Force feedback system and method and electric anastomat

Abstract

The invention provides a force feedback system and method and an electric anastomat. The force feedback system comprises a driving component, a force feedback component and a force feedback component, the electric parameter acquisition device is used for acquiring motor electric parameter values of a first motor of the electric anastomat in the closing process of the electric anastomat; the control device is used for determining a feedback force value according to the motor electric parameter value and generating a feedback force generation signal according to the feedback force value; and the feedback force generating device is used for applying feedback force to the driving part according to the feedback force generating signal. By the adoption of the electric anastomat, in the closing process of the electric anastomat, an operator can sense the feedback force acting on the driving component so as to sense the tissue squeezing state.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a force feedback system, method and electric stapler. Background Art

[0002] In the prior art, an electric stapler includes a stapler body and a stapler assembly connected to the distal end of the stapler body, wherein a closing and firing assembly is provided in the stapler body to drive the stapler assembly to close and fire. The electrification of the stapler is beneficial to reduce the pulling of tissues during operation and improve the quality of staplers, and is therefore suitable for wide promotion and application.

[0003] However, the existing electric staplers are usually unable to manually close the jaws of the staple cartridge assembly. Doctors cannot sense the compression state of the tissue when the jaws of the staple cartridge assembly are closed, which may result in excessive compression of the tissue or insufficient clamping force. Summary of the invention

[0004] In view of the problems in the prior art, the purpose of the present application is to provide a force feedback system, method and electric stapler. During the closing process of the electric stapler, the operator can sense the feedback force acting on the driving component and perceive the tissue compression state.

[0005] The present application provides a force feedback system, including:

[0006] Drive components;

[0007] An electrical parameter acquisition device, used for acquiring the motor electrical parameter value of the first motor of the electric stapler during the closing process of the electric stapler;

[0008] A control device, configured to determine a feedback force value according to the motor electrical parameter value, and to generate a feedback force generation signal according to the feedback force value;

[0009] A feedback force generating device is used to apply feedback force to the driving component according to the feedback force generating signal.

[0010] In some embodiments, it also includes:

[0011] A stroke measuring device, used to detect the motion stroke value of the driving component;

[0012] The control device is also used to generate a first motor drive signal according to the movement stroke value, and the first motor drive signal is used to drive the first motor to move forward to close the electric stapler.

[0013] In some embodiments, the stroke measuring device is an angle measuring device, and the motion stroke value is the rotation angle of the driving component.

[0014] In some embodiments, the control device is used to generate a first motor drive signal according to the motion stroke value by adopting the following steps:

[0015] The control device determines the motor stroke value corresponding to the current motion stroke value according to the preset correspondence between the motion stroke value and the motor stroke value;

[0016] The control device generates the first motor driving signal according to the determined motor stroke value.

[0017] In some embodiments, the control device is used to determine the feedback force value according to the motor electrical parameter value by adopting the following steps:

[0018] The control device determines the feedback force value corresponding to the current motor electrical parameter value according to the preset correspondence between the motor electrical parameter value and the feedback force value.

[0019] In some embodiments, the feedback force generating device comprises a first component provided on the driving component and a second component provided on the electric stapler body, and the first component and / or the second component are electromagnets;

[0020] The feedback force generating signal is a current signal input to the electromagnet. The feedback force is the electromagnetic force generated between the first component and the second component when current is passed through the electromagnet, so that a torque opposite to the holding direction is generated at the driving component. The control device is used to determine the current value of the current signal according to the feedback force value and generate a current signal input to the electromagnet.

[0021] In some embodiments, the feedback force generating device includes a stepper motor, the feedback force generating signal is a static holding current signal input to the stepper motor, the feedback force is a torque opposite to the holding direction applied by the output axis of the stepper motor to the driving component when the static holding current signal is input to the stepper motor, and the control device is used to determine the current value of the static holding current signal based on the feedback force value, and generate a static holding current signal input to the stepper motor.

[0022] In some embodiments, the control device is used to generate a first motor drive signal according to the motion stroke value by adopting the following steps:

[0023] The control device determines whether the change trend of the motion stroke value is increasing or decreasing;

[0024] If it is increasing, the control device generates a first motor driving signal to drive the first motor to move in a forward direction;

[0025] If it is decreasing, the control device generates a second motor driving signal to drive the first motor to move in the reverse direction.

[0026] In some embodiments, the control device is further used to generate a motor zeroing signal when it is determined based on the motion stroke value that the driving component is in the first initial position and the first motor is not in the second initial position.

[0027] In some embodiments, a prompt device is also included for issuing a prompt message according to the prompt signal.

[0028] The present application also provides a force feedback method, using the force feedback system, the method comprising the following steps:

[0029] During the closing process of the electric stapler, the electrical parameter acquisition device acquires the motor electrical parameter value of the first motor of the electric stapler;

[0030] The control device determines a feedback force value according to the motor electrical parameter value, and generates a feedback force generation signal according to the feedback force value;

[0031] The feedback force generating device applies feedback force to the driving component according to the feedback force generating signal.

[0032] In some embodiments, during the closing process of the electric stapler, before the electrical parameter acquisition device acquires the motor electrical parameter value of the first motor of the electric stapler, the following steps are also included:

[0033] The stroke measuring device detects the motion stroke value of the driving component;

[0034] The control device generates a first motor driving signal according to the movement stroke value, and the first motor driving signal is used to drive the first motor to move forward to close the electric stapler.

[0035] The embodiment of the present application also provides an electric stapler, comprising a stapler housing, a first motor disposed inside the stapler housing, and the force feedback system.

[0036] The force feedback system, method and electric stapler provided in this application have the following advantages:

[0037] By adopting the present application, when the first motor of the electric stapler drives the jaws to close, the electrical parameter values ​​of the motor are collected by the electrical parameter collection device, and then the feedback force generating device is controlled according to the electrical parameter values ​​of the motor to apply a certain feedback force to the driving component. The operator can feel the feedback force and perceive the tissue compression state, thereby avoiding excessive compression of the tissue or insufficient clamping force. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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.

[0039] Figure 1 is a structural block diagram of the force feedback system of the present application;

[0040] Figure 2 is a structural block diagram of a force feedback system according to an embodiment of the present application;

[0041] Figure 3 is a schematic structural diagram of an electric stapler according to an embodiment of the present application;

[0042] Figure 4 is a schematic diagram of the cooperation between the force feedback system and the stapler body according to one embodiment of the present application;

[0043] Figure 5 is a flow chart of the force feedback method of the present application;

[0044] Figure 6 is a flow chart of a force feedback method according to an embodiment of the present application.

[0045] Reference numerals:

[0046] 1 Nail cartridge assembly 32 Electrical parameter acquisition device

[0047] 2 Stapler body 33 Control device

[0048] 21 stapler housing 34 feedback force generating device

[0049] 22 Fixed handle 341 First part

[0050] 23 first motor 342 second component

[0051] 3 Force feedback system 35 Stroke measurement device

[0052] 31 Drive component 350 Rotary encoder

[0053] 310 Drive handle DETAILED DESCRIPTION

[0054] 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.

[0055] Figure 1 It is a structural block diagram of the force feedback system of the present application. The force feedback system 3 includes a driving component 31, an electrical parameter acquisition device 32, a control device 33 and a feedback force generating device 34. The electrical parameter acquisition device 32 is used to collect the motor electrical parameter values ​​of the first motor of the electric stapler during the closing process of the electric stapler. The motor electrical parameter values ​​are, for example, the motor current value, the motor torque value, etc. when the first motor 23 is working. The control device 33 is used to obtain the motor electrical parameter values ​​collected by the electrical parameter acquisition device 32, determine the feedback force value according to the motor electrical parameter value, and generate a feedback force generating signal according to the feedback force value, and send the feedback force generating signal to the feedback force generating device 34. The feedback force generating device 34 is used to apply feedback force to the driving component 31 according to the feedback force generating signal. Thus, during the closing process of the electric stapler, the operator can feel the feedback force acting on the driving component 31 and perceive the tissue compression state. When the feedback force is too large, it means that the compression force on the tissue is relatively large, and there may be an over-compression situation. When the feedback force is too small, it means that the compression force on the tissue is relatively small, and there may be an incomplete clamping of the tissue, thereby effectively avoiding the over-compression of the tissue or insufficient clamping force. In addition, the operator can determine whether the model of the current staple cartridge assembly is appropriate according to the compression situation, and can also select a different staple cartridge assembly or staple cartridge for subsequent anastomosis surgery.

[0056] The embodiment of the present application also provides an electric stapler including the force feedback system 3, the electric stapler also includes a stapler body and a stapler assembly disposed at the distal end of the stapler body, the stapler body includes a stapler housing, a first motor disposed inside the stapler housing, and a closing and firing assembly. When the electric stapler is used, the first motor can first drive the closing and firing assembly to close the jaws of the stapler assembly to clamp the tissue, and then the first motor drives the closing and firing assembly to fire the stapler, so that the stapler assembly sutures and cuts the tissue.

[0057] Combine the following Figures 2 to 4 The implementation of the force feedback system and the electric stapler in a specific embodiment is introduced. It is understandable that this embodiment is only an example and is not intended to limit the scope of protection of the present application.

[0058] like Figure 2 As shown, in this embodiment, the force feedback system 3 includes a driving component 31, an electrical parameter acquisition device 32, a control device 33 and a feedback force generating device 34, and further includes a stroke measuring device 35. The driving component 31 is movably connected to the stapler housing 21 of the electric stapler, so that the driving component 31 can be driven by the operator to move relative to the stapler housing 21. The stroke measuring device 35 is used to detect the motion stroke value of the driving component 31, and the control device 33 is used to generate a first motor driving signal according to the motion stroke value. The first motor driving signal is used to drive the first motor 23 to move forward to close the stapler assembly of the electric stapler, thereby realizing the closing process of manually driving the electric stapler by operating the driving component 31.

[0059] like Figure 3 and Figure 4As shown, in this embodiment, the electric stapler includes a stapler body 2 and a stapler cartridge assembly 1 disposed at the distal end of the stapler body 2. The stapler body 2 includes a stapler housing 21 and a first motor 23 and a closing firing assembly (not shown in the figure) disposed inside the stapler housing 21. The driving component 31 is a driving handle 310 rotatably connected to the stapler housing 21, and the stroke measuring device 35 is an angle measuring device for measuring the rotation angle of the driving handle 310, such as a rotary encoder 350, and the motion stroke value is the rotation angle of the driving handle 310. A fixed handle 22 for the operator to hold is formed below the stapler housing 21. The operator can drive the closing process of the electric stapler by holding the driving handle 310 to rotate the driving handle 310 relative to the fixed handle 22. This process specifically includes: the operator holds the fixed handle 22, holds the driving handle 310 with one hand, rotates the driving handle 310 and approaches the fixed handle 22, and the rotary encoder 350 detects the motion stroke value of the driving handle 310, that is, the rotation angle, and sends it to the control device 33. Based on this motion stroke value, the control device 33 determines the motor stroke value corresponding to the current rotation angle of the driving handle 310 according to the preset corresponding relationship between the motion stroke value and the motor stroke value. The control device 33 generates the first motor drive signal according to the determined motor stroke value, and the first motor drive signal drives the first motor 23 to move forward, and makes the stroke value of the first motor 23 moving forward equal to the determined motor stroke value. Specifically, the first motor drive signal may include the number of rotations or the rotation angle value of the output shaft of the first motor 23. When the first motor 23 moves forward, the jaws of the staple cartridge assembly can be driven to gradually close through the closed firing mechanism to clamp the tissue.

[0060] In one embodiment, the corresponding relationship between the motion stroke value and the motor stroke value can be a linear relationship. When the rotation angle X of the driving handle 310 is set to 0, the corresponding motor stroke value Y is 0. When the rotation angle X is the maximum rotation angle Xmax, the corresponding motor stroke value Y is the maximum motor stroke value Ymax. There is a linear mapping between the rotation angle X and the motor stroke value Y. In another embodiment, multiple calibration points can be set, and the motion stroke value and motor stroke value corresponding to each calibration point are set to form a mapping table of motion stroke value and motor stroke value. The motor stroke value can be determined by looking up the table. For the motion stroke value between the two calibration points, the corresponding motor stroke value is calculated by interpolation calculation. In application, each calibration point and its corresponding motion stroke value and motor stroke value can be set through multiple experiments on the electric stapler, so that when the operator holds the driving handle 310, the stroke value of the first motor 23 can meet the operator's control requirements for the degree of jaw closure.

[0061] like Figure 2As shown, the electrical parameter acquisition device 32 is used to collect the motor electrical parameter values ​​of the electric stapler during the closing process of the electric stapler. The motor electrical parameter values ​​are, for example, the motor current value and the motor torque value when the first motor 23 is working. The electrical parameter acquisition device 32 corresponds to a current sensor, a torque sensor, etc. The electrical parameter acquisition device 32 can be arranged inside the main body shell of the stapler. The control device 33 is used to obtain the motor electrical parameter values ​​collected by the electrical parameter acquisition device 32, determine the feedback force value according to the motor electrical parameter value, and generate a feedback force generation signal according to the feedback force value, and send the feedback force generation signal to the feedback force generation device 34. The control device 33 can be arranged inside the stapler shell, or the control device 33 can also be arranged inside the driving handle. The control device 33 can be implemented by a control chip. Specifically, the control device 33 determines the feedback force value according to the motor electrical parameter value, including: the control device 33 determines the feedback force value corresponding to the current motor electrical parameter value according to the preset correspondence between the motor electrical parameter value and the feedback force value.

[0062] The feedback force generating device 34 is used to apply feedback force to the driving handle 310 according to the feedback force generating signal. Figure 4 As shown, the feedback force generating device 34 includes a first component 341 provided on the driving handle 310 and a second component 342 provided on the electric stapler body 2, and the first component 341 and / or the second component 342 are electromagnets, that is, the first component 341 and the second component 342 are both electromagnets, and both generate opposite magnetism when energized, or, the first component 341 is an electromagnet, and the second component 342 is a metal part that can be attracted by a magnet, or, the second component 342 is an electromagnet, and the first component 341 is a metal part that can be attracted by a magnet.

[0063] The feedback force generating signal is a current signal input to the electromagnet, and the feedback force is the electromagnetic force generated between the first component 341 and the second component 342 when the electromagnet is supplied with current, so that a torque opposite to the holding direction is generated at the driving component. The control device 33 is used to determine the current value of the current signal according to the feedback force value, and generate a current signal input to the electromagnet. The control device 33 may further include a current control circuit, in which a variable capacitor or a variable resistor and other components are provided. When the current signal of the electromagnet needs to be adjusted, the current value of the input electromagnet can be changed by controlling the connection and disconnection of the variable capacitor or controlling the resistance value of the variable resistor. In the process of closing the electric stapler, as the staple cartridge assembly gradually clamps the tissue, the tissue will exert a reaction force on the closing firing mechanism, thereby affecting the operation of the first motor 23. As the reaction force gradually increases, the motor electrical parameter value of the first motor 23 will also gradually increase to overcome this reaction force. At this time, the feedback force fed back to the driving handle 310 will also increase accordingly, so that the operator can determine the current compression of the tissue according to the feedback force felt.

[0064] The feedback force value may be the magnitude of the specific feedback force. After the feedback force value is determined according to the motor electrical parameter value, the corresponding current value is determined according to the correspondence between the feedback force value and the current value. Alternatively, the feedback force value is directly represented by the current value, that is, the current value is directly determined according to the correspondence between the motor electrical parameter value and the current value of the driving electromagnet.

[0065] In one embodiment, the correspondence between the motor electrical parameter value and the feedback force value can be a linear relationship. When the motor electrical parameter value M is set to 0, the corresponding feedback force value N is 0, and the corresponding current value is 0 at this time. When the motor electrical parameter value is the maximum value of the motor electrical parameter Mmax, the corresponding feedback force value N is the maximum feedback force value Nmax, and the corresponding current value is the maximum current value Imax at this time. There is a linear mapping between the motor electrical parameter value and the feedback force value. In another embodiment, multiple calibration points can also be set, and the motor electrical parameter values ​​and feedback force values ​​corresponding to each calibration point are set to form a mapping table of motor electrical parameter values ​​and feedback force values. The feedback force value can be determined by looking up the table. For the motor electrical parameter values ​​between the two calibration points, the corresponding feedback force value is calculated by interpolation. In application, each calibration point and its corresponding motor electrical parameter value and feedback force value can be set through multiple experiments on the electric stapler, so that the feedback force felt by the operator can well reflect the current compression of the tissue.

[0066] Therefore, by adopting the force feedback system 3 of this embodiment, the operator can manually drive the electric stapler to close the stapler magazine assembly by holding the driving handle 310, and during the closing process of the electric stapler, the operator can feel the feedback force acting on the driving handle 310 and perceive the tissue compression state. When the feedback force is too large, it means that the compression force on the tissue is relatively large, and there may be a situation of over-compression. When the feedback force is too small, it means that the compression force on the tissue is relatively small, and there may be a situation of incomplete clamping of the tissue. The operator can adjust the degree of closure or replace the stapler magazine assembly according to the situation, thereby effectively avoiding excessive compression of the tissue or insufficient clamping force.

[0067] Further, in this embodiment, the force feedback system 3 can also realize the function of manually driving the jaws of the staple cartridge assembly 1 to open. Specifically, when receiving the motion stroke value, the control device 33 determines whether the change trend of the motion stroke value is increasing or decreasing. Here, the change trend of the motion stroke value refers to the change in distance relative to the first initial position of the driving handle 310. If it is increasing, it means that the current operator holds the driving handle 310 so that the angle between the driving handle 310 and the fixed handle 22 decreases, that is, the rotation angle of the driving handle 310 relative to the first initial position increases, then the control device 33 generates a first motor drive signal to drive the first motor 23 to move forward, and drives the jaws of the staple cartridge assembly 1 to close through the first motor 23 and the closed firing mechanism. If it is decreasing, it means that the angle between the driving handle 310 and the fixed handle 22 increases, that is, the rotation angle of the driving handle 310 relative to the first initial position decreases, then the control device 33 generates a second motor drive signal to drive the first motor 23 to move in the reverse direction, and drives the jaws of the staple cartridge assembly 1 to open through the first motor 23 and the closed firing mechanism.

[0068] Furthermore, in this embodiment, the control device 33 is also used to determine, based on the motion stroke value, that the driving handle 310 is in the first initial position and the first motor 23 is not in the second initial position, to generate a motor zeroing signal to return the motor to the second initial position of the motor, that is, to the zero position. Therefore, after the electric stapler is started, the control device 33 first determines whether the driving handle 310 is in the first initial position ( Figure 4), if the driving handle 310 is in the first initial position, it is determined whether the first motor 23 is in its second initial position (the initial position when the first motor 23 is not working, at which time the closed firing mechanism is in the initial position and the nail magazine assembly 1 is in the initial open state), if the first motor 23 is not in the second initial position, a motor zeroing signal is generated to return the motor to zero position, and after a preset interval time, the step of returning to determine whether the driving handle 310 is in the first initial position is returned; if the first motor 23 is already in the second initial position, the step of returning to determine whether the driving handle 310 is in the first initial position is returned after a preset interval time. If the driving handle 310 is not in the first initial position, indicating that the operator begins to hold the driving handle 310, the rotary encoder 350 detects the motion stroke value of the driving handle 310, and the control device 33 controls the first motor 23 to move forward to close the staple cartridge assembly 1 according to the motion stroke value, and determines the feedback force value according to the collected motor electrical parameter value, and the feedback force generating device 34 applies the feedback force to the driving handle 310, and the operator feels the feedback force and determines the tissue compression situation according to the magnitude of the feedback force. In addition, the operator can determine whether the current model of the staple cartridge assembly 1 is suitable according to the compression situation, and can also select a different staple cartridge assembly 1 or staple cartridge for subsequent anastomosis surgery.

[0069] In this embodiment, the force feedback system 3 also includes a prompt device for issuing a prompt message according to a prompt signal. The prompt signal may be generated by the control device 33 or by the main controller of the electric stapler, and is used to prompt the operator whether the current degree of tissue compression is appropriate. The prompt device may prompt the operator through sound, light, electricity, display or its organization. For example, when the current tissue is over-compressed, a red alarm light or an alarm sound is emitted by the prompt device to assist the operator in making a judgment. Among them, the judgment of whether the current degree of tissue compression is appropriate can be made by judging whether the motor electrical parameter value exceeds a set threshold or whether the tissue reaction force detected at the staple cartridge assembly 1 exceeds a set threshold.

[0070] In this embodiment, the driving component 31 is a rotatable driving handle 310, and the stroke measuring device 35 is an angle measuring device for measuring the rotation angle of the driving handle 310, but the present application is not limited to this. In other alternative embodiments, the driving component 31 may also be other structures, such as a driving button, a driving rod, a driving knob, etc. arranged on one side of the stapler body 2. The relative motion between the driving component 31 and the stapler body 2 is not limited to rotational motion, but may also be linear motion. Correspondingly, the stroke measuring device 35 is a sensor for measuring the linear motion stroke of the driving component 31. Various deformation methods are within the scope of protection of the present application.

[0071] In this embodiment, the feedback force generating device 34 includes a first component 341 and a second component 342 that can generate electromagnetic force, but the present application is not limited thereto. In other alternative embodiments, the feedback force generating device can also be implemented using other structures, for example, the feedback force generating device includes a push rod and a push rod driving mechanism, the push rod driving mechanism is, for example, a hydraulic driving mechanism or an electric driving mechanism, the push rod includes a fixed end and a movable end, the fixed end is arranged on the stapler body 2, and the movable end is arranged on the driving handle 310, after the push rod driving mechanism receives the feedback force generating signal sent by the control device 33, it drives the movable end of the push rod to move toward the driving handle 310 according to the feedback force value, and applies a feedback force to the driving handle 310, the direction of the feedback force is opposite to the direction of the force applied to the driving handle 310 by the operator when holding the driving handle 310.

[0072] like Figure 5 As shown, the present application also provides a force feedback method, using the force feedback system, the method comprises the following steps:

[0073] S210: During the closing process of the electric stapler, the electrical parameter acquisition device acquires the motor electrical parameter value of the first motor of the electric stapler;

[0074] S220: The control device determines a feedback force value according to the motor electrical parameter value, and generates a feedback force generation signal according to the feedback force value;

[0075] S230: The feedback force generating device applies feedback force to the driving component according to the feedback force generating signal.

[0076] Therefore, by adopting this force feedback method, during the closing process of the electric stapler, the control device can generate a feedback force generating signal according to the size of the motor electrical parameter value, and act on the driving component through the feedback force generating device. The operator can feel the feedback force acting on the driving component and perceive the tissue compression state, thereby avoiding excessive compression of the tissue or insufficient clamping force.

[0077] like Figure 6 As shown, it is a flow chart of a force feedback method according to an embodiment of the present application. The method can be implemented as follows: Figure 2 In this embodiment, the force feedback method includes:

[0078] S110: The stroke measuring device detects the motion stroke value of the driving component;

[0079] S120: The control device generates a first motor driving signal according to the movement stroke value, wherein the first motor driving signal is used to drive the first motor to move forward to close the electric stapler;

[0080] In this embodiment, step S120 includes: the control device determines the motor stroke value corresponding to the current motion stroke value according to the preset correspondence between the motion stroke value and the motor stroke value; the control device generates the first motor drive signal according to the determined motor stroke value;

[0081] S210: During the closing process of the electric stapler, the electric parameter acquisition device acquires the electric parameter value of the motor of the electric stapler;

[0082] S220: The control device determines a feedback force value according to the motor electrical parameter value, and generates a feedback force generation signal according to the feedback force value;

[0083] In this embodiment, in step S220, the control device determines the feedback force value corresponding to the current motor electrical parameter value according to the preset correspondence between the motor electrical parameter value and the feedback force value.

[0084] S230: The feedback force generating device applies feedback force to the driving component according to the feedback force generating signal.

[0085] Therefore, by adopting the force feedback method of this embodiment, the operator can manually drive the electric stapler to close by holding the driving component, and during the closing process of the electric stapler, the operator can feel the feedback force acting on the driving component and perceive the tissue compression state. When the feedback force is too large, it means that the compression force on the tissue is relatively large, and there may be an over-compression situation. When the feedback force is too small, it means that the compression force on the tissue is relatively small, and there may be an incomplete clamping of the tissue, thereby effectively avoiding the over-compression of the tissue or insufficient clamping force. In addition, the operator can determine whether the model of the current stapler assembly is suitable according to the compression situation, and can also select different stapler assemblies or staplers for subsequent anastomosis surgery.

[0086] In the above embodiments, the feedback force is described as the electromagnetic force between the first component and the second component. In other embodiments, the feedback force generating device may adopt other structures, not limited to those in the above embodiments. For example, in another embodiment, the feedback force generating device includes a stepper motor. The stepper motor can maintain the current position and effectively resist external torque in its static holding mode. By accurately adjusting the static holding current input to the stepper motor, the static holding torque of the stepper motor can be fine-tuned.

[0087] In this other embodiment, the feedback force generating signal is a static holding current signal input to the stepper motor. The control device is used to determine the current value of the static holding current signal according to the feedback force value, and generate a static holding current signal input to the stepper motor. The feedback force is the torque opposite to the holding direction applied by the output shaft of the stepper motor to the driving component when the static holding current signal is input to the stepper motor. The way in which the output shaft of the stepper motor applies the torque to the driving component can be, for example: a first gear is sleeved on the outside of the output shaft of the stepper motor, and a second gear is arranged on the driving component, the first gear is meshed with the second gear, and when the driving component is held and rotated, the second gear is driven to rotate together, and the second gear needs to overcome the reaction force of the first gear. The reaction force is fed back to the operator, so that the operator can receive tactile feedback information, and by adjusting the static holding current signal, the size of the tactile feedback force received by the operator can also be adjusted.

[0088] When using the force feedback system, when determining the degree of compression of the tissue by the staple cartridge assembly according to the electrical parameters of the motor, the control device can calculate the magnitude of the feedback force value in real time, adjust the static holding current accordingly, and then adjust the torque provided by the stepper motor to the driving component in the opposite direction of the gripping direction, so that the operator can feel tactile feedback to simulate a real tactile experience. For example, when the staple cartridge assembly encounters harder tissue or compresses the tissue to a greater extent, increasing the static holding current will cause the stepper motor to generate a greater reaction force, thereby providing the operator with simulated real tactile feedback. In this embodiment, the adjustment method of the reaction force is very flexible and highly adjustable, and the control device can easily adjust the magnitude of the reaction force according to needs or real-time external conditions. In addition, the overall structure of the force feedback system is simple, which is conducive to achieving a more compact structural layout.

[0089] 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 force feedback system, characterized in that: include: Drive components; An electrical parameter acquisition device, used for acquiring the motor electrical parameter value of the first motor of the electric stapler during the closing process of the electric stapler; A control device, configured to determine a feedback force value according to the motor electrical parameter value, and to generate a feedback force generation signal according to the feedback force value; A feedback force generating device is used to apply feedback force to the driving component according to the feedback force generating signal.

2. The force feedback system according to claim 1, characterized in that: Also includes: A stroke measuring device, used to detect the motion stroke value of the driving component; The control device is also used to generate a first motor drive signal according to the movement stroke value, and the first motor drive signal is used to drive the first motor to move forward to close the electric stapler.

3. The force feedback system according to claim 2, characterized in that: The stroke measuring device is an angle measuring device, and the motion stroke value is the rotation angle of the driving component.

4. The force feedback system according to claim 2, characterized in that: The control device is used to generate a first motor driving signal according to the motion stroke value by adopting the following steps: The control device determines the motor stroke value corresponding to the current motion stroke value according to the preset correspondence between the motion stroke value and the motor stroke value; The control device generates the first motor driving signal according to the determined motor stroke value.

5. The force feedback system according to claim 1, characterized in that: The control device is used to determine the feedback force value according to the motor electrical parameter value by adopting the following steps: The control device determines the feedback force value corresponding to the current motor electrical parameter value according to the preset correspondence between the motor electrical parameter value and the feedback force value.

6. The force feedback system according to claim 1, characterized in that: The feedback force generating device comprises a first component provided on the driving component and a second component provided on the electric stapler body, wherein the first component and / or the second component is an electromagnet; The feedback force generating signal is a current signal input to the electromagnet. The feedback force is the electromagnetic force generated between the first component and the second component when current is passed through the electromagnet, so that a torque opposite to the holding direction is generated at the driving component. The control device is used to determine the current value of the current signal according to the feedback force value and generate a current signal input to the electromagnet.

7. The force feedback system according to claim 1, characterized in that: The feedback force generating device includes a stepper motor, the feedback force generating signal is a static holding current signal input to the stepper motor, the feedback force is a torque opposite to the holding direction applied by the output axis of the stepper motor to the driving component when the static holding current signal is input to the stepper motor, and the control device is used to determine the current value of the static holding current signal according to the feedback force value, and generate a static holding current signal input to the stepper motor.

8. The force feedback system according to claim 2, characterized in that: The control device is used to generate a first motor driving signal according to the motion stroke value by adopting the following steps: The control device determines whether the change trend of the motion stroke value is increasing or decreasing; If it is increasing, the control device generates a first motor driving signal to drive the first motor to move in a forward direction; If it is decreasing, the control device generates a second motor driving signal to drive the first motor to move in the reverse direction.

9. The force feedback system according to claim 2, characterized in that: The control device is further configured to generate a motor zeroing signal when it is determined based on the motion stroke value that the driving component is in the first initial position and the first motor is not in the second initial position.

10. The force feedback system according to claim 1, characterized in that: It also includes a prompt device, which is used to send prompt information according to the prompt signal.

11. A force feedback method, characterized in that: Using the force feedback system according to any one of claims 1 to 10, the method comprises the following steps: During the closing process of the electric stapler, the electrical parameter acquisition device acquires the motor electrical parameter value of the first motor of the electric stapler; The control device determines a feedback force value according to the motor electrical parameter value, and generates a feedback force generation signal according to the feedback force value; The feedback force generating device applies feedback force to the driving component according to the feedback force generating signal.

12. The force feedback method according to claim 11, characterized in that: During the closing process of the electric stapler, before the electric parameter acquisition device acquires the motor electric parameter value of the first motor of the electric stapler, the following steps are also included: The stroke measuring device detects the motion stroke value of the driving component; The control device generates a first motor driving signal according to the movement stroke value, and the first motor driving signal is used to drive the first motor to move forward to close the electric stapler.

13. An electric stapler, characterized in that: The invention comprises a stapler housing, a first motor arranged inside the stapler housing and a force feedback system according to any one of claims 1 to 10.

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