Electric anastomat percussion control method and system and electric anastomat

Abstract

The invention provides a percussion control method and system for an electric anastomat and the electric anastomat. The method comprises the steps that a first pulse width modulation signal is sent to a motor of the anastomat, a percussion mechanism of the anastomat is driven by the motor to execute a preset basic stroke, and the duty ratio of the first pulse width modulation signal is stored in real time; after the firing mechanism executes a preset basic stroke, whether compensation needs to be executed or not is judged according to the stored duty ratio of the first pulse width modulation signal and a preset stroke compensation condition; if compensation needs to be executed, a second pulse width modulation signal is sent to the motor, and the firing mechanism is driven by the motor to execute the preset compensation stroke. After the fixed percussion stroke is completed, stroke compensation is automatically carried out based on the actual load condition, and the operation effect is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an electric stapler firing control method and system, and an electric stapler. Background Art

[0002] Electric staplers are widely used in modern surgical operations, and their precise control mechanism can achieve rapid cutting and stapling of tissues. However, in actual operation, changes in load (such as the density and resistance of different tissues) will cause the mechanical parts of the stapler (especially plastic parts) to deform, causing the actual firing stroke to deviate from the preset value. Existing electric staplers mainly control the firing stroke length through various firing stroke detection methods to make the firing stroke reach the predetermined stroke length. However, these methods are difficult to fully compensate for mechanical deformation when the load changes, thereby affecting the molding effect of the end nail.

[0003] The existing electric stapler design fails to fully consider the impact of load changes on the firing stroke. Mechanical components may deform under high load conditions, resulting in an extension of the actual physical stroke. Since the firing stroke controlled by the existing stroke detection method is fixed, it is impossible to automatically compensate for this physical deformation, thus affecting the nail forming effect. Summary of the invention

[0004] In response to the problems in the prior art, the purpose of the present application is to provide an electric stapler firing control method, system and electric stapler, which, after a fixed preset basic stroke is completed, automatically perform stroke compensation based on the actual load situation to improve the surgical effect.

[0005] The embodiment of the present application provides a firing control method for an electric stapler, the stapler comprising a motor and a firing mechanism, the method comprising:

[0006] Sending a first pulse width modulation signal to the motor, driving the firing mechanism through the motor to execute a preset basic stroke, and storing the duty cycle of the first pulse width modulation signal in real time;

[0007] After the firing mechanism completes the preset basic stroke, it is determined whether compensation needs to be performed according to the stored duty cycle of the first pulse width modulation signal and the preset stroke compensation condition;

[0008] If compensation is required, a second pulse width modulation signal is sent to the motor, and the firing mechanism is driven by the motor to execute a preset compensation stroke.

[0009] In some embodiments, judging whether compensation needs to be performed based on the stored first pulse width modulation signal and the preset stroke compensation condition includes the following steps:

[0010] Calculating evaluation parameters of the first pulse width modulation signal according to the duty cycle of the first pulse width modulation signal within a preset basic stroke, the evaluation parameters including standard deviation and / or cumulative energy;

[0011] Whether compensation needs to be performed is determined according to the evaluation parameter of the first pulse width modulation signal and the preset stroke compensation condition.

[0012] In some embodiments, the stroke compensation condition includes that compensation needs to be performed when the standard deviation is greater than a first standard deviation threshold and / or the cumulative energy is greater than a first cumulative energy threshold.

[0013] In some embodiments, determining whether compensation needs to be performed includes the following steps:

[0014] Determine whether the standard deviation is greater than a first standard deviation threshold;

[0015] If the standard deviation is greater than a first standard deviation threshold, it is determined that compensation needs to be performed;

[0016] If not, determining whether the accumulated energy is greater than a first accumulated energy threshold;

[0017] If the standard deviation is less than or equal to the first standard deviation threshold, and the cumulative energy is greater than the first cumulative energy threshold, it is determined that compensation needs to be performed.

[0018] In some embodiments, after determining that compensation needs to be performed based on the evaluation parameters of the first pulse width modulation signal and the preset stroke compensation condition, the method further includes:

[0019] A stroke compensation value is determined according to the evaluation parameter of the first pulse width modulation signal and a preset stroke compensation condition.

[0020] In some embodiments, the stroke compensation condition includes that compensation needs to be performed when the standard deviation is greater than a first standard deviation threshold, and the stroke compensation condition pre-divides the standard deviation range greater than the first standard deviation threshold into a plurality of standard deviation value segments, each standard deviation value segment corresponds to a compensation stroke value, and the larger the value of the standard deviation value segment, the larger the corresponding compensation stroke value;

[0021] Determining a stroke compensation value according to an evaluation parameter of the first pulse width modulation signal and a preset stroke compensation condition includes:

[0022] If the standard deviation is greater than the first standard deviation threshold, a compensation stroke value corresponding to the standard deviation value segment into which the standard deviation falls is determined.

[0023] In some embodiments, the stroke compensation condition includes that the accumulated energy is greater than a first accumulated energy threshold value, and in the stroke compensation condition, the accumulated energy range greater than the first accumulated energy threshold value is pre-divided into a plurality of accumulated energy value segments, each accumulated energy value segment corresponds to a compensation stroke value, and the larger the value of the accumulated energy value segment, the larger the corresponding compensation stroke value;

[0024] Determining a stroke compensation value according to an evaluation parameter of the first pulse width modulation signal and a preset stroke compensation condition includes:

[0025] If the accumulated energy is greater than the first accumulated energy threshold, a compensation stroke value corresponding to the accumulated energy value segment into which the accumulated energy falls is determined.

[0026] In some embodiments, the calculation process of the accumulated energy includes: multiplying the duty cycle of the pulse width modulation signal per unit time in a preset basic stroke by the time length of the unit time to obtain the energy per unit time, and adding up the energies of all unit times in the preset basic stroke to obtain the accumulated energy.

[0027] In some embodiments, sending a first pulse width modulation signal to a motor includes the following steps:

[0028] Generate an initial first pulse width modulation signal according to the initial duty cycle, and send the initial first pulse width modulation signal to the motor;

[0029] Acquire motion feedback data of the motor, determine an updated duty cycle according to the motion feedback data and a target speed, generate an updated first pulse width modulation signal according to the updated duty cycle, and send the updated first pulse width modulation signal to the motor.

[0030] In some embodiments, the method further includes determining whether the preset basic trip is completed by taking the following steps:

[0031] The current motion stroke of the firing mechanism is calculated based on the motion feedback data of the motor, and whether the preset basic stroke has been executed is determined based on the comparison between the current motion stroke and the preset basic stroke.

[0032] The embodiment of the present application also provides an electric stapler firing control system for implementing an electric stapler firing control method, the system comprising:

[0033] A driving signal generating module, used to generate a first pulse width modulation signal, and when compensation needs to be performed, to generate a second pulse width modulation signal;

[0034] A motor driving module, used to send a first pulse width modulation signal to the motor during the execution of the preset basic stroke, and to send a second pulse width modulation signal to the motor when the preset basic stroke is completed and compensation needs to be performed;

[0035] A data storage module, used for storing the duty cycle of the first pulse width modulation signal in real time during the execution of the preset basic stroke;

[0036] The data processing module is used to determine whether compensation needs to be performed according to the stored duty cycle of the first pulse width modulation signal and the preset stroke compensation condition after the preset basic stroke is completed.

[0037] The electric stapler firing control method, system and electric stapler provided in the present application have the following advantages:

[0038] By adopting the firing control method of the electric stapler of the present application, the first pulse width modulation signal is first used to drive the motor, so as to drive the firing mechanism through the motor to execute the preset basic stroke. During the firing mechanism executing the preset basic stroke, in order to maintain the stability of the firing process, the duty cycle of the first pulse width modulation signal will change with the load (such as encountering density and resistance changes of different tissues), so that the duty cycle of the first pulse width modulation signal can reflect the change of the load. After the fixed preset basic stroke is completed, it is determined whether stroke compensation is required according to the duty cycle of the first pulse width modulation signal, and when the stroke compensation condition is met, a second pulse width modulation signal is sent to the motor, so that the motor drives the firing mechanism to execute the preset compensation stroke. Therefore, the firing control method realizes automatic stroke compensation based on the actual load situation, eliminates the influence of deformation of the mechanical parts of the stapler caused by load changes on the stroke, and can still ensure that the firing stroke of the firing mechanism meets the requirements when the load changes, thereby ensuring the molding effect of the end stapler, thereby effectively improving the surgical effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings.

[0040] Figure 1 is a flow chart of a firing control method of an electric stapler according to an embodiment of the present application;

[0041] Figure 2 It is a partial structural schematic diagram of an electric stapler according to an embodiment of the present application;

[0042] Figure 3 is a flow chart of performing stroke compensation according to an embodiment of the present application;

[0043] Figure 4 It is a structural block diagram of an electric stapler firing control system according to one embodiment of the present application. DETAILED DESCRIPTION

[0044] The example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as being limited to the embodiments set forth herein; on the contrary, these embodiments are provided so that the present application will be comprehensive and complete, and the concept of the example embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their repeated descriptions will be omitted. "Or" and "or" in the specification may both mean "and" or "or". Although the terms "upper", "lower", "between", etc. may be used in this specification to describe different exemplary features and elements of the present application, these terms are used herein only for convenience, such as according to the directions of the examples described in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional direction of the structure to fall within the scope of the present application. Although "first" or "second" etc. are used in this specification to represent certain features, they are only used to represent the function, and are not used as a limitation on the number and importance of specific features.

[0045] The present application provides an electric stapler firing control method, system and electric stapler. The electric stapler includes an instrument platform and an actuator disposed at the distal end of the instrument platform. The instrument platform is provided with a controller, a motor and a firing mechanism. During surgery, the actuator first clamps the tissue, and in response to the user's motor start operation, the controller sends a pulse width modulation signal (PWM signal) to the motor to drive the motor to operate, and the motor drives the firing mechanism to move in the distal direction, driving the actuator to suturing and cutting the tissue. The controller controls the output speed of the motor by controlling the duty cycle of the pulse width modulation signal.

[0046] The electric stapler can detect the firing stroke of the firing mechanism through a Hall sensor or an encoder, and then determine whether the firing stroke of the firing mechanism has reached the preset basic stroke. However, the electric staplers in the prior art fail to fully consider the impact of load changes on the firing stroke. The mechanical parts of the stapler may deform under high load conditions, resulting in an extension of the actual physical stroke. The preset basic stroke controlled by the existing electric stapler based on the method of controlling the stroke based on firing stroke detection is fixed and cannot automatically compensate for this physical deformation, thereby affecting the nail forming effect.

[0047] In order to solve the technical problems in the prior art, the present application provides a firing control method for an electric stapler, which is used to control the firing process of the electric stapler. The firing control method is deployed in the controller (main control unit, MCU) of the electric stapler. Figure 1 As shown, in one embodiment of the present application, the firing control method includes the following steps:

[0048] S100: sending a first pulse width modulation signal to the motor, driving the firing mechanism through the motor to execute a preset basic stroke, and storing the duty cycle of the first pulse width modulation signal in real time;

[0049] After the user sends a firing command to the controller through the user interface (button or display), the controller starts to send a first pulse width modulation signal to the motor. After the motor is started, the motor output shaft rotates with the motor rotor, and the rotational motion of the motor output shaft is converted into the axial motion of the firing mechanism through the transmission mechanism, driving the firing mechanism to move in the distal direction, thereby executing the preset basic stroke;

[0050] The preset basic stroke is the original fixed basic firing stroke. For each stapler, the preset basic stroke can be set when the stapler leaves the factory. The preset basic stroke corresponds to the firing movement stroke of the firing mechanism from the initial position to the firing completion position.

[0051] When the motor drives the firing mechanism to fire, if the load changes, the duty cycle of the first pulse width modulation signal generated by the controller also changes accordingly. Therefore, the change in the duty cycle of the first pulse width modulation signal can reflect the change in the load. In the process of the firing mechanism moving from the initial position to the distal direction to the firing completion position, the duty cycle of the first pulse width modulation signal at each moment is stored in real time;

[0052] S200: Determine whether the firing mechanism has completed the preset basic stroke;

[0053] If the firing mechanism completes the preset basic stroke, S300: judging whether compensation needs to be performed according to the stored duty cycle of the first pulse width modulation signal and the preset stroke compensation condition;

[0054] Since the change of the duty cycle of the first pulse width modulation signal can reflect the change of the load, whether compensation needs to be performed is determined according to the duty cycle of the first pulse width modulation signal, that is, whether compensation needs to be performed is determined according to the change of the load;

[0055] If compensation needs to be performed, then S400: sending a second pulse width modulation signal to the motor, so that the firing mechanism is driven by the motor to perform a preset compensation stroke;

[0056] Here, the “second pulse width modulation signal” refers to the pulse width modulation signal sent by the controller to the motor when the firing mechanism needs to continue to move in the distal direction for a preset compensation stroke through the motor after the preset basic stroke is completed. In order to distinguish it from the pulse width modulation signal during the preset basic stroke, the pulse width modulation signals during the preset basic stroke and the preset compensation stroke are respectively represented as the “first pulse width modulation signal” and the “second pulse width modulation signal”;

[0057] If compensation is not required, then S500: end the firing drive process, that is, stop sending the first pulse width modulation signal to the motor, and do not execute the preset compensation stroke;

[0058] If the firing mechanism has not completed the preset basic stroke, continue to step S100.

[0059] By adopting the firing control method of the electric stapler of the present application, firstly, a first pulse width modulation signal is used to drive the motor, so as to drive the firing mechanism to execute the preset basic stroke through the motor. During the firing mechanism executing the preset basic stroke, in order to maintain the stability of the firing process, the duty cycle of the first pulse width modulation signal will change with the load (such as encountering density and resistance changes of different tissues), so that the duty cycle of the first pulse width modulation signal can reflect the change of the load. After the fixed preset basic stroke is completed, it is determined whether stroke compensation is required according to the duty cycle of the first pulse width modulation signal, and when the stroke compensation condition is met, a second pulse width modulation signal is sent to the motor, so that the motor drives the firing mechanism to execute the preset compensation stroke. Therefore, the firing control method realizes automatic stroke compensation based on the actual load situation, eliminates the influence of deformation of the mechanical parts of the stapler caused by the load change on the stroke, and after the preset basic stroke is completed, the additional compensation stroke is compensated based on the actual load situation, and the firing stroke of the firing mechanism can still be guaranteed to meet the requirements when the load changes, thereby ensuring the molding effect of the end stapler, thereby effectively improving the surgical effect.

[0060] Figure 2 The partial structure of an electric stapler is shown as an example. The electric stapler includes an instrument platform and an actuator arranged at the distal end of the instrument platform. The instrument platform includes a housing, a motor 5, a circuit board 1, an operation button 4, a firing mechanism and a transmission mechanism 3. The transmission mechanism 3 includes one or more gears. The firing mechanism includes a rack 2 meshed with a gear in the transmission mechanism 3 and a push rod arranged at the distal end of the rack 2. The transmission mechanism 3 is used to convert the rotational motion of the output shaft of the motor 5 into the movement of the rack 2 in the distal direction. The controller is arranged on the circuit board 1. When the stapler is fired, the user sends a firing instruction to the controller by pressing the operation button 4, and the controller sends a first pulse width modulation signal to the motor 5. The rotor of the motor 5 rotates forward, and its output shaft drives the rack 2 to move in the distal direction through the transmission mechanism 3, and the rack 2 then drives the push rod at the distal end to move in the distal direction, so as to sew the staples in the actuator to the tissue and cut the tissue at the same time. The movement stroke of the rack 2 is equal to the movement stroke of the firing mechanism. By setting the operation button 4, the user can conveniently start and stop the motor 5. After the user presses the operation button 4, the motor 5 starts to run. After releasing the operation button 4, the controller stops sending the pulse width modulation signal to the motor 5, and the motor 5 stops running. The operation button 4 supports starting and stopping the motor 5 at any time, which is more flexible and convenient to use. Figure 2 The structure of the electric stapler is only an example, which is intended to illustrate the coordination relationship between the controller, the firing mechanism and the motor. Figure 2The structure of the electric stapler can also be subjected to various deformations, such as adjusting the positions of various components, changing the structure of the transmission mechanism, replacing the operation button 4 with a display screen that supports input, etc., all of which fall within the protection scope of this application.

[0061] In this embodiment, in step S100, sending a first pulse width modulation signal to the motor includes the following steps:

[0062] Generate an initial first pulse width modulation signal according to the initial duty cycle, and send the initial first pulse width modulation signal to the motor; the initial duty cycle is a preset value preset in the controller, which can be a constant value at the factory setting, or a value that can be set by the user before firing;

[0063] Acquire motion feedback data of the motor, determine an updated duty cycle according to the motion feedback data and the target speed, generate an updated first pulse width modulation signal according to the updated duty cycle, and send the updated first pulse width modulation signal to the motor. The target speed is a preset speed value, which can be a constant value at the factory setting, or a value that can be set by the user before firing.

[0064] In this embodiment, the motion feedback data of the motor is the motor speed detected by the Hall sensor or encoder set on the motor. When the duty cycle of the first pulse width modulation signal sent by the controller to the motor remains unchanged, if the load changes, such as the density or thickness of the tissue increases, the resistance encountered by the firing mechanism moving in the distal direction will also increase, and the speed of the motor will also decrease. On the contrary, if the density or thickness of the tissue decreases, the resistance encountered by the firing mechanism moving in the distal direction will also decrease. Therefore, the change in the speed of the motor also reflects the change in the load. During the firing process of the stapler, in order to maintain the stability of the speed of the firing mechanism moving in the distal direction, the motor speed is adjusted by adjusting the duty cycle of the first pulse width modulation signal. When the motor speed is less than the target speed, the actual motor speed is increased by increasing the duty cycle of the first pulse width modulation signal. When the motor speed is greater than the target speed, the actual motor speed is reduced by reducing the duty cycle of the first pulse width modulation signal. Therefore, the change in the duty cycle of the first pulse width modulation signal reflects the change in the load. The motor speed detection method here is only an example. In other implementations, other types of motor rotor detection methods may also be used, which also fall within the protection scope of this application.

[0065] In this embodiment, determining whether the firing mechanism has completed the preset basic stroke in step S200 includes the following steps:

[0066] The current motion stroke of the firing mechanism is calculated based on the motion feedback data of the motor, and whether the preset basic stroke has been executed is determined based on the comparison between the current motion stroke and the preset basic stroke.

[0067] The motion feedback data of the motor also includes the output shaft position change data of the motor. The Hall sensor or encoder arranged at the motor rotor detects the rotation of the motor rotor, and then calculates the number of revolutions of the motor, so as to obtain the output shaft position change data of the motor. According to the quantitative relationship between the output shaft position change of the motor and the position change of the firing mechanism (related to the transmission relationship of the transmission mechanism), the current motion stroke of the firing mechanism can be calculated. When the current motion stroke is greater than or equal to the preset basic stroke, it is judged that the preset basic stroke has been executed. The detection method of the motor position here is only an example. In other embodiments, other types of motor position detection means can also be used, which also belongs to the protection scope of this application. Through the collection and analysis of the motion feedback data of the motor, the motion stroke of the firing mechanism can be corrected to ensure that the firing mechanism can complete the preset basic stroke. On the basis of the firing mechanism completing the preset basic stroke, the stroke compensation strategy of this application is adopted to perform additional stroke correction.

[0068] In this embodiment, in step S300, judging whether compensation needs to be performed according to the stored first pulse width modulation signal and the preset stroke compensation condition includes the following steps:

[0069] Calculating evaluation parameters of the first pulse width modulation signal according to the duty cycle of the first pulse width modulation signal within the preset basic stroke, the evaluation parameters including standard deviation and / or cumulative energy; the evaluation parameters are used as quantitative indicators of load changes;

[0070] Whether compensation needs to be performed is determined according to the evaluation parameter of the first pulse width modulation signal and the preset stroke compensation condition.

[0071] The calculation process of the standard deviation includes: calculating the duty cycle mean of the pulse width modulation signal per unit time in the entire preset basic stroke, and then calculating the standard deviation according to the duty cycle of the pulse width modulation signal per unit time and the duty cycle mean. The calculation process of the cumulative energy includes: multiplying the duty cycle of the pulse width modulation signal per unit time in the entire preset basic stroke by the time length of the unit time to obtain the energy per unit time, and summing up the energy of all unit times in the preset basic stroke to obtain the cumulative energy.

[0072] The following is a detailed introduction to the relationship between standard deviation and accumulated energy and load changes:

[0073] 1. Relationship between standard deviation and load change

[0074] The standard deviation reflects the volatility in the motor speed regulation process, that is, the degree of fluctuation of the duty cycle of the first pulse width modulation signal. When the load fluctuation is large, the standard deviation increases, indicating the instability of the motor speed regulation process. Large load fluctuations mean that the mechanical structure of the stapler may produce large instantaneous deformation, which in turn leads to the accumulation of stroke errors. Therefore, when the standard deviation is greater than the first standard deviation threshold, it is determined that stroke compensation is required.

[0075] 2. Relationship between accumulated energy and load change:

[0076] The accumulated energy is the integral of the duty cycle of the first pulse width modulation signal and time, reflecting the duration of the load and the long-term impact on the motor. The greater the load, the higher the driving force required by the motor, and the greater the accumulated energy. A larger accumulated energy usually means that the mechanical structure of the stapler may produce a larger deformation, which in turn leads to the accumulation of stroke errors. Therefore, when the accumulated energy is greater than the first accumulated energy threshold, it is determined that stroke compensation is required.

[0077] In this embodiment, the standard deviation and cumulative energy of the first pulse width modulation signal are used as two key indicators for stroke compensation decision analysis. The standard deviation of the first pulse width modulation signal reflects the volatility of the controller in adjusting the motor speed. The cumulative energy of the first pulse width modulation signal reflects the energy required by the load. The stroke compensation condition includes that compensation needs to be performed when the standard deviation is greater than the first standard deviation threshold and / or the cumulative energy is greater than the first cumulative energy threshold. In one embodiment, only the standard deviation of the first pulse width modulation signal can be used as an evaluation parameter, that is, only the comparison between the standard deviation of the first pulse width modulation signal and the first standard deviation threshold is used to determine whether compensation is performed. In another embodiment, only the cumulative energy of the first pulse width modulation signal can be used as an evaluation parameter, that is, only the comparison between the cumulative energy of the first pulse width modulation signal and the first cumulative energy threshold is used to determine whether compensation is performed. In yet another embodiment, both the standard deviation and the cumulative energy of the first pulse width modulation signal can be used as evaluation parameters, and the two can be combined to analyze and determine whether compensation is performed, so as to more accurately dynamically adjust the compensation amount, and thus more accurately control the stroke.

[0078] In this embodiment, in step S300, after determining that compensation needs to be performed based on the evaluation parameters of the first pulse width modulation signal and the preset stroke compensation condition, the method further includes:

[0079] The stroke compensation value is determined according to the evaluation parameters of the first pulse width modulation signal and the preset stroke compensation condition. The stroke compensation value is the stroke value that the firing mechanism needs to continue to move in the distal direction when the firing mechanism is driven by the motor to perform stroke compensation. When the stroke value of the firing mechanism continues to move reaches the stroke compensation value, the controller stops sending the second pulse width modulation signal to the motor, the motor stops running, and the firing mechanism reaches the firing completion position.

[0080] When the stroke compensation condition includes that the standard deviation is greater than the first standard deviation threshold and compensation needs to be performed. In the stroke compensation condition, the standard deviation range greater than the first standard deviation threshold is pre-divided into multiple standard deviation value segments, each standard deviation value segment corresponds to a compensation stroke value, and the larger the value of the standard deviation value segment, the larger the corresponding compensation stroke value. Determine the stroke compensation value according to the evaluation parameter of the first pulse width modulation signal and the preset stroke compensation condition, including: if the standard deviation is greater than the first standard deviation threshold, determine the compensation stroke value corresponding to the standard deviation value segment into which the standard deviation falls.

[0081] When the stroke compensation condition includes that the accumulated energy is greater than the first accumulated energy threshold, the stroke compensation condition pre-divides the accumulated energy range greater than the first accumulated energy threshold into a plurality of accumulated energy value segments, each accumulated energy value segment corresponds to a compensation stroke value, and the larger the value of the accumulated energy value segment, the larger the corresponding compensation stroke value. Determining the stroke compensation value according to the evaluation parameter of the first pulse width modulation signal and the preset stroke compensation condition includes: if the accumulated energy is greater than the first accumulated energy threshold, determining the compensation stroke value corresponding to the accumulated energy value segment into which the accumulated energy falls.

[0082] Therefore, by segmenting the standard deviation value and / or the cumulative energy value and setting different compensation stroke values ​​for each segment, different degrees of compensation can be achieved. For example, if the standard deviation range greater than the first standard deviation threshold is segmented into three standard deviation value segments, the compensation values ​​of the three standard deviation value segments correspond to minimum compensation, moderate compensation, and maximum compensation, respectively. If the cumulative energy range greater than the first cumulative energy threshold is segmented into two cumulative energy value segments, the compensation values ​​of the two cumulative energy value segments correspond to moderate compensation and maximum compensation, respectively. The specific number of standard deviation value and cumulative energy value segments can be set as needed and pre-stored in the controller.

[0083] The numerical endpoints and the corresponding stroke compensation values ​​corresponding to each standard deviation numerical segment can be determined according to experiments. By testing the firing process of the stapler under different load thicknesses, the standard deviation of the first pulse width modulation signal corresponding to each experiment and the stroke compensation value that needs to be compensated are calculated, and multiple experimental results are fitted to establish a numerical relationship between the standard deviation value and the stroke compensation value, and select appropriate numerical endpoints and stroke compensation values. The numerical endpoints and the corresponding stroke compensation values ​​corresponding to each cumulative energy numerical segment can be determined according to experiments. By testing the firing process of the stapler under different load thicknesses, the cumulative energy numerical segments and the stroke compensation values ​​corresponding to each experiment of the first pulse width modulation signal and the stroke compensation value that needs to be compensated are calculated, and multiple experimental results are fitted to establish a numerical relationship between the cumulative energy value and the stroke compensation value, and select appropriate numerical endpoints and stroke compensation values.

[0084] Figure 3 A flowchart for performing stroke compensation is shown in FIG. 1 , in which the example of first determining whether compensation needs to be performed based on the standard deviation and then determining whether compensation needs to be performed based on the accumulated energy if the standard deviation does not meet the condition of being greater than the first standard deviation threshold is used. Figure 3 As shown, in step S300, determining whether compensation needs to be performed includes the following steps:

[0085] S301: Determine whether the standard deviation is greater than a first standard deviation threshold;

[0086] If the standard deviation is greater than the first standard deviation threshold, then S302: determine that compensation needs to be performed; no need to refer to the accumulated energy value;

[0087] If not, then S303: determine whether the accumulated energy is greater than a first accumulated energy threshold;

[0088] If the standard deviation is less than or equal to the first standard deviation threshold, and the cumulative energy is greater than the first cumulative energy threshold, then S304: determine that compensation needs to be performed;

[0089] If the standard deviation is less than or equal to the first standard deviation threshold, and the cumulative energy is less than or equal to the first cumulative energy threshold, then S305: it is determined that compensation does not need to be performed.

[0090] The following is an explanation of the compensation mechanism for the situation corresponding to step S304, that is, the standard deviation is less than or equal to the first standard deviation threshold, and the cumulative energy is greater than the first cumulative energy threshold. When the load is relatively uniform and there is no significant fluctuation, the motor speed regulation is relatively stable and the standard deviation is small. But even so, if the load is thicker and lasts for a long time, the accumulated energy will be larger. In this case, although the mechanical structure of the stapler does not have obvious short-term deformation, due to the influence of long-term heavy load, the deformation may gradually accumulate, resulting in stroke deviation. Therefore, the controller needs to trigger compensation based on the cumulative energy being greater than the first cumulative energy threshold to correct these long-term deviations. Therefore, in this embodiment, when the standard deviation is large: the load changes dramatically, triggering a larger short-term compensation; when the standard deviation is small and the cumulative energy is large: the load is uniform but heavy, triggering moderate long-term compensation to correct the deformation of the mechanical structure and the stroke deviation.

[0091] exist Figure 3 In the example, the standard deviation range greater than the first standard deviation threshold is divided into two standard deviation value segments (greater than the first standard deviation threshold and less than the second standard deviation threshold; greater than or equal to the second standard deviation threshold), and the cumulative energy range greater than the first cumulative energy threshold is divided into two cumulative energy value segments (greater than the first cumulative energy threshold and less than the second cumulative energy threshold; greater than or equal to the second cumulative energy threshold) for explanation. Figure 3As shown, in step S302: after determining that compensation is required, the stroke compensation value is determined using the following steps:

[0092] S306: Determine whether the standard deviation is less than a second standard deviation threshold, and whether the second standard deviation threshold is greater than the first standard deviation threshold;

[0093] If the standard deviation is greater than the first standard deviation threshold and less than the second standard deviation threshold, then S307: selecting a first stroke compensation value, that is, the first stroke compensation value corresponds to a moderate compensation;

[0094] If the standard deviation is greater than or equal to the second standard deviation threshold, then S308: select a second stroke compensation value, the second stroke compensation value is greater than the first stroke compensation value, that is, the second stroke compensation value corresponds to the maximum compensation.

[0095] like Figure 3 As shown, in step S304: after determining that compensation is required, the stroke compensation value is determined using the following steps:

[0096] S309: Determine whether the accumulated energy is less than a second accumulated energy threshold, the second accumulated energy threshold is greater than the first accumulated energy threshold; the first accumulated energy threshold corresponds to a light load threshold;

[0097] If the accumulated energy is greater than the first accumulated energy threshold and less than the second accumulated energy threshold, then S310: selecting a first stroke compensation value, that is, the first stroke compensation value corresponds to a moderate compensation;

[0098] If the accumulated energy is greater than or equal to the second accumulated energy threshold, then S311: select a second stroke compensation value, the second stroke compensation value is greater than the first stroke compensation value, that is, the second stroke compensation value corresponds to the maximum compensation.

[0099] The stroke compensation process is described in detail below in conjunction with specific numerical values. It is understandable that the numerical values ​​exemplified below are only used for illustration and are not intended to limit the scope of protection of this application. For different electric staplers, after using them for different periods of time or in different surgical scenarios, the numerical values ​​exemplified below will change accordingly. It is necessary to pre-calibrate the numerical values ​​of each parameter through multiple experiments before using the stapler, and pre-store them in the controller.

[0100] In the following, std_diff represents the standard deviation of the duty cycle of the first pulse width modulation signal in the preset basic stroke, duty_cycle_sum represents the cumulative energy of the duty cycle of the first pulse width modulation signal in the preset basic stroke, and hall_limit_count represents the preset basic stroke.

[0101] 1. Standard deviation corresponds to load type

[0102] Assume that the standard deviation value range is divided into three standard deviation value segments: 20-50, 50-80, ≥80. The corresponding load compensation degree is as follows:

[0103] No compensation: std_diff<20, the corresponding load is very stable, and there is no significant fluctuation in the motor speed regulation process.

[0104] Light load compensation: 20<=std_diff<50, the corresponding load has slight fluctuations and the motor speed regulation process is slightly unstable.

[0105] Medium load compensation: 50<=std_diff<80, the corresponding load fluctuation is obvious and the motor speed regulation process is not very stable.

[0106] Heavy load compensation: std_diff>=80, corresponding to severe load fluctuations and highly unstable motor speed regulation process.

[0107] The light load compensation, medium load compensation and heavy load compensation correspond to the minimum compensation value, the moderate compensation value and the maximum compensation value respectively, that is, as the stroke compensation value gradually increases, the corresponding compensation degree gradually increases.

[0108] 2. Accumulated energy corresponds to load type

[0109] Assume that the accumulated energy value range is divided into three standard deviation value segments: (6000*hall_limit_count / 2200)~(12000*hall_limit_count / 2200), (12000*hall_limit_count / 2200)~18000, ≥18000. The corresponding compensation levels are as follows:

[0110] No compensation: duty_cycle_sum < (6000*hall_limit_count / 2200), corresponding to very light load or no load.

[0111] Light load compensation: 6000*hall_limit_count / 2200<=duty_cycle_sum<(12000*hall_limit_count / 2200), corresponding to light load.

[0112] Medium load compensation: 12000*hall_limit_count / 2200<=duty_cycle_sum<18000, corresponding to medium load.

[0113] Heavy load compensation: duty_cycle_sum>=18000, corresponding to heavier load.

[0114] Light load compensation, medium load compensation and heavy load compensation correspond to the minimum compensation value, moderate compensation value and maximum compensation value respectively, that is, as the stroke compensation value gradually increases, the corresponding compensation degree gradually increases.

[0115] In the above embodiments, the judgment of whether compensation needs to be performed and the determination of the stroke compensation value based on the standard deviation or the accumulated energy are used as an example for explanation. In another embodiment, the standard deviation and the accumulated energy can be combined to judge whether compensation needs to be performed and the compensation value can be determined. For example, the stroke compensation condition is set to include compensation when the standard deviation is greater than the first standard deviation threshold and the accumulated energy is greater than the first accumulated energy threshold. And it is set that when the standard deviation is greater than the first standard deviation threshold and less than the second standard deviation threshold, and the accumulated energy is greater than the first accumulated energy threshold and less than the second accumulated energy threshold, light load compensation is performed; when the standard deviation is greater than or equal to the second standard deviation threshold and the accumulated energy is greater than or equal to the second accumulated energy threshold, high load compensation is performed; when the standard deviation is greater than the first standard deviation threshold and less than the second standard deviation threshold, and the accumulated energy is greater than or equal to the second accumulated energy threshold, medium load compensation is performed; when the standard deviation is greater than or equal to the second standard deviation threshold, and the accumulated energy is greater than or equal to the first accumulated energy threshold and less than the second accumulated energy threshold, medium load compensation is performed.

[0116] By adopting the above-mentioned stroke compensation decision analysis method and stroke compensation value determination method, the additional compensation stroke can be accurately controlled according to the load change, and automatic dynamic stroke compensation can be realized to ensure that the mechanical deformation caused by the load is fully compensated, and finally ensure that the forming quality of the staples of the actuator is not affected by the load change, thereby ensuring the consistency of the forming effect of the staples.

[0117] After determining the stroke compensation value, the controller determines the duty cycle of the second pulse width modulation signal according to the target speed and the motion feedback data of the motor, and sends the generated second pulse width modulation signal to the motor, so as to drive the firing mechanism to continue to move in the distal direction through the motor. In this process, the controller obtains the motion feedback data of the motor, and determines whether the firing mechanism has completed the compensation stroke according to the motion feedback data of the motor. If not, the controller continues to determine the duty cycle of the second pulse width modulation signal according to the target speed and the motion feedback data of the motor, and sends the generated second pulse width modulation signal to the motor. If the firing mechanism has completed the compensation stroke, the controller stops sending the pulse width modulation signal to the motor and ends the firing drive process. Wherein, judging whether the firing mechanism has completed the compensation stroke according to the motion feedback data of the motor includes: calculating the position of the motor after the preset basic stroke of the firing mechanism is completed according to the motion feedback data of the motor, and then calculating the stroke of the firing mechanism moving to the distal end after the preset basic stroke is completed. When the stroke is greater than or equal to the compensation stroke value, it is confirmed that the compensation stroke of the firing mechanism is completed.

[0118] like Figure 4 As shown, the embodiment of the present application also provides an electric stapler firing control system for implementing the electric stapler firing control method, and the system is deployed in the controller of the electric stapler. The system includes:

[0119] A driving signal generating module M100, configured to generate a first pulse width modulation signal and, when compensation needs to be performed, to generate a second pulse width modulation signal;

[0120] The motor driving module M200 is used to send a first pulse width modulation signal to the motor during the execution of the preset basic stroke, and to send a second pulse width modulation signal to the motor when the preset basic stroke is completed and compensation needs to be performed;

[0121] The data storage module M300 is used to store the duty cycle of the first pulse width modulation signal in real time during the execution of the preset basic stroke;

[0122] The data processing module M400 is used to determine whether compensation needs to be performed according to the stored duty cycle of the first pulse width modulation signal and the preset stroke compensation condition after the preset basic stroke is completed.

[0123] By adopting the firing control system of the electric stapler of the present application, during the execution of the preset basic stroke, the first pulse width modulation signal is used to drive the motor, so as to drive the firing mechanism to execute the preset basic stroke through the motor. During the execution of the preset basic stroke by the firing mechanism, in order to maintain the stability of the firing process, the duty cycle of the first pulse width modulation signal will change with the load (such as encountering density and resistance changes of different tissues), so that the duty cycle of the first pulse width modulation signal can reflect the change of the load. After the fixed preset basic stroke is completed, it is determined whether stroke compensation is required according to the duty cycle of the first pulse width modulation signal, and when the stroke compensation condition is met, a second pulse width modulation signal is sent to the motor, so that the motor drives the firing mechanism to execute the preset compensation stroke. Therefore, the firing control method realizes automatic stroke compensation based on the actual load situation, eliminates the influence of deformation of the mechanical parts of the stapler caused by the load change on the stroke, and after the preset basic stroke is completed, the additional compensation stroke is compensated based on the actual load situation, and the firing stroke of the firing mechanism can still be guaranteed to meet the requirements when the load changes, thereby ensuring the molding effect of the end stapler, thereby effectively improving the surgical effect.

[0124] In the electric stapler firing control system, the functions of each module can be implemented by using the specific implementation methods of the corresponding steps in the above-mentioned electric stapler firing control method, which will not be described in detail here.

[0125] The above content is a further detailed description of the present application in combination with specific preferred implementation methods, and it cannot be determined that the specific implementation of the present application is limited to these descriptions. For ordinary technicians in the technical field to which the present application belongs, several simple deductions or substitutions can be made without departing from the concept of the present application, which should be deemed to fall within the scope of protection of the present application.

Claims

1. A method for controlling the firing of an electric stapler, characterized in that: The stapler comprises a motor and a firing mechanism, and the method comprises: Sending a first pulse width modulation signal to the motor, driving the firing mechanism through the motor to execute a preset basic stroke, and storing the duty cycle of the first pulse width modulation signal in real time; After the firing mechanism completes the preset basic stroke, judging whether compensation needs to be performed according to the stored duty cycle of the first pulse width modulation signal and the preset stroke compensation condition; If compensation is required, a second pulse width modulation signal is sent to the motor, and the firing mechanism is driven by the motor to execute a preset compensation stroke.

2. The firing control method of the electric stapler according to claim 1, characterized in that: The step of determining whether compensation needs to be performed based on the stored first pulse width modulation signal and a preset stroke compensation condition comprises the following steps: Calculating evaluation parameters of the first pulse width modulation signal according to the duty cycle of the first pulse width modulation signal within the preset basic stroke, wherein the evaluation parameters include standard deviation and / or cumulative energy; Whether compensation needs to be performed is determined according to the evaluation parameters of the first pulse width modulation signal and a preset stroke compensation condition.

3. The firing control method of the electric stapler according to claim 2, characterized in that: The stroke compensation condition includes that compensation needs to be performed when the standard deviation is greater than a first standard deviation threshold and / or the accumulated energy is greater than a first accumulated energy threshold.

4. The firing control method of the electric stapler according to claim 3, characterized in that: After determining that compensation needs to be performed based on the evaluation parameters of the first pulse width modulation signal and the preset stroke compensation condition, the method further includes: A stroke compensation value is determined according to the evaluation parameter of the first pulse width modulation signal and a preset stroke compensation condition.

5. The firing control method of the electric stapler according to claim 2, characterized in that: The stroke compensation condition includes that compensation needs to be performed when the standard deviation is greater than a first standard deviation threshold, and in the stroke compensation condition, the standard deviation range greater than the first standard deviation threshold is pre-divided into a plurality of standard deviation value segments, each standard deviation value segment corresponds to a compensation stroke value, and the larger the value of the standard deviation value segment, the larger the corresponding compensation stroke value; Determining a stroke compensation value according to the evaluation parameter of the first pulse width modulation signal and a preset stroke compensation condition includes: If the standard deviation is greater than a first standard deviation threshold, a compensation stroke value corresponding to the standard deviation value segment into which the standard deviation falls is determined.

6. The firing control method of the electric stapler according to claim 2, characterized in that: The stroke compensation condition includes that the accumulated energy is greater than a first accumulated energy threshold value, and in the stroke compensation condition, the accumulated energy range greater than the first accumulated energy threshold value is pre-divided into a plurality of accumulated energy value segments, each accumulated energy value segment corresponds to a compensation stroke value, and the larger the value of the accumulated energy value segment, the larger the corresponding compensation stroke value; Determining a stroke compensation value according to the evaluation parameter of the first pulse width modulation signal and a preset stroke compensation condition includes: If the accumulated energy is greater than the first accumulated energy threshold, a compensation stroke value corresponding to the accumulated energy value segment into which the accumulated energy falls is determined.

7. The firing control method of the electric stapler according to claim 2, characterized in that: The calculation process of the accumulated energy includes: multiplying the duty cycle of the pulse width modulation signal per unit time in the preset basic stroke by the time length of the unit time to obtain the energy per unit time, and adding up the energies of all unit times in the preset basic stroke to obtain the accumulated energy.

8. The firing control method of the electric stapler according to claim 1, characterized in that: Sending a first pulse width modulation signal to the motor comprises the following steps: Generate an initial first pulse width modulation signal according to an initial duty cycle, and send the initial first pulse width modulation signal to the motor; Acquire motion feedback data of the motor, determine an updated duty cycle according to the motion feedback data and a target speed, generate an updated first pulse width modulation signal according to the updated duty cycle, and send the updated first pulse width modulation signal to the motor.

9. The firing control method of the electric stapler according to claim 1, characterized in that: It also includes the following steps to determine whether the preset basic itinerary has been completed: The current movement stroke of the firing mechanism is calculated according to the movement feedback data of the motor, and whether the preset basic stroke has been executed is determined by comparing the current movement stroke with the preset basic stroke.

10. An electric stapler firing control system, characterized in that: A method for controlling the firing of an electric stapler according to any one of claims 1 to 9, the system comprising: A driving signal generating module, used to generate a first pulse width modulation signal, and when compensation needs to be performed, to generate a second pulse width modulation signal; A motor driving module, used to send a first pulse width modulation signal to the motor during the execution of the preset basic stroke, and to send a second pulse width modulation signal to the motor when the preset basic stroke is completed and compensation needs to be performed; A data storage module, used for storing the duty cycle of the first pulse width modulation signal in real time during the execution of the preset basic stroke; The data processing module is used to determine whether compensation needs to be performed according to the stored duty cycle of the first pulse width modulation signal and the preset stroke compensation condition after the preset basic stroke is completed.

11. An electric stapler, characterized in that: Including the electric stapler firing control system as described in claim 10.

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