Motor control circuit, motor control system and surgical instrument

Abstract

The invention relates to a motor control circuit, a motor control system and a surgical instrument. The motor control circuit comprises a cutting control circuit used for generating a knife return signal according to a received first switch signal and generating a percussion signal according to a received second switch signal; the driving circuit is used for generating a driving signal according to the knife return signal and the percussion signal so as to drive the motor to rotate; the self-locking sampling circuit is used for collecting the driving signal output by the driving circuit and generating a first self-locking control signal and a second self-locking control signal according to the driving signal, the first self-locking control signal is used for enabling the cutting control circuit to disconnect a transmission path of the second switching signal, and the percussion signal is locked to lock the rotating direction of the motor as a first direction; the second self-locking control signal is used for enabling the cutting control circuit to conduct a transmission path of the second switching signal and transmitting the percussion signal and the knife return signal to the driving circuit. According to the invention, the rotation direction of the motor is locked, and the safety is improved.

Description

Technical Field

[0001] The present application relates to the field of circuit technology, and in particular to a motor control circuit, system and 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 two rows of staggered staples into the tissue for cross suturing.

[0003] Generally, a motor is used to provide power for the stapler's cutting and suturing. During use, the actuator in the stapler is driven by the motor to move forward to perform cutting and suturing operations. After the operation is completed, the motor drives the actuator to retreat. During this process, if an accidental touch occurs, the actuator will be fired again, which poses a greater safety risk. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present application aims to provide a motor control circuit, system and surgical instrument to lock the rotation direction of the motor and improve safety.

[0005] In order to solve the above technical problems, this application is implemented through the following technical solutions:

[0006] A motor control circuit, comprising:

[0007] A cutting control circuit, wherein the cutting control circuit generates a knife return signal according to a received first switch signal, and generates a firing signal according to a received second switch signal;

[0008] A driving circuit connected to the cutting control circuit, wherein the driving circuit generates a driving signal according to the knife return signal and the firing signal to drive the motor to rotate in a first direction or a second direction;

[0009] A self-locking sampling circuit is respectively connected to the cutting control circuit and the driving circuit, and the self-locking sampling circuit collects the driving signal output by the driving circuit, and generates a first self-locking control signal and a second self-locking control signal according to the driving signal; wherein the first self-locking control signal causes the cutting control circuit to disconnect the transmission path of the second switch signal, and locks the firing signal to lock the rotation direction of the motor to the first direction; and the second self-locking control signal causes the cutting control circuit to connect the transmission path of the second switch signal to transmit the firing signal and the knife return signal to the driving circuit.

[0010] Further, the driving signal includes a first driving signal and a second driving signal; when the return knife signal has a first level and the firing signal has a second level, the driving circuit generates the first driving signal to drive the motor to rotate in the first direction; wherein the first level is different from the second level;

[0011] When the return signal has the second level and the firing signal has the first level, the driving circuit generates a second driving signal to drive the motor to rotate in a second direction; wherein the first direction is opposite to the second direction.

[0012] Further, when the first driving signal drives the motor to rotate in the first direction, the self-locking sampling circuit generates the first self-locking control signal, and transmits the first self-locking control signal to the cutting control circuit, so that the cutting control circuit cuts off the transmission path of the second switch signal, locks the firing signal to lock the rotation direction of the motor to the first direction;

[0013] When the second drive signal drives the motor to rotate in the second direction, the self-locking sampling circuit generates a second self-locking control signal and outputs the second self-locking control signal to the cutting control circuit so that the cutting control circuit turns on the transmission path of the second switch signal.

[0014] Furthermore, the self-locking sampling circuit comprises:

[0015] a sampling circuit connected to the driving circuit, the sampling circuit collecting the first driving signal and the second driving signal output by the driving circuit, and generating a first sampling signal when the first driving signal drives the motor to rotate in the first direction, and generating a second sampling signal when the second driving signal drives the motor to rotate in the second direction;

[0016] The self-locking circuit is connected to the sampling circuit and the cutting control circuit respectively. The self-locking circuit generates the first self-locking control signal according to the first sampling signal and generates the second self-locking control signal according to the second sampling signal.

[0017] Furthermore, the sampling circuit comprises:

[0018] an optical coupling module, wherein the optical coupling module is connected to the driving circuit, the optical coupling module is turned on under the action of the first driving signal, and is turned off under the action of the second driving signal;

[0019] A first switch module, wherein the first switch module is respectively connected to the optocoupler module and the self-locking circuit, the first switch module is turned on when the optocoupler module is in an on state and generates the first sampling signal, and is turned off when the optocoupler module is in an off state and generates the second sampling signal.

[0020] Furthermore, the sampling circuit comprises:

[0021] An operational amplifier module is respectively connected to the drive circuit and the self-locking circuit. The operational amplifier module collects the first drive signal and the second drive signal output by the drive circuit, and when the first drive signal drives the motor to rotate in the first direction, the first drive signal is power-amplified to generate the first sampling signal, and when the second drive signal drives the motor to rotate in the second direction, the second drive signal is power-amplified to generate the second sampling signal.

[0022] Further, the self-locking circuit includes a second switch module and a third switch module, wherein the control end of the second switch module is respectively connected to the sampling circuit and the first end of the third switch module, the first end of the second switch module is respectively connected to the control end of the third switch module and the cutting control circuit, the second end of the second switch module is connected to the ground end, and the second end of the third switch module is connected to the power signal end, wherein,

[0023] The on-off states of the second switch module and the third switch module are consistent;

[0024] The second switch module and the third switch module are turned on when the sampling circuit outputs the first sampling signal, and output the first self-locking control signal with a low level, so that the cutting control circuit disconnects the transmission path of the second switch signal and locks the firing signal to lock the rotation direction of the motor to the first direction;

[0025] The second switch module and the third switch module are disconnected when the sampling circuit outputs the second sampling signal, and output the second self-locking control signal with a high level, so that the cutting control circuit turns on the transmission path of the second switch signal.

[0026] Further, the self-locking circuit includes a fourth switch module, a fifth switch module and a sixth switch module, wherein the control end of the fourth switch module is respectively connected to the sampling circuit and the first end of the fifth switch module, the first end of the fourth switch module is respectively connected to the control end of the fifth switch module and the control end of the sixth switch module, the second end of the fourth switch module is connected to the ground end, the second end of the fifth switch module is connected to the power signal end, the first end of the sixth switch module is connected to the power signal end, and the second end of the sixth switch module is respectively connected to the second end of the fourth switch module and the cutting control circuit, wherein,

[0027] The on-off states of the fourth switch module, the fifth switch module and the sixth switch module are consistent;

[0028] The fourth switch module, the fifth switch module and the sixth switch module are turned on when the sampling circuit outputs the first sampling signal, and output the first self-locking control signal with a high level, so that the cutting control circuit disconnects the transmission path of the second switch signal and locks the firing signal to lock the rotation direction of the motor to the first direction;

[0029] The fourth switch module, the fifth switch module and the sixth switch module are disconnected when the sampling circuit outputs the second sampling signal, and output the second self-locking control signal with a low level, so that the cutting control circuit turns on the transmission path of the second switch signal.

[0030] Furthermore, the cutting control circuit comprises:

[0031] A self-locking control module, wherein the control end of the self-locking control module is connected to the output end of the self-locking sampling circuit, the output end of the self-locking control module is connected to the drive circuit, the input end of the self-locking control module receives the second switch signal, the self-locking control module disconnects the path between the input end of the self-locking control module and the drive circuit according to the first self-locking control signal, locks the firing signal to lock the rotation direction of the motor to the first direction, and connects the path between the input end of the self-locking control module and the drive circuit according to the second self-locking control signal.

[0032] Further, the self-locking control module includes a first switch tube and a voltage divider unit, wherein the control end of the first switch tube is connected to the first end of the voltage divider unit, the first end of the first switch tube is respectively connected to the second end of the voltage divider unit, the first end of the first switch tube is used to receive the second switch signal, the second end of the first switch tube is connected to the drive circuit, and the third end of the voltage divider unit is used to receive the first self-locking control signal or the second self-locking control signal, wherein,

[0033] Under the control of the first self-locking control signal, the first switch tube disconnects the path between the first end of the first switch tube and the driving circuit, and locks the firing signal to lock the rotation direction of the motor to the first direction;

[0034] Under the control of the second self-locking control signal, the first switch tube conducts a path between the first end of the first switch tube and the drive circuit.

[0035] Furthermore, the motor control circuit further includes:

[0036] The first switch circuit is connected to the ground terminal, the power signal terminal, and the cutting control circuit respectively, and generates the first switch signal according to the ground signal of the ground terminal and the power signal of the power signal terminal.

[0037] Furthermore, the first switch circuit includes:

[0038] 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;

[0039] A switch control unit is respectively connected to the ground terminal, the power signal terminal, the optical coupling unit, and the cutting control circuit. The switch control unit is disconnected when the optical coupling unit is in an on state, and outputs the first switch signal with a first level. The switch control unit is turned on when the optical coupling unit is in an off state, and outputs the first switch signal with a second level.

[0040] Furthermore, the motor control circuit further includes:

[0041] An undervoltage protection circuit, wherein the input end of the undervoltage protection circuit is connected to the power supply signal end, the output end of the undervoltage protection circuit is connected to the self-locking sampling circuit, and the undervoltage protection circuit generates an undervoltage protection signal when the power supply voltage outputted from the power supply signal end is less than a preset voltage threshold, so that the self-locking sampling circuit generates the first self-locking control signal according to the undervoltage protection signal.

[0042] Further, the undervoltage protection circuit includes a first voltage stabilizing module, a seventh switch module and an eighth switch module, wherein the first voltage stabilizing module is respectively connected to the power supply signal end and the first control end of the seventh switch module, the first end of the seventh switch module is connected to the ground end, the second end of the eighth switch tube is connected to the control end and the power supply signal end of the eighth switch module, the first end of the eighth switch module is connected to the self-locking sampling circuit, and the second end of the eighth switch module is connected to the ground end, wherein,

[0043] The on-off state of the seventh switch module is opposite to that of the eighth switch module;

[0044] When the power supply signal outputted from the power supply signal terminal is less than the preset voltage threshold, the seventh switch module is disconnected, the eighth switch module is turned on, and the first voltage stabilizing module, the seventh switch module and the eighth switch module generate the undervoltage protection signal.

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

[0046] a deceleration circuit, connected to the drive circuit and the motor respectively, the deceleration circuit performs voltage reduction processing on the drive signal, and outputs a third drive signal to the motor; wherein a first speed of the motor under the drive signal is greater than a second speed under the third drive signal;

[0047] The third switch circuit is connected in parallel with the deceleration circuit, wherein:

[0048] When the third switch circuit is in an on state, the drive circuit outputs the drive signal to the motor via the third switch circuit;

[0049] When the third switch circuit is in an off state, the drive circuit outputs the third drive signal to the motor via the deceleration circuit.

[0050] Furthermore, the deceleration circuit comprises:

[0051] A second voltage stabilizing module, wherein an input terminal of the second voltage stabilizing module is connected to a ground terminal;

[0052] A voltage regulating module, wherein the voltage regulating module is respectively connected to the output end of the second voltage stabilizing module, the output end of the driving circuit, the third switching circuit, and the motor. The voltage regulating module regulates the driving signal according to the voltage stabilization value of the second voltage stabilizing module to reduce the voltage of the driving signal and output the third driving signal.

[0053] The present application also provides a motor control system, including:

[0054] A motor control circuit as described in any of the above embodiments; wherein,

[0055] A motor is connected to a driving circuit in the motor control circuit, and the motor rotates under the drive of the driving circuit; wherein, when the self-locking sampling circuit in the motor control circuit generates the first self-locking control signal, the rotation direction of the motor is locked by the motor control circuit and maintained in the first direction.

[0056] The present application also provides a surgical instrument, including an instrument body and:

[0057] The motor control system as described in the above embodiment;

[0058] An actuator is connected to the motor in the motor control system, and the actuator moves under the drive of the motor, wherein:

[0059] When the motor rotates in a first direction, the actuator moves in a retreat direction under the drive of the motor, and the self-locking sampling circuit in the motor control circuit generates the first self-locking control signal to lock the movement direction of the actuator to the retreat direction when the motor rotates in the first direction;

[0060] When the motor rotates in the second direction, the actuator moves in the forward direction driven by the motor.

[0061] Further, the motor control circuit includes a trigger switch, a plurality of first ends of the trigger switch are respectively connected to a ground end and a power signal end, a second end of the trigger switch is connected to a cutting control circuit of the motor control circuit, and the trigger switch outputs the second switch signal according to a ground signal of the ground end and a power signal of the power signal end; wherein the surgical instrument further includes:

[0062] a firing trigger, arranged on the instrument body, wherein the firing trigger switches the on-off state of the firing switch under the action of an external force, so that when the firing switch is in an off state, the firing switch outputs a second switch signal having a first level state, and when the firing switch is in a closed state, the firing switch outputs a second switch signal having a second level state, and the cutting control circuit in the motor control circuit controls the level state of the firing signal according to the level state of the second switch signal;

[0063] Wherein, when the movement direction of the actuator is locked, the firing switch becomes ineffective.

[0064] Furthermore, the surgical instrument further comprises:

[0065] A battery is detachably mounted on the device body. When the battery is mounted on the device body, it is connected to the motor control system, and the battery supplies power to the motor control system; wherein,

[0066] When the movement direction of the actuator is locked in the retreat direction, the battery is separated from the instrument body under the action of an external force to release the locking of the movement direction of the actuator.

[0067] Furthermore, the motor control system further comprises a power switch, the power switch is respectively connected to the battery and the motor control circuit, and the power switch selectively conducts a power supply path between the battery and the motor control circuit; wherein the surgical instrument further comprises:

[0068] a knife return emergency door, which is arranged on the instrument body, and the knife return emergency door triggers the power switch under the action of external force to switch the on and off state of the power switch, and supplies power to the motor control circuit through the battery when the power switch is in the on state;

[0069] When the movement direction of the actuator is locked in the retreat direction, the knife-returning emergency door triggers the power switch under the action of external force, switching the power switch from the on state to the off state, thereby releasing the lock on the rotation direction of the motor by the motor control circuit in the motor control system, thereby releasing the lock on the movement direction of the actuator.

[0070] Furthermore, the motor control circuit includes an optical coupling unit and a switch control unit, and the surgical instrument also includes:

[0071] A transmission component, drivingly connected to the execution component;

[0072] A sliding assembly, comprising a matching portion and a shielding portion, wherein the sliding assembly is movably disposed on the instrument body;

[0073] 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;

[0074] 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.

[0075] 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, driving the sliding portion to move forward or backward in the first groove relative to the instrument body.

[0076] 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.

[0077] Furthermore, the motor control circuit further includes a squeeze switch, and the squeeze switch is respectively connected to the second end of the power switch, the cutting control circuit, and the self-locking sampling circuit; wherein the surgical instrument further includes:

[0078] The squeezing trigger is arranged on the instrument body. When the movement direction of the actuator is locked in the retreat direction, the squeezing switch is triggered based on the external force to cut off the path between the second end of the power switch and the cutting control circuit and the self-locking sampling circuit, so as to release the lock on the movement direction of the actuator.

[0079] The above-mentioned motor control circuit, system and surgical instrument, wherein the motor control circuit includes a cutting control circuit, a driving circuit and a self-locking control circuit. The cutting control circuit can generate a knife return signal according to a first switch signal and a firing signal according to a second switch signal. The driving circuit can generate a driving signal according to the knife return signal and the firing signal to drive the motor to operate. The self-locking sampling circuit can generate a first self-locking control signal according to the driving signal, so that the cutting control circuit disconnects the transmission path of the second switch signal, so that the second switch signal cannot act on the cutting control circuit. In this case, the firing signal is not affected by the second switch signal, and the firing signal is locked, thereby locking the rotation direction of the motor, so that the motor can only rotate in the first direction or stop, thereby achieving The locking of the rotation direction of the motor is realized, which can prevent the motor from reversing during the process of rotating in the first direction. Compared with the related technology of using a magnetic holding relay to maintain the rotation direction of the motor, the cost is reduced and it is not affected by the external magnetic field, which improves the control accuracy of the rotation direction of the motor, and improves safety and reliability; the self-locking sampling circuit can also generate a second self-locking control signal according to the driving signal, so that the cutting control circuit can turn on the transmission path of the second switch signal, so that the second switch signal acts on the cutting control circuit. In this case, the firing signal can be controlled by the second switch signal, and the return knife signal can be controlled in combination with the first switch signal to control the operating state of the motor, thereby realizing flexible control of the motor and improving the control performance of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1 is a structural block diagram of a motor control system according to an embodiment;

[0081] Figure 2 It is a structural block diagram of a cutting control circuit, a driving circuit and a motor according to an embodiment;

[0082] Figure 3 It is a structural block diagram of a cutting control circuit, a driving chip 210 and a motor according to an embodiment;

[0083] Figure 4 One of the structural block diagrams of a motor control circuit according to an embodiment;

[0084] Figure 5 The second structural block diagram of the motor control circuit of an embodiment;

[0085] Figure 6 is a structural block diagram of a sampling circuit according to an embodiment;

[0086] Figure 7 The third structural block diagram of the motor control circuit of an embodiment;

[0087] Figure 8 The fourth structural block diagram of the motor control circuit of an embodiment;

[0088] Fig. 9 The fifth structural block diagram of the motor control circuit of an embodiment;

[0089] Fig.10 is a structural block diagram of a self-locking circuit according to an embodiment;

[0090] Fig.11 This is a sixth structural block diagram of a motor control circuit according to an embodiment;

[0091] Fig.12 is a structural block diagram of a self-locking circuit of another embodiment;

[0092] Fig.13 One of the partial structural block diagrams of a motor control circuit of an embodiment;

[0093] Fig.14 is a structural block diagram of a cutting control circuit according to an embodiment;

[0094] Fig.15 is a structural block diagram of a cutting control circuit according to another embodiment;

[0095] Fig.16 The second partial structural block diagram of the motor control circuit of an embodiment;

[0096] Fig.17 is a structural block diagram of a first switch circuit according to an embodiment;

[0097] Fig.18 FIG7 is a structural block diagram of a motor control circuit according to an embodiment;

[0098] Fig.19 FIG8 is a structural block diagram of a motor control circuit according to an embodiment of the present invention;

[0099] Fig. 20 is a structural block diagram of an undervoltage protection circuit according to an embodiment;

[0100] Fig.21 The third partial structural block diagram of the motor control circuit of an embodiment;

[0101] Fig. 22 FIG4 is a partial structural block diagram of a motor control circuit according to an embodiment of the present invention;

[0102] Fig.23 A ninth structural block diagram of a motor control circuit according to an embodiment;

[0103] Fig.24 is a structural block diagram of a surgical instrument according to an embodiment;

[0104] Fig.25 One of the partial structural block diagrams of a surgical instrument according to an embodiment;

[0105] Fig.26 The second partial structural block diagram of a surgical instrument according to an embodiment;

[0106] Fig. 27 is a structural block diagram of a sliding assembly according to an embodiment;

[0107] Fig.28 This is the third partial structural block diagram of a surgical instrument according to an embodiment.

[0108] Description of reference numerals:

[0109] 1-motor control circuit, 2-motor, 6-sliding assembly, 61-sliding body, 62-sliding part, 63-matching part, 64-shielding part, 52a-second groove, 52b-first end, 52c-second end, 90-nail support, 91-nail magazine seat, 100-electric stapler, 101-shaft assembly, 102-casing, 103-instrument body, 104-rack, 105-core shaft, 106-knife rod, 107-cutting knife, 108-motor gear, 109-gear assembly, 10-cutting control circuit, 110-self-locking control module, 120-wiring, 20-driving circuit, 210-driving chip, 30-self-locking sampling circuit , 310-sampling circuit, 311-optical coupling module, 312-first switch module, 313-operational amplifier module, 320-self-locking circuit, 321-second switch module, 322-third switch module, 323-fourth switch module, 324-fifth switch module, 325-sixth switch module, 40-undervoltage protection circuit, 410-first voltage stabilizing module, 420-seventh switch module, 430-eighth switch module, 50-first switch circuit, 510-optical coupling unit, 520-switch control unit, 60-second switch circuit, 70-deceleration circuit, 710-second voltage stabilizing module, 720-voltage regulation module, 80-third switch circuit. DETAILED DESCRIPTION

[0110] 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.

[0111] 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.

[0112] 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.

[0113] In one embodiment, Figure 1 As shown, a motor control circuit 1 is provided, including a cutting control circuit 10, a driving circuit 20 and a self-locking sampling circuit 30. The cutting control circuit 10 is used to generate a return signal according to a received first switch signal, and to generate a firing signal according to a received second switch signal. The first switch signal and the second switch signal are two different switch signals, which may have the same level or different levels. The first switch signal corresponds to the return signal, and the second switch signal corresponds to the firing signal.

[0114] The drive circuit 20 is connected to the cutting control circuit 10 and the motor 2 respectively. The drive circuit 20 is used to generate a drive signal according to the knife return signal and the firing signal, and drive the motor 2 to move through the drive signal. Among them, different drive signals can drive the motor 2 to rotate in different directions. In the embodiment of the present application, the drive circuit 20 can generate a drive signal and drive the motor 2 to rotate when the knife return signal and the firing signal have different levels.

[0115] The self-locking sampling circuit 30 is connected to the cutting control circuit 10 and the driving circuit 20 respectively. The self-locking sampling circuit 30 is used to collect the driving signal output by the driving circuit 20, and generate a first self-locking control signal and a second self-locking control signal according to the driving signal. Among them, the first self-locking control signal is used to make the cutting control circuit 10 disconnect the transmission path of the second switch signal, lock the firing signal to lock the rotation direction of the motor 2 to the first direction. When the rotation direction of the motor 2 is locked to the first direction, the motor 2 can only rotate in the first direction or stop. The second self-locking control signal is used to make the cutting control circuit 10 conduct the transmission path of the second switch signal, and transmit the firing signal and the return knife signal to the driving circuit 20. When the transmission path of the second switch signal is in the conducting state, the firing signal is not locked, that is, the rotation direction of the motor 2 is not locked, and the motor 2 can rotate in the first direction, in the opposite direction of the first direction, or stop.

[0116] Among them, the first direction can be a forward direction or a reverse direction. The level states of the first self-locking control signal and the second self-locking control signal are different. The transmission path of the second switch signal refers to the path for the second switch signal to be transmitted from the input end of the cutting control circuit 10 to the output end of the cutting control circuit 10. In the embodiment of the present application, the motor can be locked at any time when it rotates in the first direction. The present application does not limit the rotation direction of the motor 2 to be locked, the moment when the rotation direction is locked, and the level state of each lock control signal.

[0117] Exemplarily, the first direction is set as the reverse direction. During the application, the motor 2 can be locked in the reverse direction at the moment of reverse rotation, or locked in the reverse direction after a period of reverse rotation; if the first direction is set as the forward direction, during the application, the motor 2 can be locked in the forward direction at the moment of forward rotation, or locked in the forward direction after a period of forward rotation. In this application, the motor is locked means that the rotation direction of the motor is locked.

[0118] The motor control circuit 1 includes a cutting control circuit 10, a driving circuit 20 and a self-locking control circuit 30. The self-locking sampling circuit 30 can generate a first self-locking control signal according to the driving signal, so that the cutting control circuit 10 can disconnect the transmission path of the second switch signal through the first self-locking control signal, and the second switch signal cannot act on the cutting control circuit 10. In this case, the firing signal is not affected by the second switch signal, and the firing signal is locked, thereby locking the rotation direction of the motor 2 to the first direction, so that the motor 2 can only rotate in the first direction or stop, thereby realizing the locking of the rotation direction of the motor 2, which can avoid the motor 2 reverses during the process of rotating in the first direction. Compared with the related art that uses a magnetic latching relay to maintain the rotation direction of the motor, it reduces the cost and is not affected by the external magnetic field, thereby improving the control accuracy of the rotation direction of the motor; the self-locking sampling circuit 30 can also generate a second self-locking control signal according to the driving signal, so that the cutting control circuit 10 can turn on the transmission path of the second switch signal through the second self-locking control signal, and can control the firing signal through the second switch signal, and control the return knife signal according to the first switch signal, so that the firing signal and the return knife signal can control the operating state of the motor 2, thereby realizing flexible control of the motor 2. Exemplarily, when the motor 2 is used in a surgical instrument (e.g., a stapler) to drive a load (e.g., an actuator) to move, the motor 2 rotates forward to drive the actuator forward to cut the stapled tissue, and the motor 2 rotates reversely to drive the actuator backward to retract the knife; wherein, at a certain moment in the process of the motor 2 reversely driving the actuator to retract, if the motor 2 is locked in the reverse direction, the movement direction of the actuator is also locked in the retraction direction, and the actuator cannot move forward again, so that the actuator cannot be fired again after being fired to the end, thereby avoiding accidental contact with tissue due to re-firing during the retraction process, thereby improving the safety of the surgical instrument.

[0119] In one embodiment, the driving circuit 20 is further used to generate a first driving signal when the return signal has a first level and the firing signal has a second level to drive the motor to rotate in a first direction. The driving circuit 20 is further used to generate a second driving signal when the return signal has a second level and the firing signal has a first level to drive the motor to rotate in a second direction. The first level is different from the second level, one of the first level and the second level is a high level and the other is a low level. The first direction is opposite to the second direction, one of the first direction and the second direction is a forward direction and the other is a reverse direction.

[0120] For example, Figure 2 As shown, 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 2, and the second output port FO is connected to the second input terminal of the motor 2. Figure 2 The driving circuit 20 shown, optionally, the first input port BI and the second input port FI are respectively connected to the cutting control circuit 10, wherein the first input port BI can be used to receive the knife return signal, and the second input port FI is used to receive the firing signal.

[0121] 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 low level and the firing signal has a high level, the drive circuit 20 may generate a first sub-drive signal with a low level and a second sub-drive signal with a high level, wherein the first sub-drive signal is output via the first output port BO and the second sub-drive signal is output via the second output port FO. In this case, the drive circuit 20 may drive the motor 2 to reverse to drive the actuator in a surgical instrument such as a stapler to retract the knife.

[0122] Exemplarily, the second drive signal may include a third sub-drive signal and a fourth sub-drive signal. When the return knife signal has a high level and the firing signal has a low level, the drive circuit 20 may generate a third sub-drive signal with a low level and a fourth sub-drive signal with a high level, wherein the third sub-drive signal is output via the first output port BO, and the fourth sub-drive signal is output via the second output port FO. In this case, the drive circuit 20 may drive the motor 2 to rotate forward to drive the actuator in a surgical instrument such as a stapler to advance to cut the stapled tissue.

[0123] Exemplarily, when both the return knife signal and the firing signal have high levels, the drive circuit 20 can generate a fifth sub-drive signal and a sixth sub-drive signal with low levels, wherein the fifth sub-drive signal is output via the first output port BO, and the sixth sub-drive signal is output via the second output port FO. The motor 2 stops rotating under the action of the fifth sub-drive signal and the sixth sub-drive signal, so that the actuator in the surgical instrument such as the stapler stops moving. Exemplarily, when both the return knife signal and the firing signal have low levels, the drive circuit 20 does not output, in which case the motor 2 stops rotating, so that the actuator in the surgical instrument such as the stapler stops moving.

[0124] Table 1 shows Figure 2 The level logic control truth table of each input and output port of the driving circuit 20 is shown, wherein "1" represents a high level, "0" represents a low level, and "OPEN" represents no output.

[0125] Table 1 Driver circuit 20 input and output port level logic control truth table

[0126] FI BI FO BO 1 0 1 0 0 1 0 1 1 1 0 0 0 0 OPEN OPEN

[0127] For example, Figure 3As shown, the driving circuit 20 may include a driving chip (IC) 210, and the driving chip 210 is configured with Figure 2 The first input port BI, the second input port FI, the first output port BO and the second output port FO may also be configured with a ground port GND and a power supply port VCC, wherein the ground port GND is connected to the ground terminal GND, and the power supply port VCC is connected to the power supply signal terminal VCC.

[0128] The above-mentioned drive circuit 20 can generate different drive signals when the return knife signal and the firing signal have different level states, thereby driving the motor 2 to realize forward, reverse and shutdown through the drive signal. The present application not only realizes the locking of the rotation direction of the motor 2 through the motor control circuit, but also realizes the forward, reverse and shutdown control of the motor 2. This scheme is not limited by the mechanical structure, and the electrical signal responds faster and has higher sensitivity than the mechanical structure, which shortens the motor steering response time and improves the control performance of the motor.

[0129] In one embodiment, the self-locking sampling circuit 30 is also used to generate a first self-locking control signal when the first drive signal drives the motor 2 to rotate in the first direction, and transmit the first self-locking control signal to the cutting control circuit 10, so that the cutting control circuit 10 disconnects the transmission path of the second switch signal, and locks the firing signal to lock the rotation direction of the motor 2 to the first direction. The self-locking sampling circuit 30 is also used to generate a second self-locking control signal when the second drive signal drives the motor 2 to rotate in the second direction, and output the second self-locking control signal to the cutting control circuit 10, so that the cutting control circuit 10 conducts the transmission path of the second switch signal. Wherein, the second direction is opposite to the first direction. The first direction and the second direction can be specifically set according to the application scenario of the motor control circuit. Exemplarily, when the motor 2 is used in a surgical instrument (e.g., an anastomosis device) to drive a load (e.g., an actuator) to move, the first direction is set to the reverse direction of the motor 2, and the second direction is the forward direction of the motor 2.

[0130] In the above-mentioned motor control circuit, the self-locking sampling circuit 30 can generate a first self-locking control signal according to the first drive signal, and the cutting control circuit 10 can cut off the transmission path of the second switch signal according to the first self-locking control signal, thereby locking the firing signal to lock the rotation direction of the motor 2 to the first direction, thereby realizing the locking of the rotation direction of the motor 2; the self-locking sampling circuit 30 can also generate a second self-locking control signal according to the second drive signal, and the cutting control circuit 10 can turn on the transmission path of the second switch signal according to the second self-locking control signal, so that the second switch signal can be transmitted from the input end of the cutting control circuit 10 to the output end of the cutting control circuit 10, so that the second switch signal acts on the cutting control circuit 10, thereby realizing the control of the rotation direction of the motor 2 through the first switch signal and the second switch signal, further expanding the control function of the motor control circuit 1. Exemplarily, when the motor 2 is used in a surgical instrument (e.g., a stapler) to drive a load (e.g., an actuator) to move, the motor 2 rotates forward to drive the actuator forward to cut the stapled tissue, and the rotation direction of the motor 2 and the movement direction of the actuator are not locked; the motor 2 reverses to drive the actuator backward to retract the knife; at any time during the reversal of the motor 2, if the motor 2 is locked in the reverse direction, the movement direction of the actuator is also locked in the retraction direction, and the actuator cannot move forward again, so that the actuator cannot be fired again after being fired to the end, avoiding the actuator from accidentally touching the tissue when it is fired again during the retraction process, thereby improving the safety of the surgical instrument.

[0131] In one embodiment, Figure 4 As shown, the self-locking sampling circuit 30 may include a sampling circuit 310 and a self-locking circuit 320. The sampling circuit 310 is connected to the driving circuit 20. The sampling circuit 310 is used to collect the first drive signal and the second drive signal output by the driving circuit 20, and generate a first sampling signal when the first drive signal drives the motor 2 to rotate in the first direction. The sampling circuit 310 is also used to generate a second sampling signal when the second drive signal drives the motor 2 to rotate in the second direction. The level states of the first sampling signal and the second sampling signal are different. The self-locking circuit 320 is connected to the sampling circuit 310 and the cutting control circuit 10 respectively. The self-locking circuit 320 is used to generate a first self-locking control signal according to the first sampling signal, and to generate a second self-locking control signal according to the second sampling signal.

[0132] The above-mentioned self-locking sampling circuit 30 includes a sampling circuit 310 and a self-locking circuit 320, wherein the sampling circuit 310 can generate different sampling signals according to different driving signals, so that the self-locking circuit 320 can generate different self-locking control signals according to different sampling signals, so that the cutting control signal 10 can lock the motor 2 to rotate in the first direction according to the first self-locking control signal, and drive the motor 2 to rotate in the second direction according to the second self-locking control signal, thereby realizing the forward and reverse rotation of the motor 2 while locking the motor 2 to rotate in the first direction, avoiding the reversal of the motor 2 during the rotation in the first direction, improving the control performance of the motor control circuit 1 on the motor 2 and reducing the cost.

[0133] In one embodiment, Figure 5 As shown, the sampling circuit 310 may include an optical coupling module 311 and a first switch module 312. The optical coupling module 311 is connected to the driving circuit 20. The optical coupling module 311 is used to be turned on under the action of the first driving signal and to be turned off under the action of the second driving signal. Exemplarily, the optical coupling module 311 includes an optical coupler C.

[0134] The first switch module 312 is connected to the optical coupling module 311 and the self-locking circuit 320 respectively. The first switch module 312 is used to conduct when the optical coupling module 311 is in the on state and generate a first sampling signal. The first switch module 312 is also used to disconnect when the optical coupling module 311 is in the off state and generate a second sampling signal. Among them, the on-off state of the optical coupling module 311 is consistent with that of the first switch module 312. In the embodiment of the present application, the first sampling signal and the second sampling signal can be collectively referred to as sampling signals, represented by Trig.

[0135] For example, Figure 6 As shown, the optical coupling module 311 may include an optical coupler C, and the first switch module 312 may include a switch tube Q1 and a resistor R1. Figure 2 Taking the driving circuit 20 shown in FIG. 1 as an example, Figure 6 The anode (P terminal) of the optical coupler C shown can be connected to the second output port FO of the driving circuit 20, the cathode (N terminal) of the optical coupler C can be connected to the first output port BO of the driving circuit 20, the collector of the optical coupler C is connected to the control terminal of the switch tube Q1, the emitter of the optical coupler C is respectively connected to the first end of the resistor R1 and the ground terminal GND, the first pole of the switch tube Q1 is connected to the power signal terminal VDD, the second pole of the switch tube Q1 is connected to the second end of the resistor R1, and the second pole of the switch tube Q1 serves as the output terminal (Trig signal terminal) of the sampling circuit 310. Exemplarily, the opening tube Q1 can be a PNP type triode. Exemplarily, Figure 6The optical coupling module 311 shown may also include a resistor R41, a first end of the resistor R41 is respectively connected to the first output port BO of the driving circuit 20 and the motor 1, and a second end of the resistor R41 is connected to the cathode of the optical coupler C. The resistor R41 plays a role of current limiting.

[0136] Based on the above, when the driving circuit 20 outputs the first driving signal, and the first sub-driving signal has a low level and the second sub-driving signal has a high level, that is, when the level of the first output port BO is less than the level of the second output port FO, the optical coupler C is turned on, the switch tube Q1 is turned on, and the sampling circuit 310 outputs the first sampling signal with a high level. When the driving circuit 20 outputs the second driving signal, and the third sub-driving signal has a high level and the fourth sub-driving signal has a low level, that is, when the level of the first output port BO is greater than the level of the second output port FO, the optical coupler C is turned off, the switch tube Q1 is turned off, and the sampling circuit 310 outputs the second sampling signal with a low level.

[0137] The sampling circuit 310 includes an optical coupling module 311 and a first switch module 312, wherein the optical coupling module 311 can switch the on-off state according to different driving signals to switch the on-off state of the first switch module 312, thereby correspondingly outputting different sampling signals to the self-locking circuit 30, so that the self-locking circuit 30 outputs different self-locking control signals to achieve accurate and effective control of the rotation direction of the motor 2. In addition, the optical coupling module 311 is based on photoelectric control, is less affected by the electrical signal in the motor control circuit 1, and has good anti-noise performance. In the case of the motor 2 braking or stopping, the state of the motor control circuit 1 will jump violently, that is, the circuit generates a large noise. In this case, the sampling circuit 310 still has a high tolerance, which improves the reliability and stability of the motor control circuit 1.

[0138] In one embodiment, Figure 7 As shown, the sampling circuit 310 may include an operational amplifier module 313. The operational amplifier module 313 is respectively connected to the driving circuit 20 and the self-locking circuit 320. The operational amplifier module 313 is used to collect the first driving signal and the second driving signal output by the driving circuit 20, and perform power amplification processing on the first driving signal to generate a first sampling signal, and perform power amplification processing on the second driving signal to generate a second sampling signal.

[0139] Optionally, Figure 2 Take the driving circuit 20 shown in FIG. Figure 8As shown, the operational amplifier module 313 may include an operational amplifier, a first terminal 1 (P terminal) of the operational amplifier is connected to the second output port FO of the driving circuit 20, a second terminal 2 (N terminal) of the operational amplifier is connected to the first output port BO of the driving circuit 20, a third terminal 3 of the operational amplifier is connected to the power signal terminal VDD, a fourth terminal 4 of the operational amplifier is connected to the ground terminal GND, and an output terminal 5 (Trig signal terminal) of the operational amplifier is connected to the self-locking circuit 320. Exemplarily, when the driving circuit 20 outputs the first driving signal, and the first sub-driving signal has a low level and the second sub-driving signal has a high level, that is, when the level of the first output port BO is less than the level of the second output port FO, the operational amplifier performs power amplification processing on the first driving signal to generate a first sampling signal with a high level; when the driving circuit 20 outputs the second driving signal, and the third sub-driving signal has a high level and the fourth sub-driving signal has a low level, that is, when the level of the first output port BO is greater than the level of the second output port FO, the operational amplifier performs power amplification processing on the second driving signal to generate a second sampling signal with a low level.

[0140] The above-mentioned sampling circuit 310 includes an operational amplifier module 313, which can perform power amplification processing on the drive signal and output different sampling signals to the self-locking circuit 320 according to different drive signals, so that the self-locking circuit 320 outputs different self-locking control signals to achieve accurate and effective control of the rotation direction of the motor 2. In particular, when the sampling circuit 310 outputs the first sampling signal, the rotation direction of the motor 2 is locked. Moreover, the sampling circuit 310 can also capture the level change of the drive signal when the drive signal is small, thereby improving the sensitivity of the sampling circuit 310 to the drive signal, thereby improving the locking accuracy of the motor control circuit 1 on the rotation direction of the motor 2 when the motor 2 moves in the first direction.

[0141] In one embodiment, Fig. 9 As shown, the self-locking circuit 320 may include a second switch module 321 and a third switch module 322. The control end of the second switch module 321 is respectively connected to the sampling circuit 310 and the first end of the third switch module 322, and the first end of the second switch module 321 is respectively connected to the control end of the third switch module 322 and the cutting control circuit 10. The second end of the second switch module 321 is connected to the ground end GND, and the second end of the third switch module 322 is connected to the power signal end VDD.

[0142] Among them, the on-off state of the second switch module 321 and the third switch module 322 are consistent. Specifically, when the sampling circuit 310 outputs the first sampling signal, the second switch module 321 and the third switch module 322 are turned on, and a first self-locking control signal with a low level is output. When the sampling circuit outputs the second sampling signal, the second switch module 321 and the third switch module 322 are turned off, and a second self-locking control signal with a high level is output. In the embodiment of the present application, the first self-locking control signal and the second self-locking control signal can be collectively referred to as a self-locking control signal, represented by LOCK.

[0143] Alternatively, if Fig.10 As shown, the second switch module 321 includes a switch tube Q2, a resistor R2 and a resistor R3. The third switch module 322 includes a switch tube Q3, a resistor R4 and a resistor R5. Among them, the control end of the switch tube Q2 is respectively connected to the first end of the resistor R2, the second end of the resistor R5, and the output end of the sampling circuit 310, the first pole of the switch tube Q2 is respectively connected to the second end of the resistor R2 and the ground end GND, the second pole of the switch tube Q2 is connected to the first end of the resistor R3, the second end of the resistor R3 is respectively connected to the control end of the switch tube Q3 and the first end of the resistor R4, the first pole of the switch tube Q3 is respectively connected to the power signal end VDD and the second end of the resistor R4, the second pole of the switch tube Q3 is connected to the first end of the resistor R5, wherein the second end of the resistor R5 serves as the input end of the self-locking circuit 320, and the second end of the resistor R5 is connected to the output end of the sampling circuit 310. Exemplarily, the switch tube Q2 can be an NPN transistor, and the switch tube Q3 is a PNP transistor. Among them, the second pole of the switch tube Q2 serves as an output end for outputting the sampling signal LOCK.

[0144] The on-off state of the switch tube Q2 is consistent with that of the switch tube Q3. Specifically, when the sampling circuit 310 outputs a first sampling signal with a high level, the switch tube Q2 is turned on, the switch tube Q3 is turned on, and a first self-locking control signal with a low level is output. When the sampling circuit 310 outputs a second sampling signal with a low level, the switch tube Q2 is turned off, the switch tube Q3 is turned off, and a second self-locking control signal with a high level is output.

[0145] It should be noted that, in the application process, the sampling circuit 310 outputs a high-level pulse signal, which can make Fig. 9 The self-locking circuit 320 shown outputs a low-level first self-locking control signal to lock the rotation direction of the motor 1 , and the output end (Trig end) of the sampling circuit 310 does not need to maintain a high-level output all the time.

[0146] Optionally, based on Fig.10The self-locking circuit 320 shown in the figure may also include a resistor R6, wherein the first end of the resistor R6 is connected to the output end of the sampling circuit 310 (Trig signal end), and the second end of the resistor R6 is connected to the control end of the switch tube Q2, the second end of the resistor R5, and the first end of the resistor R2.

[0147] The above-mentioned self-locking circuit 320 includes a second switch module 321 and a third switch module 322, wherein the second switch module 321 and the third switch module 322 can switch the on-off state to output different self-locking control signals according to different sampling signals output by the sampling circuit 310, wherein when the sampling circuit 310 outputs a first sampling signal with a high level, the self-locking circuit 320 outputs a first self-locking control signal with a low level, so that the motor control circuit 1 can lock the rotation direction of the motor 2 to the first direction through the first self-locking control signal, thereby improving the control performance of the motor 2 and reducing the cost.

[0148] In one embodiment, Fig.11 As shown, the self-locking circuit 320 may include a fourth switch module 323, a fifth switch module 324 and a sixth switch module 325. The control end of the fourth switch module 323 is respectively connected to the sampling circuit 310 and the first end of the fifth switch module 324, the first end of the fourth switch module 323 is respectively connected to the control end of the fifth switch module 324 and the control end of the sixth switch module 326, the second end of the fourth switch module 323 is connected to the ground end GND, the second end of the fifth switch module 324 is connected to the power signal end VDD, the first end of the sixth switch module 325 is connected to the power signal end VDD, and the second end of the sixth switch module 325 is respectively connected to the second end of the fourth switch module 323 and the cutting control circuit 10.

[0149] Among them, the on-off states of the fourth switch module 323, the fifth switch module 324 and the sixth switch module 325 are consistent. Specifically, when the sampling circuit 310 outputs the first sampling signal, the fourth switch module 323, the fifth switch module 324 and the sixth switch module 325 are turned on, and the self-locking circuit 320 outputs a first self-locking control signal with a high level. When the sampling circuit 310 outputs the second sampling signal, the fourth switch module 323, the fifth switch module 324 and the sixth switch module 325 are turned off, and the self-locking circuit 320 outputs a second self-locking control signal with a low level.

[0150] Alternatively, if Fig.12 As shown, the fourth switch module 323 includes a switch tube Q4, a resistor R7 and a resistor R8. The fifth switch module 324 includes a switch tube Q5, a resistor R9 and a resistor R10. The sixth switch module 325 includes a switch tube Q6, a resistor R11 and a resistor R12.

[0151] Among them, the control end of the switch tube Q4 is respectively connected to the first end of the resistor R7, the first end of the resistor R10, and the output end of the sampling circuit 310, the first electrode of the switch tube Q4 is respectively connected to the second end of the resistor R7, the ground end GND, and the second end of the resistor R12, and the second electrode of the switch tube Q4 is respectively connected to the first end of the resistor R8 and the first end of the resistor R11. The second end of the resistor R8 is respectively connected to the control end of the switch tube Q5 and the first end of the resistor R9, the second end of the resistor R9 is respectively connected to the first electrode of the switch tube Q5, the power signal end VDD, and the first electrode of the switch tube Q6, and the second electrode of the switch tube Q5 is connected to the second end of the resistor R10. The control end of the switch tube Q6 is connected to the second end of the resistor R11, the second electrode of the switch tube Q6 is connected to the first end of the resistor R12, and the second electrode of the switch tube Q6 serves as the output end of the self-locking circuit 320.

[0152] The on-off states of the switch tubes Q4, Q5 and Q6 are consistent. Specifically, when the sampling circuit 310 outputs a first sampling signal with a high level, the switch tubes Q4, Q5 and Q6 are turned on, and a first self-locking control signal with a high level is output. When the sampling circuit 310 outputs a first sampling signal with a low level, the switch tubes Q4, Q5 and Q6 are turned off, and a second self-locking control signal with a low level is output.

[0153] It should be noted that, in the application process, the sampling circuit 310 outputs a high-level pulse signal, which can make Fig.10 The self-locking circuit 320 shown outputs a high-level first self-locking control signal to achieve locking of the rotation direction of the motor 1 , and the output end (Trig end) of the sampling circuit 310 does not need to maintain a high-level output all the time.

[0154] Optionally, the self-locking circuit 320 may further include a resistor R13 (Trig right end resistor), a first end of the resistor R13 is connected to the output end of the sampling circuit 310 , and a second end of the resistor R13 is connected to the control end of the fourth switch module 323 .

[0155] The above-mentioned self-locking circuit 320 includes a fourth switch module 323, a fifth switch module 324 and a sixth switch module 325, wherein the fourth switch module 323, the fifth switch module 324 and the sixth switch module 325 can switch the on-off state to output different self-locking control signals according to different sampling signals output by the sampling circuit 310, wherein when the sampling circuit 310 outputs a first sampling signal with a high level, the self-locking circuit 320 outputs a first self-locking control signal with a high level, so that the motor control circuit 1 can lock the rotation direction of the motor 2 to the first direction through the first self-locking control signal, thereby improving the control performance of the motor 2 and reducing the cost.

[0156] In one embodiment, each switch module of the self-locking circuit 320 is integrated in the same switch device. For example, the second switch module 321 and the third switch module 322 are integrated in the same switch device, or the fourth switch module 323, the fifth switch module 324 and the sixth switch module 325 are integrated in the same switch device. Optionally, the switch tubes of each switch module can be integrated on the same circuit board. Exemplarily, the second switch tube Q2 and the third switch tube Q3 are integrated on the same circuit board, or the fourth switch tube Q4, the fifth switch tube Q5 and the sixth switch tube Q6 are integrated on the same circuit board. Based on this, the integration of the circuit is improved, the device occupancy area is reduced, and the cost is further reduced.

[0157] In one embodiment, Fig.13 As shown, the cutting control circuit 10 may include a self-locking control module 110. The control end of the self-locking control module 110 is connected to the output end of the self-locking sampling circuit 30, and the output end of the self-locking control module 110 is connected to the drive circuit 20. The input end of the self-locking control module 110 is used to receive a second switch signal. The self-locking control module 110 is used to disconnect the path between the input end of the self-locking control module 110 and the drive circuit 20 according to the first self-locking control signal, and lock the firing signal to lock the rotation direction of the motor 2 as the first direction. The self-locking control module 110 is also used to conduct the path between the input end of the self-locking control module 110 and the drive circuit 20 according to the second self-locking control signal.

[0158] Alternatively, if Fig.13 As shown, the cutting control circuit 10 may further include a wiring 120 , wherein the wiring 120 is connected to the driving circuit 20 , and the wiring 120 is used to receive the first switch signal.

[0159] Alternatively, if Fig.13 As shown, the cutting control circuit 10 may further include an output control module 130, wherein the first end of the output control module 130 is respectively connected to the wiring 120 and an input end of the driving circuit 20, and the second end of the output control module 130 is respectively connected to the output end of the self-locking control module 110 and another input end of the driving circuit 20. The third end of the output control module 130 is used to receive a target signal from a target signal end, wherein the target signal end is a ground end GND or a power signal end VDD, and the target signal end is selected according to the specific structure of the self-locking control module 110. The output control module 130 is used to control the levels of the two input ends of the driving circuit 20 to be consistent according to the target signal when there is no signal output from the wiring 120 and the self-locking control module 110, so as to maintain the motor 2 stopped, and avoid the motor 2 running due to signal fluctuations, thereby damaging other components.

[0160] The above-mentioned cutting control circuit 10 includes a self-locking control module 110. The self-locking control module 110 can disconnect the path between the input end of the self-locking control module 110 and the drive circuit 20 according to the first self-locking control signal, so that the second switch signal cannot act on the firing signal, thereby locking the firing signal. In this case, the drive circuit 20 locks the rotation direction of the motor 2 to the first direction according to the locked firing signal and combined with the return knife signal. The motor 2 can only rotate in the first direction or stop, thereby achieving the locking of the rotation direction of the motor 2; the self-locking control module 110 can also conduct the path between the input end of the self-locking control module 110 and the drive circuit 20 according to the second self-locking control signal, so that the second switch signal can act on the firing signal, thereby controlling the firing signal through the second switch signal. In this case, the drive circuit 20 can realize the forward and reverse control of the motor 2 according to the firing signal and combined with the return knife signal.

[0161] In one embodiment, Fig.14 and Fig.15 As shown, the self-locking control module 110 may include a first switch tube Q9 and a voltage divider unit 111. The control end of the first switch tube Q9 is connected to the first end of the voltage divider unit 111, the first end of the first switch tube Q9 is connected to the second end of the voltage divider unit 111, the second end of the first switch tube Q9 is connected to the drive circuit 20, and the third end (LOCK end) of the voltage divider unit 111 is used to receive the first self-locking control signal and the second self-locking control signal. The second end of the voltage divider unit 111 is used to receive the second switch signal.

[0162] For example, the first switch tube Q9 may be an NMOS. Fig.14 As shown; the first switch tube can also be a PMOS, such as Fig.15 shown.

[0163] Exemplarily, the voltage divider unit 111 may include a resistor R21 and a resistor R22, wherein a first end of the resistor R21 is connected to a control end of the first switch tube Q9, a second end of the resistor R21 is connected to a first end of the resistor R22, a second end of the resistor R22 is connected to a first end of the first switch tube Q9, a second end of the resistor R21, i.e., a LOCK end, is used to receive a first self-locking control signal and a second self-locking control signal, and a second end of the resistor R22 is used to receive a second switch signal.

[0164] The first switch tube Q9 is used to disconnect the path between the first end of the first switch tube Q9 and the drive circuit 20 under the control of the first self-locking control signal, and lock the firing signal to lock the rotation direction of the motor 2 as the first direction. The first switch tube Q9 is also used to connect the path between the first end of the first switch tube Q9 and the drive circuit 20 under the control of the second self-locking control signal.

[0165] For example, Fig.14 As shown, the first switch tube Q9 is an NMOS. In this case, when the first self-locking control signal has a low level, the first switch tube Q9 is turned off; when the second self-locking control signal has a high level, the first switch tube Q9 is turned on. Fig.14 In the cutting control circuit shown in FIG. 1 , the second end (LOCK end) of the resistor R21 can be connected to Fig.10 The output terminal (LOCK terminal) of the self-locking sampling circuit shown is connected.

[0166] For example, Fig.15 As shown, the first switch tube Q9 is a PMOS. In this case, when the first self-locking control signal has a high level, the first switch tube Q9 is turned off; when the second self-locking control signal has a low level, the first switch tube Q9 is turned on. Fig.15 In the cutting control circuit shown in FIG. 1 , the second end (LOCK end) of the resistor R21 can be connected to Fig.12 The output terminal (LOCK terminal) of the self-locking sampling circuit shown is connected.

[0167] Understandably, Fig.10 The self-locking sampling circuit shown in Fig.14 The cutting control circuit shown is used in conjunction with Fig.12 The self-locking sampling circuit shown in Fig.15 In practical applications, the level states of the first self-locking control signal and the second self-locking control signal can be set according to the type of the first switch tube Q9, and a suitable self-locking sampling circuit can be selected.

[0168] The above-mentioned self-locking control module 110 includes a first switch tube Q9 and a voltage divider unit 111. The first switch tube Q9 can switch to different on-off states according to different self-locking control signals, thereby selecting to turn on the transmission path between the first end of the first switch tube Q9 and the drive circuit 20, so that when the transmission path is in the on state, the forward and reverse rotation of the motor 2 can be controlled by combining the second switch signal with the first switch signal, and when the transmission path is in the off state, the firing signal is locked to lock the rotation direction of the motor 2.

[0169] In one embodiment, Fig.16 As shown, the motor control circuit may further include a first switching circuit 50, which is respectively connected to the ground terminal GND, the power signal terminal VDD, and an input terminal of the cutting control circuit 10, and the first switching circuit 50 is used to generate a first switching signal according to the ground signal of the ground terminal GND and the power signal of the power signal terminal VDD.

[0170] Alternatively, if Fig.16As shown, the motor control circuit may further include a second switch circuit 60, the second switch circuit 60 is respectively connected to the ground terminal GND, the power signal terminal VDD, and another input terminal of the cutting control circuit 10, and the second switch circuit 60 is used to generate a second switch signal according to the ground signal of the ground terminal GND and the power signal of the power signal terminal VDD. Under the action of an external force, the second switch circuit 60 can select a path between the ground terminal GND and another input terminal of the cutting control circuit 10, or between the power signal terminal VDD and another input terminal of the cutting control circuit 20. Exemplarily, the second switch circuit 60 may include a single-pole multiple-throw (SPnT, such as SP2T, SP3T, SP5T, etc.) switch.

[0171] The above-mentioned motor control circuit selects the transmission path between the ground terminal GND, the power signal terminal VDD and the multiple input terminals of the cutting control circuit 10 through the first switch circuit 50 and the second switch circuit 60, that is, the level state of the first switch signal is controlled by the first switch circuit 50, so as to realize the switching of the level state of the return knife signal, and the level state of the second switch signal is controlled by the second switch circuit 60, so as to realize the switching of the level state of the firing signal, and then the driving circuit 20 is used to switch the rotation direction of the motor 2, so as to realize the forward and reverse drive control of the motor 2.

[0172] In one embodiment, Fig.16 As shown, the first switch circuit 50 may include an optical coupling unit 510 and a switch control unit 520. The optical coupling unit 510 is connected to the ground terminal GND and the power signal terminal VDD respectively, and the optical coupling unit 510 is used to conduct when the light source is not blocked, and to disconnect when the light source is blocked.

[0173] The switch control unit 520 is respectively connected to the ground terminal GND, the power signal terminal VDD, the optocoupler unit 510, and an input terminal of the cutting control circuit 10. The switch control unit 520 is used to disconnect when the optocoupler unit 510 is in the on state, output a first switching signal with a first level, and to turn on when the optocoupler unit 510 is in the off state, and output a first switching signal with a second level.

[0174] For example, Fig.17As shown, the optical coupling unit 510 may include an optical coupler C and a resistor R25, and the switch control unit 520 may include a resistor R26, a resistor R27, a resistor R28, a resistor R29 and a switch tube Q10. Among them, the anode of the optical coupler C is connected to the first end of the resistor R25, the second end of the resistor R25 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 R27 and the first end of the resistor R28, the second end of the resistor R27 is respectively connected to the first end of the resistor R26 and the control end of the switch tube Q10, the second end of the resistor R26 and the first pole of the switch tube Q10 are respectively connected to the ground end, the second pole of the open tube Q10 is connected to the resistor R29, and the second end of the resistor R29 is respectively connected to the second end of the resistor R28 and the power signal terminal VDD. Exemplarily, the switch tube Q10 is an NPN type triode. When the light source is not blocked, the receiving end of the optical coupler C (i.e., the triode of the optical coupler C) is turned on, and the light-opening tube Q10 is turned off. At this time, SW1 outputs a first switch signal with a high level. 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 Q10 is turned on. At this time, SW1 outputs a first switch signal with a low level.

[0175] The above-mentioned first switch circuit 50 includes an optical coupling unit 510 and a switch control unit 520, wherein the optical coupling unit 510 switches the on-off state when the light source is blocked or not, thereby switching the on-off state of the switch control unit 520 to output a return signal with different levels, so that the cutting control circuit 10 can output a return signal according to the first switch signal, so that the drive circuit 20 combines the firing signal to switch the rotation direction of the motor 2 to meet the rotation requirements of the motor 2. The first switch circuit 50 uses a non-contact switch to control the path between the ground terminal GND and the power signal terminal VDD and the cutting control circuit 10 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 circuit 50 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, the sensitivity and reliability are higher, and the circuit structure is simpler.

[0176] In one embodiment, Fig.18As shown, the motor control circuit 1 also includes an undervoltage protection circuit 40. The input end of the undervoltage protection circuit 40 is used to receive the power supply signal end VCC, and the output end of the undervoltage protection circuit 40 is connected to the self-locking sampling circuit 30. The undervoltage protection circuit 40 is used to generate an undervoltage protection signal when the power supply voltage output by the power supply signal end VCC is less than a preset voltage threshold, so that the self-locking sampling circuit 30 generates a first self-locking control signal according to the undervoltage protection signal. Among them, the power supply signal end VCC can be connected to a battery, and the power supply signal end VCC is used to provide a power supply voltage for the power supply signal end VDD. The preset voltage threshold can be determined according to the specific structure of the undervoltage protection circuit 40.

[0177] The above-mentioned motor control circuit 1 detects the power supply voltage output by the power supply signal terminal VCC through the undervoltage protection circuit 40. When the power supply voltage is less than the preset voltage threshold, it indicates that the power supply voltage is low and cannot provide sufficient driving voltage for the motor 2. In this regard, the undervoltage protection circuit 40 can generate an undervoltage protection signal to enable the self-locking sampling circuit 30 to generate a first self-locking control signal, so that the cutting control circuit 10 disconnects the transmission path of the second switch signal, locks the firing signal to lock the rotation direction of the motor 2 to the first direction. At this time, the motor 2 can only stop or rotate in the first direction, avoiding the motor 2 being in a stalled state due to excessive load on the motor 2 and the power supply voltage being pulled down, causing high temperature, abnormal noise and other problems. It can also reduce the damage to the motor control circuit 1 when the power supply voltage does not meet the power supply requirements, thereby protecting the motor 2 and improving the safety and reliability of the motor control circuit 1. Exemplarily, when the motor 2 is used for a surgical instrument (such as a stapler) to drive a load (such as an actuator) to cut tissue (the motor rotates forward), the tissue is relatively hard and the actuator cannot cut. In this case, the load is very large for the battery, which will lower the battery voltage and even be lower than the circuit operating voltage, causing circuit dysfunction. The undervoltage protection circuit 40 provided in the embodiment of the present application can detect when the battery supply voltage is pulled to a lower level, and by generating an undervoltage protection signal, the self-locking sampling circuit 30 generates a first self-locking control signal, thereby locking the rotation direction of the motor 2 to the first direction through the first self-locking control signal, thereby reducing the possibility of damage to the motor control circuit 1.

[0178] In one embodiment, Fig.19 As shown, the undervoltage protection circuit 40 includes a first voltage stabilizing module 410, a seventh switch module 420 and an eighth switch module 430. The first voltage stabilizing module 410 is respectively connected to the power supply signal terminal VCC and the control terminal of the seventh switch module 420, the first end of the seventh switch module 420 is connected to the ground terminal GND, the second end of the seventh switch module 420 is connected to the control terminal and the power supply signal terminal VDD of the eighth switch module 430, the first end of the eighth switch module 430 is connected to the self-locking sampling circuit 30, and the second end of the eighth switch module 430 is connected to the ground terminal.

[0179] The on-off states of the seventh switch module 420 and the eighth switch module 430 are opposite. The first voltage stabilizing module 410 is used for outputting no signal when the supply voltage is less than a preset voltage threshold. When the first voltage stabilizing module 410 outputs no signal, the seventh switch module 420 is disconnected, the eighth switch module 430 is turned on, and the undervoltage protection circuit 40 generates an undervoltage protection signal, which is represented by OC.

[0180] The first voltage stabilizing module 410 is also used to output a voltage stabilizing signal when the supply voltage is greater than a preset voltage threshold. In this case, the seventh switch module 420 is turned on by the voltage stabilizing signal, the eighth switch module 430 is turned off, and the undervoltage protection circuit 40 does not generate an undervoltage protection signal.

[0181] Alternatively, if Fig. 20 As shown, the first voltage stabilizing module 410 includes a voltage stabilizing diode ZD1 and a resistor R14, the seventh switch module 420 includes a switch tube Q7 and a resistor R15, and the eighth switch module includes a switch tube Q8 and a resistor R16. Among them, the cathode of the voltage stabilizing diode ZD1 is connected to the power supply signal terminal VCC, the anode of the voltage stabilizing diode ZD1 is connected to the first end of the resistor R14, the second end of the resistor R14 is respectively connected to the first end of the resistor R15 and the control end of the switch tube Q7, the resistor R15 is respectively connected to the ground terminal GND and the first pole of the switch tube Q7, the second end of the switch tube Q7 is respectively connected to the first end of the resistor R16 and the control end of the switch tube Q8, the second end of the resistor R16 is connected to the power supply signal terminal VDD, the first end of the open tube Q8 is connected to the ground terminal GND, and the second pole of the open tube Q8 serves as the output end (OC signal end) of the undervoltage protection circuit 40. Exemplarily, the switch tube Q7 is an N-type MOS tube, and the open tube Q8 is an NPN-type triode.

[0182] Exemplarily, the preset voltage threshold is the voltage stabilization value of the voltage stabilizing diode ZD1, 5V. When the supply voltage is less than 5V, the anode of the voltage stabilizing diode ZD1 is 0V, the switch tube Q7 is turned off, the open tube Q8 is turned on, and the undervoltage protection circuit 40 generates an undervoltage protection signal with a low level. When the supply voltage is greater than 5V, the anode of the voltage stabilizing diode ZD1 has a voltage (the voltage is VCC-5V), the switch tube Q7 is turned on, the open tube Q8 is turned off, and the output end (OC end) of the undervoltage protection circuit 40 maintains a high level.

[0183] by Figure 6 The sampling circuit shown, Fig.10 The self-locking circuit shown and Fig.14 Taking the cutting control circuit shown as an example, for example, Fig. 20 The OC terminal of the undervoltage protection circuit 40 shown can be connected to Figure 6The OC node in the sampling circuit shown is connected; based on the above content, during the application process, when the supply voltage is less than the voltage value of the voltage stabilizing diode ZD1, such as 5V, the OC end of the undervoltage protection circuit 40 outputs a low-level signal, so that Figure 6 The switch tube Q1 in the sampling circuit is turned on, and the sampling circuit Trig terminal outputs a high-level signal, thereby triggering Fig.10 The self-locking circuit outputs a low-level LOCK signal, making Fig.14 The switch tube Q9 of the cutting control circuit is closed, cutting off the transmission path of the second switch signal, locking the firing signal, and thus locking the rotation direction of the motor 2.

[0184] The above-mentioned undervoltage protection circuit 40 includes a first voltage stabilizing module 410, a seventh switch module 420 and an eighth switch module 430, wherein the first voltage stabilizing module 410 can compare the supply voltage with its stabilizing value, and when the supply voltage is less than the stabilizing value, control the seventh switch module 420 to be disconnected and the eighth switch module 430 to be turned on, and output an undervoltage protection signal, so that the self-locking sampling circuit 30 can generate a first self-locking control signal according to the undervoltage protection signal to lock the rotation direction of the motor 2, thereby realizing the control of the motor 2 when the supply voltage is too small to provide sufficient supply voltage for the motor, avoiding the motor 2 from being in a stalled state due to insufficient driving voltage, causing high temperature, abnormal noise and other problems, and improving safety and reliability.

[0185] In one embodiment, the driving circuit 20 is used to output a first driving signal to drive the motor 2 to rotate in a first direction when the return signal has a first level and the firing signal has a second level; wherein the first level is different from the second level. The self-locking sampling circuit 30 is used to output a first self-locking control signal according to the first driving signal. The cutting control circuit 10 is used to keep the firing signal at the second level according to the first self-locking control signal.

[0186] In one embodiment, the drive circuit 20 is used to output a second drive signal to drive the motor 2 to rotate in a second direction when the return signal has a second level and the firing signal has a first level. The self-locking sampling circuit 30 is used to output a second self-locking control signal according to the second drive signal.

[0187] Exemplarily, the first level is a low level, and the second level is a high level. The motor 2 rotates forward under the drive of the second drive signal, and the motor 2 rotates reversely under the drive of the first drive signal. When the motor 2 rotates reversely, the level of the firing signal remains high, and the rotation direction of the motor 2 is locked in the reverse direction.

[0188] The above-mentioned motor control circuit 1 generates different first drive signals and second drive signals through the drive circuit 20 when the knife return signal and the firing signal have different levels, and drives the motor 2 to rotate in the first direction through the first drive signal, and drives the motor 2 to rotate in the second direction through the second drive signal, thereby realizing the control of the forward and reverse rotation of the motor 2 and expanding the control performance of the motor control circuit.

[0189] In one embodiment, Fig.21 As shown, the motor control circuit may further include a deceleration circuit 70 and a third switch circuit 80. The deceleration circuit 70 is connected to the drive circuit 20 and the motor 2, respectively, and the deceleration circuit 70 is used to step down the drive signal and output the third drive signal to the motor 2. The first speed of the motor 2 under the drive signal is greater than the second speed under the third drive signal. The third switch circuit 80 is connected in parallel with the deceleration circuit 70. Exemplarily, the switch circuit 23 may include a single-pole single-throw (SPST) switch, or a single-pole multiple-throw (SPnT) switch. When the third switch circuit 80 is in the on state, the drive circuit outputs the driven signal to the motor 2 via the third switch circuit 80. When the third switch circuit 80 is in the off state, the drive circuit 20 outputs the third drive signal to the motor 2 via the deceleration circuit 70.

[0190] based on Figure 2 The driving circuit 20 shown can generate a first driving signal according to the firing signal and the return signal to drive the motor 2 to operate in a first direction, or generate a second driving signal according to the firing signal and the return signal to drive the circuit 1 to operate in a second direction. Based on this, when the third switch circuit 80 is in the on state and the drive circuit 20 generates the first drive signal, the deceleration circuit 70 is short-circuited by the third switch circuit 80. At this time, the motor 2 rotates in the first direction at a first speed; when the third switch circuit 80 is in the off state and the drive circuit 20 generates the first drive signal, the deceleration circuit 70 steps down the first drive signal and outputs it to the motor 2. At this time, the motor 2 rotates in the first direction at a second speed; when the third switch circuit 80 is in the on state and the drive circuit 20 generates the second drive signal, the deceleration circuit 70 is short-circuited by the third switch circuit 80. At this time, the motor 2 rotates in the second direction at a first speed; when the third switch circuit 80 is in the off state and the drive circuit 20 generates the second drive signal, the deceleration circuit 70 steps down the second drive signal and outputs it to the motor 2. At this time, the motor 2 rotates in the second direction at a second speed.

[0191] In the above-mentioned motor control circuit, since the third switch circuit 80 is connected in parallel with the deceleration circuit 70, the third switch circuit 80 is in the on state, and the third switch circuit 80 can short-circuit the deceleration circuit 70. The drive signal output by the drive circuit 20 is transmitted to the motor 2 via the third switch circuit 80. The third switch circuit 80 is in the off state, and the drive signal cannot be transmitted from the third switch circuit 80 to the motor 2. At this time, after the drive signal is reduced in voltage by the deceleration circuit 70, the third drive signal generated by the deceleration circuit 70 is transmitted to the motor 2. Since the voltage of the third drive signal is greater than the voltage of the drive signal, the first speed of the motor 2 driven by the drive signal is greater than the second speed under the third drive signal. In this way, by switching the on-off state of the third switch circuit 80, the transmission path of the signal between the drive circuit 10 and the motor 2 can be switched, so that the type of drive signal output to the motor 2 can be switched, so that the motor 2 rotates at a faster speed under the drive signal, and rotates at a slower speed under the drive of the third drive signal, thereby realizing the regulation of the rotation speed of the motor 2 and expanding the function of the motor 2.

[0192] In one embodiment, Fig.21 As shown, the deceleration circuit 70 may include a second voltage stabilizing module 710 and a voltage regulating module 720. The input end of the second voltage stabilizing module 710 is connected to the ground end GND. The voltage regulating module 720 is respectively connected to the output end of the second voltage stabilizing module 710, the output end of the drive circuit 20, the third switch circuit 80, and the motor 2. The voltage regulating module 720 is used to adjust the drive signal according to the voltage stabilization value of the second voltage stabilizing module 710 to reduce the voltage of the drive signal and output the third drive signal.

[0193] For example, Fig. 22 As shown, the second voltage stabilizing module 710 may include a voltage stabilizing diode ZD2. The voltage regulating module 720 may include a switch tube Q11, a resistor R31, a resistor R32 and a diode D2. Figure 2 Take the driving circuit 20 shown as an example, wherein the first pole of the switch tube Q11 is respectively connected to the first output port BO of the driving circuit 20, the first end of the third switch circuit 80, the cathode of the diode D2, and the first end of the resistor R31, the second end of the resistor R31 is respectively connected to the cathode of the voltage-stabilizing diode ZD2 and the second end of the resistor R32, the control end of the switch tube Q11 is connected to the first end of the resistor R32, the second pole of the switch tube Q11 is respectively connected to the second end of the switch circuit 30, the anode of the diode D2, and an input end of the motor 2, wherein the second output port FO of the driving circuit 20 is connected to the other input end of the motor 2. Exemplarily, the switch tube Q11 can be a PNP transistor.

[0194] Exemplarily, the multiple input terminals of the self-locking sampling circuit 30 can be connected to the two terminals of the third switch circuit 80 in a one-to-one correspondence. Figure 6 and Fig.10 For the self-locking sampling circuit 30 shown in FIG. 1 , the P terminal of the optical coupler C can be connected to the P terminal of the third switch circuit 80, and the N terminal of the optical coupler C can be connected to the N terminal of the third switch circuit 80. Based on this, when the level of the P terminal is greater than the level of the N terminal, the self-locking sampling circuit 30 outputs a first self-locking control signal; when the level of the P terminal is less than or equal to the level of the N terminal, the self-locking sampling circuit 30 outputs a second self-locking control signal.

[0195] In the above-mentioned motor control circuit, the deceleration circuit 70 uses the regulated voltage value output by the second voltage stabilizing module 710 to stabilize the output signal voltage, and adjusts the drive signal according to its regulated voltage value through the voltage regulating module 720 to achieve voltage reduction processing of the drive signal, and outputs the third drive signal after voltage reduction, so that the third drive signal can be used to drive the motor to rotate at a smaller second speed. Since the regulated voltage value output by the second voltage stabilizing module 710 is stable, the voltage of the third drive signal also has good stability and will not be affected by other factors, such as fluctuations in the power supply voltage, changes in the impedance of the load connected to the motor, etc., so that the motor has a stable speed and a constant torque, thereby improving the stability of the motor when running at a slow speed.

[0196] For example, the application process is described by taking the surgical instrument as a stapler as an example. Fig. 22 In the embodiment, the motor control circuit includes a cutting control circuit, a first switch circuit 50, a second switch circuit 60, a drive circuit 20, a deceleration circuit 70 and a third switch circuit 80. The cutting control circuit adopts Fig.14 The structure shown in the figure, the first switch circuit adopts Fig.17 As shown in the structure, the second switch circuit 60 includes an SP2T switch, and the drive circuit 20 adopts Figure 2 The motor control circuit may also include Figure 6 and Fig.10 The self-locking sampling circuit shown and Fig. 20 The undervoltage protection circuit shown, Fig. 22 The circuits are described in detail in the above-mentioned related embodiments, and will not be described in detail here.

[0197] During the firing process, the second switch circuit 60 is grounded, the light source of the optocoupler C is not blocked, the first input port BI of the drive circuit 20 receives a high-level first switch signal, and the second input port FI receives a low-level second switch signal, that is, the input logic level is (1,0). At this time, the drive circuit 20 outputs a logic level (1,0), that is, the first output port BO outputs a high level, and the second output port FO outputs a low level. The third switch circuit 80 is in the disconnected state, and the drive circuit 20 outputs the second drive signal, which is then stepped down by the deceleration circuit 70 and output to the motor 2. In this case, the motor 2 rotates forward at a low speed, driving the actuator to move forward at a low speed; when the actuator reaches the safety position, the third switch circuit 80 switches to the on state, the deceleration circuit 70 is short-circuited by the third switch circuit 80, and the drive circuit 20 outputs the second drive signal to the motor 2. The motor 2 rotates forward at a high speed, driving the actuator to move forward at a high speed until the firing is completed.

[0198] During the return process, the second switch circuit 60 is connected to the power signal VDD, the light source of the optical coupler C is blocked, the first input port BI of the drive circuit 20 receives a low-level first switch signal, and the second input port FI receives a high-level second switch signal, that is, the input logic level is (0, 1). At this time, the drive circuit 20 outputs a logic level (0, 1), that is, the first output port BO outputs a low level, and the second output port FO outputs a high level. The third switch circuit 80 is in the on state, the deceleration circuit 70 is short-circuited by the third switch circuit 80, and the drive circuit 20 outputs the first drive signal to the circuit. Machine 2, motor 2 reverses at high speed, driving the execution component to retreat at high speed; when the execution component reaches the safety position, the third switch circuit 80 switches to the disconnected state, the drive circuit 20 outputs the first drive signal, which is then stepped down by the deceleration circuit 70 and output to the motor 2, the motor 2 reverses at low speed, and the execution component retreats at low speed. In this case, the self-locking sampling circuit 30 outputs the first self-locking control signal, and the switch tube Q9 is disconnected, so that the cutting control circuit 10 disconnects the transmission path of the second switch signal and locks the firing signal. At this time, the motor 2 is locked in the reverse direction, and the execution component is locked in the retreat direction until the knife is returned to the bottom.

[0199] The nail magazine seat 91 in the surgical instrument can be provided with a limiting mechanism. Among them, the nail magazine assembly is installed on the side of the limiting mechanism away from the motor 2. The limiting mechanism is used to limit the cutting knife assembly to the above-mentioned safety position when the nail magazine assembly is not installed in the nail magazine seat 91 or a used nail magazine assembly is installed. Specifically, the cutting knife assembly is provided with a limiting portion, and the limiting portion cooperates with the limiting mechanism to limit the cutting knife assembly to the safety position. One of the limiting portion and the limiting mechanism is a groove, and the other is a protrusion. For more specific structural composition of the limiting mechanism, please refer to the applicant's prior application 202011453501.7, which will not be repeated here; it should be noted that the present invention can also adopt limiting mechanisms and limiting portions of other structures, as long as it can achieve the function of limiting the cutting knife assembly to the safety position when the nail magazine assembly is not installed in the nail magazine seat 91 or the used nail magazine assembly is installed in the nail magazine seat.

[0200] The above-mentioned motor control circuit, through the deceleration circuit 70, the switching circuit and the self-locking sampling circuit 30, locks the rotation direction of the motor 2 into the reverse direction during the low-speed reversal process, that is, the motor 2 is locked only after reversing for a period of time, thereby improving the control performance of the motor 2.

[0201] Alternatively, if Fig.23 As shown, the motor control circuit includes a cutting control circuit 10, a driving circuit 20, a self-locking sampling circuit 30 and a deceleration circuit 70, wherein the deceleration circuit 70 may include a diode D1 and a diode D3. The cutting control circuit 10, the driving circuit 20 and the self-locking sampling circuit 30 may refer to the description of the above-mentioned related embodiments, and will not be repeated here. Figure 2 Take the driving circuit 20 shown as an example, wherein the anode of the diode D1 is respectively connected to the first output port BO of the driving circuit 20 and the cathode of the diode D3, and the cathode of the diode D1 is respectively connected to the anode of the diode D3 and an input end of the motor 2, wherein the second output port FO of the driving circuit 20 is connected to the other input end of the motor 2.

[0202] Taking the surgical instrument stapler as an example, during the application process, Fig.23 Compared to Fig. 22 For example, at the moment when the knife starts to return, the self-locking sampling circuit 30 can output the first self-locking control signal, and the switch tube Q1 is disconnected, so that the cutting control circuit 10 disconnects the transmission path of the second switch signal and locks the firing signal. At this time, the motor 2 reverses at a low speed and is locked in the reverse direction. Correspondingly, the actuator retreats at a low speed and is locked in the retreat direction until the knife is returned to the bottom. Fig.23 The circuit shown locks the rotation direction of the motor 2 to the reverse direction at the moment when the motor 2 reverses, further expanding the application scenarios.

[0203] In one embodiment, Figure 1As shown, a motor control system is provided, including a motor 2 and a motor control circuit 1. The motor control circuit 1 may be the motor control circuit described in any of the above embodiments. For details, please refer to the above related contents, which will not be repeated here. The motor 2 is connected to the drive circuit 10 in the motor control circuit 1, and the motor 2 is used to rotate under the drive of the drive circuit 10. When the motor 2 is locked by the motor control circuit during the rotation of the motor 2 in the first direction, the rotation direction of the motor 2 is the first direction. Exemplarily, the first direction of the motor 2 is set to the reverse direction.

[0204] For example, the reversal process of the motor 2 may include a full-speed reversal process and a slow-speed reversal process. The above motor control system can be applied to any of the full-speed reversal process and the slow-speed reversal process of the motor 2. In the high-speed reversal process, that is, the motor 2 is locked as soon as it reverses. Fig.23 In the relevant embodiment, during the low-speed reverse process, that is, the motor 2 is locked after a period of reverse rotation, see Fig. 22 The relevant embodiments will not be described in detail here.

[0205] The above-mentioned motor control system includes a motor 2 and a motor control circuit 1, wherein, during the process of the motor 2 rotating in the first direction, the self-locking sampling circuit 30 in the motor control circuit 1 can generate a first self-locking control signal, so that the cutting control circuit 10 in the motor control circuit 1 disconnects the transmission path of the second switch signal, and the second switch signal cannot act on the cutting control circuit 10. In this case, the firing signal is not affected by the second switch signal, and the firing signal is locked, thereby locking the rotation direction of the motor 2, so that the motor 2 can only rotate in the first direction or stop, thereby realizing the locking of the rotation direction of the motor 2, and can prevent the motor 2 from reversing during the rotation in the first direction. Compared with the related technology of using a magnetic holding relay to maintain the rotation direction of the motor, the cost is reduced, and it is not affected by the external magnetic field, thereby improving the control accuracy of the motor rotation direction.

[0206] The following is an example of an electric stapler to explain surgical instruments. Figures 24 to 26 The electric stapler 100 includes an instrument body 103, a shaft assembly 101 extending from the instrument body 103, and an end actuator disposed at the distal end of the shaft assembly 101. The shaft assembly 101 includes a sleeve 102 and a core shaft 105 received in the sleeve 102. The end actuator includes a staple cartridge seat 91, an anvil seat 90, and a staple cartridge assembly (not shown in the figure), wherein 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 located therein, and 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.

[0207] The electric stapler 100 also includes an electric module, a gear assembly 109 and a transmission assembly. The electric module includes a motor 2 and a motor gear 108 connected to the motor 2; the motor 2 drives the gear assembly to move through the motor gear 108, thereby driving the transmission assembly to move. The transmission assembly includes a rack 104, the proximal end of the core shaft 105 is connected to the rack 104, and the distal end is connected to the cutting knife assembly. 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 2 drives the gear assembly 109 through the motor gear 108 to drive the rack 104 to move, thereby realizing the movement of the cutting knife assembly. The electric stapler 100 also includes an end actuator drive mechanism, which drives the end actuator's nail support 90 to pivot relative to the nail magazine support 91 and selectively move between a closed position and an open position. Generally speaking, the end effector drive mechanism includes a connecting rod and a slider. The connecting rod drives the sleeve 102 to move linearly through the conversion of the slider, and the sleeve 102 drives the anvil 90 to pivot through the conversion mechanism. The specific structure of the end effector drive mechanism is the same or similar to that of the prior art and will not be repeated.

[0208] When the electric stapler 100 is in use, first, the end actuator driving mechanism drives the sleeve 102 to move, and then drives the nail holder 90 to pivot and cooperate with the nail magazine assembly to clamp the target tissue; then, the motor 2 starts and rotates forward, and drives the cutting knife assembly to advance through the gear assembly 109, and the cutting knife assembly moves from the initial position to the final position to cut the tissue, and the cutting knife assembly simultaneously pushes the nail pushing block in the nail magazine assembly from the initial position to the final position to achieve the effect of suturing the cut tissue while cutting the tissue; then, the motor 2 reverses and drives the cutting knife assembly to retract to the initial position through the gear assembly 109; then, the end actuator driving mechanism drives the sleeve 102 to move, and drives the nail holder 90 to open and release the tissue; finally, the end actuator driving device drives the sleeve 102 to move, and then drives the nail holder 90 to close. Of course, before and after using the electric stapler 100, the stapler seat 90 needs to be closed relative to the stapler magazine seat 91, so that the end actuator can be extended into or removed from the patient's body through the puncture cannula, which will not be repeated here.

[0209] In one embodiment, a surgical instrument is provided. Figure 24 to Figure 26 Taking the electric stapler 100 as an example, the electric stapler may include an instrument body, a device disposed on the instrument body, and a Figure 1The motor control system and the actuator shown. The motor control system includes a motor 2 and a motor control circuit 1, and the specific structure thereof can be found in the above description. The actuator refers to the cutting knife assembly of the electric stapler. The actuator is connected to the motor 2 in the motor control system, and the actuator is used to move under the drive of the motor 2. When the motor 2 rotates in a first direction, the actuator moves in a retreat direction under the drive of the motor 2, and the self-locking sampling circuit in the motor control circuit 1 generates a first self-locking control signal to lock the rotation of the motor 2 in the first direction, and the movement direction of the actuator 3 is locked as the retreat direction. When the motor 2 rotates in a second direction, the actuator moves in a forward direction under the drive of the motor 2.

[0210] The above-mentioned surgical instrument includes a motor control system and an actuator, wherein the actuator moves under the drive of the motor 2. Since the movement direction of the actuator corresponds to the rotation direction of the motor 2, that is, when the motor 2 rotates in the first direction, the actuator moves in the corresponding retreat direction; when the motor 2 rotates in the second direction, the actuator moves in the corresponding forward direction. When the motor control circuit 1 locks the rotation direction of the motor 2 to the first direction, the movement direction of the actuator 3 is also locked to the retreat direction, thereby realizing effective control of the movement direction of the actuator.

[0211] In one embodiment, Fig. 22 As shown, the motor control circuit may include a firing switch KEY4, wherein a plurality of first ends of the firing switch KEY4 are respectively connected to the ground terminal GND and the power signal terminal VDD, and a second end of the firing switch KEY4 is connected to the cutting control circuit of the motor control circuit. Specifically, the second end of the firing switch KEY4 is connected to the first end of the switch tube Q9 of the cutting control circuit and the second end of the resistor R22. The firing switch KEY4 is used to output a second switch signal according to the ground signal of the ground terminal GND and the power signal of the power signal terminal VDD. Exemplarily, the firing switch KEY4 is an SP2T switch. In other words, the aforementioned second switch circuit 60 includes the firing switch KEY4.

[0212] Based on the above, if Fig.24As shown, the surgical instrument also includes a firing trigger K4, which is arranged on the instrument body. The firing trigger K4 is used to switch the on-off state of the firing switch KEY4 under the action of an external force, so that when the firing switch KEY4 is in an off state, the firing switch KEY4 outputs a second switch signal having a first level state, and when the firing switch KEY4 is in a closed state, the firing switch KEY4 outputs a second switch signal having a second level state, and the cutting control circuit in the motor control circuit is used to control the level state of the firing signal according to the level state of the second switch signal. Wherein, when the movement direction of the actuator is locked, the firing switch KEY4 fails. The failure of the firing switch KEY4 can be understood as that the on-off state of the firing switch KEY4 does not affect the level state of the firing signal, and the firing signal will maintain the level state of the previous moment.

[0213] Exemplarily, when the firing trigger 4 is in an open state, the second switch signal and the firing signal are at a high level; when the firing trigger 4 is in a closed state, the second switch signal and the firing signal are at a low level. When the actuator 4 is locked in the retreat direction, the on and off of the firing trigger 4 has no effect on the firing signal.

[0214] The above-mentioned surgical instrument includes a motor control system, an actuator 3 and a firing trigger 4, wherein the motor control circuit includes a firing switch KEY4, and the firing trigger 4 can switch the on-off state of the firing switch KEY4 to switch the level state of the second switch signal, thereby realizing the switching of the level state of the firing signal, so as to realize the forward and reverse control of the motor 2 according to the firing signal and the knife return signal.

[0215] In one embodiment, the surgical instrument further includes a battery, which is detachably mounted on the instrument body. When the battery is mounted on the instrument body, it is connected to the motor control system and is used to power the motor control system. Wherein, when the movement direction of the actuator is locked in the retreat direction, the battery is used to separate from the instrument body under the action of an external force to release the lock on the movement direction of the actuator. Based on this, when the movement direction of the actuator is locked, the battery can be removed to release the direction lock, so that the surgical instrument can be fired again when the battery is installed again, and can be reused.

[0216] In one embodiment, the motor control system further includes a power switch, which is connected to the battery and the motor control circuit respectively, and is used to select a power supply path between the battery and the motor control circuit. When the power switch is in an off state, the power supply path between the battery and the motor control circuit is disconnected; when the power switch is in an on state, the power supply path between the battery and the motor control circuit is connected, so that the motor control circuit is powered by the battery.

[0217] Based on the above, if Fig.24As shown, the surgical instrument further includes a knife return emergency door K1, which is arranged on the instrument body. The knife return emergency door K1 is used to trigger the power switch under the action of external force to switch the on and off state of the power switch. The knife return emergency door K1 is also used to trigger the power switch under the action of external force when the movement direction of the actuator is locked, switch the power switch from the on state to the off state, disconnect the power supply path between the battery and the motor control circuit, and release the lock of the motor control circuit in the motor control system on the rotation direction of the motor 2, so as to release the lock on the movement direction of the actuator.

[0218] The above-mentioned surgical instrument includes a motor control system, an actuator, a firing trigger K4, a battery and a knife return emergency door K1, wherein the battery can power the motor control circuit in the motor control system. When the rotation direction of the motor 2 is locked by the motor control circuit, the movement direction of the actuator is also locked. At this time, the firing trigger K4 fails and has no effect on the motor 1. In this case, the knife return emergency door K1 can be triggered by an external force to cut off the power supply path between the battery and the motor control circuit by triggering the power switch, so that the motor control circuit is restored to the initial state, the lock on the motor rotation direction is released, so as to release the movement direction of the actuator, so that when the power supply path is turned on again, the motor control circuit can be restored to drive the motor 2, so as to restore the motor 1 to drive the actuator.

[0219] In one embodiment, the motor control circuit further includes a squeeze switch KEY5, which is connected to the second end of the power switch, the cutting control circuit, and the self-locking sampling circuit. Fig.24As shown, the surgical instrument also includes a squeezing trigger K5, which is arranged on the instrument body and exposed to the outside of the instrument body for user operation. The squeezing trigger K5 is pivotally connected to the connecting rod mechanism of the above-mentioned end actuator drive mechanism. In response to the proximal movement of the squeezing trigger K5, the anvil 90 moves from the open position to the closed position so that the jaw assembly switches from the open state to the closed state; in the closed state, the squeezing trigger K5 triggers the squeezing switch KEY5 to switch the on-off state of the squeezing switch KEY5. When the movement direction of the actuator is locked in the retreat direction, the squeezing trigger K5 is operated to trigger the squeezing switch KEY5 to cut off the path between the second end of the power switch and the cutting control circuit and the self-locking sampling circuit to release the lock on the movement direction of the actuator. Based on this, the power switch can be triggered by releasing the squeeze trigger K5, cutting off the power supply path between the battery and the motor control circuit, restoring the motor control circuit to its initial state, unlocking the rotation direction of the motor, and unlocking the movement direction of the actuator. When the power supply path is turned on again, the motor control circuit can be restored to drive the motor 2, and the motor 2 can be restored to drive the actuator. In other words, the doctor can be prevented from firing the surgical instrument again before releasing the squeeze trigger K5 to open the jaw assembly, thereby ensuring the normal use of the instrument. In one embodiment, Figure 6 As shown, the motor control circuit includes an optical coupling unit 510 and a switch control unit 520. Based on this, see Figure 24 to Figure 28 The surgical instrument may further include a transmission assembly and a sliding assembly 6. The transmission assembly is drivingly connected to the actuator assembly. The sliding assembly 6 includes a sliding body 61 and a matching portion 63 and a shielding portion 64 arranged on the sliding body 61. The sliding assembly 6 is movably arranged on the instrument body.

[0220] When the execution component moves forward to the first preset position, the driving part of the transmission component abuts against the matching part 63, driving the sliding component 6 to move forward relative to the instrument body, so that the shielding part 64 moves in the forward direction so that the shielding part 64 blocks the light source of the optical coupling unit 510. In this case, the optical coupling unit 510 is in the disconnected state and the switch control unit 520 is in the on state.

[0221] When the actuator moves backward to the second preset position, the driving part of the transmission assembly abuts against the matching part 63, driving the sliding assembly 6 to move backward relative to the instrument body, so that the shielding part 64 moves backward, so that the shielding part 64 moves to outside the light shielding position. In this case, the optical coupling unit 510 is in a conducting state, and the switch control unit 520 is in a disconnected state. More specifically, the sliding assembly 6 also includes a sliding part 62 arranged on the sliding body 61; the sliding part 62 is movably arranged in the first groove of the instrument body, when the actuator moves forward to the first preset position, the driving part of the transmission assembly abuts against the matching part 63, driving the sliding part 62 to move forward relative to the instrument body in the first groove; when the actuator moves backward to the second preset position, the driving part of the transmission assembly abuts against the matching part 63, driving the sliding part 62 to move backward relative to the instrument body in the first groove. Among them, the first preset position is the position where the actuator moves forward close to the bottom but not to the bottom, and the second preset position is the position where the actuator moves backward close to the bottom but not to the bottom.

[0222] The above surgical instrument can cooperate with the transmission component, the sliding component 6 and the optical coupling unit 510, so that when the actuator 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 510, and the state of the optical coupling unit 510 is switched to the disconnected state, so that the switch control unit 312 is switched to the on state; and when the actuator moves to the second preset position, the driving part of the transmission component abuts with the matching part of the sliding component, so that the shielding part 64 in the sliding component 6 moves to the outside of the light shielding position, and the optical coupling unit 510 is switched to the on state. The state of unit 510 is switched to the on state, thereby switching the switch control unit 520 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 2 according to the knife return signal and combined with the firing signal, thereby realizing the switching of the movement state of the actuator in the surgical instrument. Compared with the switching achieved by using a mechanical microswitch, the embodiment of the present application realizes the automatic switching of the movement direction of the actuator 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.

[0223] In one embodiment, the transmission assembly may include a rack 104, the rack 104 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 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 moves backward to the second preset position, the second end 52c abuts against the protrusion to drive the sliding portion 62 to move backward. In this embodiment, the first end 52b and the second end 52c are both groove structures.

[0224] 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.

[0225] In one embodiment, when the actuator 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 510 is in the on state, and the switch control unit 312 is in the off state.

[0226] When the actuator 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 510. The optical coupling unit 510 is in the disconnected state, and the switch control unit 312 is in the on state.

[0227] Exemplarily, the surgical instrument is described as a stapler. When the motor 2 rotates forward, the actuator moves forward. During this process, the shielding portion 64 remains outside the light-shielding position, so that the actuator 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 2 to reverse, so that the actuator 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 2 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.

[0228] In the above-mentioned surgical instrument, when the actuator moves forward and reaches the first preset position, the shielding portion 64 remains outside the light-shielding position to ensure that the actuator moves forward, and when the actuator moves backward and reaches the second preset position, the shielding portion 64 maintains a shielding state for the light source to ensure that the actuator moves backward, thereby meeting the application requirements of the surgical instrument.

[0229] In one embodiment, see Figure 1-Figure 28 , a surgical instrument is provided, and the surgical instrument is described as a stapler. The stapler may include an emergency knife return door K1, a firing trigger K4, a squeezing trigger K5, a firing switch KEY4, a power switch, a squeezing switch KEY5, a cutting control circuit, a driving circuit, a self-locking sampling circuit and a motor 2. Among them, the cutting control circuit, the driving circuit, and the self-locking sampling circuit can be referred to Fig. 22 and related content.

[0230] In the initial state, the manual emergency return knife door K1 is normally closed, the power switch remains in the triggered state, the drive circuit 20 is energized, a 3.3V voltage (can be other voltage values) is generated, and the power indicator light (light emitting diode LED1) is on.

[0231] Press the manual squeeze trigger K5 to close it to the bottom, triggering the squeeze switch KEY5 from the open state to the closed state, transmitting the stepped-down 3.3V to the back end, activating the self-locking sampling circuit and the cutting control circuit. The self-locking sampling circuit outputs a high level by default, and the cutting control circuit outputs a logic level (1,1) by default.

[0232] When it is necessary to cut and suture tissue, press and hold the firing trigger K4, and the firing switch KEY4 switches from high to low, that is, grounded, and outputs a low-level firing signal; since the self-locking sampling circuit is not triggered, the low-level firing signal at the front end of the switch tube Q9 can be transmitted to the back end, and the logic level of the FI port becomes 0. At this time, the receiving end of the optocoupler C is not blocked, the receiving end is turned on, the base of the transistor Q10 is at a low level, and Q3 is not turned on. The BI port is at a high level, that is, 3.3V, the BI port outputs 1, and the cutting control circuit outputs a logic level (1,0). After the drive circuit 20 receives the front-end input signal, it controls the output port BO to be the power supply voltage, the output port FO to be 0V, the motor 2 rotates forward, and the cutting knife assembly moves forward to cut.

[0233] Before reaching the empty nail magazine safety position, the internal empty nail magazine safety electronic switch 80 is normally open, the deceleration circuit is connected to the main circuit of motor 2 to reduce the input voltage of motor 2, motor 2 runs at a low speed, the cutting knife assembly moves forward at a low speed, and the potential of the N nodes at both ends is higher than that of the P nodes, and the self-locking sampling circuit is not triggered.

[0234] After passing the empty nail magazine safety position, switch 80 is normally closed, the deceleration resistor is short-circuited, the voltage of motor 2 rises, motor 2 runs at high speed, the cutting knife assembly moves forward at high speed, and at the same time, the potentials of the N node and the P node at both ends are equal, and the self-locking sampling circuit is not triggered.

[0235] After firing to the end, the receiving end of the optocoupler C is blocked and disconnected, the base of the transistor Q10 is at a high level, and Q10 is turned on. The BI port is pulled to the ground, that is, the logic level of the BI port is 0. At this time, the firing trigger K4 is still not released, the firing switch KEY4 remains at a high position, that is, grounded, the logic level of the FI port is 0, the cutting control circuit outputs (0,0), and after the drive circuit 20 receives the front-end input signal, it controls BO and FO not to output, the motor 2 stops, and the cutting knife assembly stops moving.

[0236] The user releases the firing trigger K4, and the firing switch KEY4 switches to the high position, that is, it connects to 3.3V, and the logic level of the FI port is 1. Due to the structural design of the sliding component 6 and the rack 104, the receiving end of the optical coupler C is blocked before the knife is returned, and Q10 remains turned on. The logic level of the BI port is 0, and the cutting control circuit outputs (0,1). After the drive circuit 20 receives the front-end input signal, it controls BO to 0V, FO is the power supply voltage, the motor 2 reverses, and the cutting knife assembly 2 retracts the knife.

[0237] Before passing the safety position, the deceleration resistors are short-circuited, the motor 2 reverses at high speed, and the cutting knife assembly returns at full speed. After passing the safety position, the switch 80 is disconnected, the deceleration circuit is connected to the loop, the motor 2 reverses at low speed, and a voltage drop is formed at both ends of the deceleration circuit so that the potential of the P node at both ends is higher than that of the N node. At this time, the self-locking sampling circuit is triggered, the LOCK signal remains at a low level, Q9 cannot be opened, and the motor 1 is locked in the reverse direction. At this time, the user presses the firing trigger K4 again, and the signal cannot be transmitted to the rear end, and the second firing cannot be performed.

[0238] After returning to the firing starting position, the shielding of the receiving end of the optocoupler C disappears, and the BI port returns to the high position, that is, connected to 3.3V, and the logic level of the BI port is 1. At this time, since Q9 cannot be opened, the FI port can only remain at 1, and the cutting control circuit outputs (1,1). After the drive circuit 20 receives the front-end input signal, it controls BO to 0V, FO to 0V, motor 2 stops, and the cutting knife assembly stops moving; at this time, the whole machine cannot be stimulated again unless the battery is unplugged, the knife return emergency door K1 is opened, or the pre-squeeze trigger K5 is opened, and the system is powered on again to restore the system parameters to the default state.

[0239] 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.

[0240] 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: include: A cutting control circuit, wherein the cutting control circuit generates a knife return signal according to a received first switch signal, and generates a firing signal according to a received second switch signal; A driving circuit connected to the cutting control circuit, wherein the driving circuit generates a driving signal according to the knife return signal and the firing signal to drive the motor to rotate in a first direction or a second direction; A self-locking sampling circuit is respectively connected to the cutting control circuit and the driving circuit, and the self-locking sampling circuit collects the driving signal output by the driving circuit, and generates a first self-locking control signal and a second self-locking control signal according to the driving signal; wherein the first self-locking control signal is used to enable the cutting control circuit to disconnect the transmission path of the second switch signal, and lock the firing signal to lock the rotation direction of the motor to the first direction; the second self-locking control signal is used to enable the cutting control circuit to connect the transmission path of the second switch signal, so as to transmit the firing signal and the return knife signal to the driving circuit.

2. The motor control circuit according to claim 1, characterized in that: The driving signal includes a first driving signal and a second driving signal; when the return signal has a first level and the firing signal has a second level, the driving circuit generates the first driving signal to drive the motor to rotate in the first direction; wherein the first level is different from the second level; When the return signal has the second level and the firing signal has the first level, the driving circuit generates a second driving signal to drive the motor to rotate in a second direction; wherein the first direction is opposite to the second direction.

3. The motor control circuit according to claim 2, characterized in that: When the first driving signal drives the motor to rotate in the first direction, the self-locking sampling circuit generates the first self-locking control signal, and transmits the first self-locking control signal to the cutting control circuit, so that the cutting control circuit cuts off the transmission path of the second switch signal and locks the firing signal to lock the rotation direction of the motor to the first direction; When the second drive signal drives the motor to rotate in the second direction, the self-locking sampling circuit generates a second self-locking control signal and outputs the second self-locking control signal to the cutting control circuit so that the cutting control circuit turns on the transmission path of the second switch signal.

4. The motor control circuit according to claim 3, characterized in that: The self-locking sampling circuit comprises: a sampling circuit connected to the driving circuit, the sampling circuit collecting the first driving signal and the second driving signal output by the driving circuit, and generating a first sampling signal when the first driving signal drives the motor to rotate in the first direction, and generating a second sampling signal when the second driving signal drives the motor to rotate in the second direction; The self-locking circuit is connected to the sampling circuit and the cutting control circuit respectively. The self-locking circuit generates the first self-locking control signal according to the first sampling signal and generates the second self-locking control signal according to the second sampling signal.

5. The motor control circuit according to claim 4, characterized in that: The sampling circuit comprises: an optical coupling module, wherein the optical coupling module is connected to the driving circuit, the optical coupling module is turned on under the action of the first driving signal, and is turned off under the action of the second driving signal; A first switch module, wherein the first switch module is respectively connected to the optocoupler module and the self-locking circuit, the first switch module is turned on when the optocoupler module is in an on state and generates the first sampling signal, and is turned off when the optocoupler module is in an off state and generates the second sampling signal.

6. The motor control circuit according to claim 4, characterized in that: The sampling circuit comprises: An operational amplifier module is respectively connected to the drive circuit and the self-locking circuit. The operational amplifier module collects the first drive signal and the second drive signal output by the drive circuit, and when the first drive signal drives the motor to rotate in the first direction, the first drive signal is power-amplified to generate the first sampling signal, and when the second drive signal drives the motor to rotate in the second direction, the second drive signal is power-amplified to generate the second sampling signal.

7. The motor control circuit according to claim 4, characterized in that: The self-locking circuit includes a second switch module and a third switch module, wherein the control end of the second switch module is respectively connected to the sampling circuit and the first end of the third switch module, the first end of the second switch module is respectively connected to the control end of the third switch module and the cutting control circuit, the second end of the second switch module is connected to the ground end, and the second end of the third switch module is connected to the power signal end, wherein, The on-off states of the second switch module and the third switch module are consistent; The second switch module and the third switch module are turned on when the sampling circuit outputs the first sampling signal, and output the first self-locking control signal with a low level, so that the cutting control circuit disconnects the transmission path of the second switch signal and locks the firing signal to lock the rotation direction of the motor to the first direction; The second switch module and the third switch module are disconnected when the sampling circuit outputs the second sampling signal, and output the second self-locking control signal with a high level, so that the cutting control circuit turns on the transmission path of the second switch signal.

8. The motor control circuit according to claim 4, characterized in that: The self-locking circuit includes a fourth switch module, a fifth switch module and a sixth switch module, wherein the control end of the fourth switch module is respectively connected to the sampling circuit and the first end of the fifth switch module, the first end of the fourth switch module is respectively connected to the control end of the fifth switch module and the control end of the sixth switch module, the second end of the fourth switch module is connected to the ground end, the second end of the fifth switch module is connected to the power signal end, the first end of the sixth switch module is connected to the power signal end, and the second end of the sixth switch module is respectively connected to the second end of the fourth switch module and the cutting control circuit, wherein, The on-off states of the fourth switch module, the fifth switch module and the sixth switch module are consistent; The fourth switch module, the fifth switch module and the sixth switch module are turned on when the sampling circuit outputs the first sampling signal, and output the first self-locking control signal with a high level, so that the cutting control circuit disconnects the transmission path of the second switch signal and locks the firing signal to lock the rotation direction of the motor to the first direction; The fourth switch module, the fifth switch module and the sixth switch module are disconnected when the sampling circuit outputs the second sampling signal, and output the second self-locking control signal with a low level, so that the cutting control circuit turns on the transmission path of the second switch signal.

9. The motor control circuit according to claim 1, characterized in that: The cutting control circuit comprises: A self-locking control module, wherein the control end of the self-locking control module is connected to the output end of the self-locking sampling circuit, the output end of the self-locking control module is connected to the drive circuit, the input end of the self-locking control module receives the second switch signal, the self-locking control module disconnects the path between the input end of the self-locking control module and the drive circuit according to the first self-locking control signal, locks the firing signal to lock the rotation direction of the motor to the first direction, and connects the path between the input end of the self-locking control module and the drive circuit according to the second self-locking control signal.

10. The motor control circuit according to claim 9, characterized in that: The self-locking control module includes a first switch tube and a voltage divider unit, wherein the control end of the first switch tube is connected to the first end of the voltage divider unit, the first end of the first switch tube is respectively connected to the second end of the voltage divider unit, the first end of the first switch tube is used to receive the second switch signal, the second end of the first switch tube is connected to the drive circuit, and the third end of the voltage divider unit is used to receive the first self-locking control signal or the second self-locking control signal, wherein, Under the control of the first self-locking control signal, the first switch tube disconnects the path between the first end of the first switch tube and the driving circuit, and locks the firing signal to lock the rotation direction of the motor to the first direction; Under the control of the second self-locking control signal, the first switch tube conducts a path between the first end of the first switch tube and the drive circuit.

11. The motor control circuit according to claim 1, characterized in that: The motor control circuit further comprises: The first switch circuit is connected to the ground terminal, the power signal terminal, and the cutting control circuit respectively, and generates the first switch signal according to the ground signal of the ground terminal and the power signal of the power signal terminal.

12. The motor control circuit according to claim 11, characterized in that: The first switch circuit 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 cutting control circuit. The switch control unit is disconnected when the optical coupling unit is in an on state, and outputs the first switch signal with a first level. The switch control unit is turned on when the optical coupling unit is in an off state, and outputs the first switch signal with a second level.

13. The motor control circuit according to claim 1, characterized in that: The motor control circuit further comprises: An undervoltage protection circuit, wherein the input end of the undervoltage protection circuit is connected to the power supply signal end, the output end of the undervoltage protection circuit is connected to the self-locking sampling circuit, and the undervoltage protection circuit generates an undervoltage protection signal when the power supply voltage outputted from the power supply signal end is less than a preset voltage threshold, so that the self-locking sampling circuit generates the first self-locking control signal according to the undervoltage protection signal.

14. The motor control circuit according to claim 13, characterized in that: The undervoltage protection circuit includes a first voltage stabilizing module, a seventh switch module and an eighth switch module, wherein the first voltage stabilizing module is respectively connected to the power supply signal terminal and the first control terminal of the seventh switch module, the first terminal of the seventh switch module is connected to the ground terminal, the second terminal of the eighth switch tube is connected to the control terminal and the power supply signal terminal of the eighth switch module, the first terminal of the eighth switch module is connected to the self-locking sampling circuit, and the second terminal of the eighth switch module is connected to the ground terminal, wherein, The on-off state of the seventh switch module is opposite to that of the eighth switch module; When the power supply signal outputted from the power supply signal terminal is less than the preset voltage threshold, the seventh switch module is disconnected, the eighth switch module is turned on, and the first voltage stabilizing module, the seventh switch module and the eighth switch module generate the undervoltage protection signal.

15. The motor control circuit according to claim 1, characterized in that: The motor control circuit further comprises: a deceleration circuit, connected to the drive circuit and the motor respectively, the deceleration circuit performs voltage reduction processing on the drive signal, and outputs a third drive signal to the motor; wherein a first speed of the motor under the drive signal is greater than a second speed under the third drive signal; The third switch circuit is connected in parallel with the deceleration circuit, wherein: When the third switch circuit is in an on state, the drive circuit outputs the drive signal to the motor via the third switch circuit; When the third switch circuit is in an off state, the drive circuit outputs the third drive signal to the motor via the deceleration circuit.

16. The motor control circuit according to claim 15, characterized in that: The deceleration circuit comprises: A second voltage stabilizing module, wherein an input terminal of the second voltage stabilizing module is connected to a ground terminal; A voltage regulating module, wherein the voltage regulating module is respectively connected to the output end of the second voltage stabilizing module, the output end of the driving circuit, the third switching circuit, and the motor. The voltage regulating module regulates the driving signal according to the voltage stabilization value of the second voltage stabilizing module to reduce the voltage of the driving signal and output the third driving signal.

17. A motor control system, characterized in that: include: The motor control circuit according to any one of claims 1 to 16; wherein: A motor is connected to a driving circuit in the motor control circuit, and the motor rotates under the drive of the driving circuit; wherein, when the self-locking sampling circuit in the motor control circuit generates the first self-locking control signal, the rotation direction of the motor is locked by the motor control circuit and maintained in the first direction.

18. A surgical instrument, characterized in that: The invention comprises an apparatus body and: The motor control system as claimed in claim 17; An actuator is connected to the motor in the motor control system, and the actuator moves under the drive of the motor, wherein: When the motor rotates in a first direction, the actuator moves in a retreat direction under the drive of the motor, and the self-locking sampling circuit in the motor control circuit generates the first self-locking control signal to lock the movement direction of the actuator to the retreat direction when the motor rotates in the first direction; When the motor rotates in the second direction, the actuator moves in the forward direction driven by the motor.

19. The surgical instrument according to claim 18, characterized in that The motor control circuit includes a trigger switch, a plurality of first ends of the trigger switch are respectively connected to a ground end and a power signal end, a second end of the trigger switch is connected to a cutting control circuit of the motor control circuit, and the trigger switch outputs the second switch signal according to a ground signal of the ground end and a power signal of the power signal end; wherein the surgical instrument further includes: a firing trigger, arranged on the instrument body, wherein the firing trigger switches the on-off state of the firing switch under the action of an external force, so that when the firing switch is in an off state, the firing switch outputs a second switch signal having a first level state, and when the firing switch is in a closed state, the firing switch outputs a second switch signal having a second level state, and the cutting control circuit in the motor control circuit controls the level state of the firing signal according to the level state of the second switch signal; Wherein, when the movement direction of the actuator is locked, the firing switch becomes ineffective.

20. The surgical instrument according to claim 18, characterized in that The surgical instrument further comprises: A battery is detachably mounted on the device body. When the battery is mounted on the device body, it is connected to the motor control system, and the battery supplies power to the motor control system; wherein, When the movement direction of the actuator is locked in the retreat direction, the battery is separated from the instrument body under the action of an external force to release the locking of the movement direction of the actuator.

21. The surgical instrument according to claim 20, characterized in that The motor control system further includes a power switch, which is connected to the battery and the motor control circuit respectively, and the power switch selectively conducts a power supply path between the battery and the motor control circuit; wherein the surgical instrument further includes: a knife return emergency door, which is arranged on the instrument body, and the knife return emergency door triggers the power switch under the action of external force to switch the on and off state of the power switch, and supplies power to the motor control circuit through the battery when the power switch is in the on state; When the movement direction of the actuator is locked in the retreat direction, the knife-returning emergency door triggers the power switch under the action of external force, switching the power switch from the on state to the off state, thereby releasing the lock on the rotation direction of the motor by the motor control circuit in the motor control system, thereby releasing the lock on the movement direction of the actuator.

22. The surgical instrument according to claim 21, characterized in that The motor control circuit includes an optical coupling unit and a switch control unit, and the surgical instrument also 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.

23. The surgical instrument according to claim 22, 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, driving the sliding portion to move forward or backward in the first groove relative to the instrument body.

24. The surgical instrument according to claim 22, 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.

25. The surgical instrument according to claim 21, characterized in that The motor control circuit further includes a squeeze switch, and the squeeze switch is respectively connected to the second end of the power switch, the cutting control circuit, and the self-locking sampling circuit; wherein the surgical instrument further includes: The squeezing trigger is arranged on the instrument body. When the movement direction of the actuator is locked in the retreat direction, the squeezing switch is triggered based on the external force to cut off the path between the second end of the power switch and the cutting control circuit and the self-locking sampling circuit, so as to release the lock on the movement direction of the actuator.

Images