranged on the sliding body; the sliding portion is movably arranged in a first groove of the instrument body, and the driving portion of the transmission assembly abuts against the matching portion to drive the sliding portion to move forward or backward in the first groove relative to the instrument body.

12. The surgical instrument according to claim 10, characterized in that The transmission assembly includes a rack, and the rack includes a second groove, a first end portion arranged at the proximal end of the second groove, and a second end portion arranged at the distal end of the second groove. The driving portion is the first end portion and the second end portion, and the matching portion is a protrusion. When the actuator moves forward to the first preset position, the first end portion abuts against the protrusion to drive the sliding assembly to move forward, and when the actuator moves backward to the second preset position, the second end portion abuts against the protrusion to drive the sliding assembly to move backward.

13. The surgical instrument according to claim 12, characterized in that In the process that the actuator moves forward and reaches the first preset position, the matching portion slides relatively in the second groove, the shielding portion is outside the light shielding position, the optical coupling unit is in the on state, and the switch control unit is in the off state; During the process of the actuator retreating and reaching the second preset position, the matching portion slides relatively in the second groove, the shielding portion shields the light source of the optical coupling unit, the optical coupling unit is in a disconnected state, and the switch control unit is in a conducting state.

14. The surgical instrument according to claim 10, characterized in that The sliding assembly further includes a first extension portion provided on the sliding body, and the surgical instrument further includes: The emergency knife return push button includes a second extension portion, the emergency knife return push button is provided with a third groove, the second extension portion is arranged in the fourth groove of the instrument body, and the first extension portion is arranged in the third groove; wherein, In response to the emergency knife return push button being operated, the second extension portion moves along the fourth groove and drives the sliding assembly to move through the first extension portion; wherein, when the sliding assembly moves to the light-shielding position, the shielding portion of the sliding assembly blocks the light source of the optical coupling unit, the optical coupling unit is disconnected, and the switch control unit is turned on.

15. The surgical instrument according to claim 14, characterized in that The surgical instrument further comprises a first limiting member arranged on the instrument body, and when the sliding assembly is driven by the emergency knife return push button to move to cooperate with the first limiting member, the sliding assembly stops moving.

16. The surgical instrument according to any one of claims 10 to 15, characterized in that The second control circuit in the motor control circuit includes a second switch module, wherein the surgical instrument further includes a firing trigger, and the firing trigger is used to receive a user operation instruction to control the on-off state of the second switch module; wherein, The actuator is used to move forward under the drive of the motor when the optical coupling unit is in the on state and the second switch module is in the on state; The actuator is also used to move backward under the drive of the motor when the optical coupling unit is in an off state and the second switch module is in an off state; The execution component is also used to stop moving when the optical coupling unit is in the on state and the second switch module is in the off state, or when the optical coupling unit is in the off state and the second switch module is in the on state.

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