Electric anastomat positioning compensation method and compensation type electric anastomat

Abstract

The invention relates to the technical field of electric anastomat positioning compensation, and discloses an electric anastomat positioning compensation method and a compensation type electric anastomat, and the method comprises the following steps: (1) a positioning sensor marks a motion starting point of a transmission rack as a 0 point, and the distance between the sensor and the 0 point is calibrated as a fixed value Y; (2) the control panel obtains the moving target position of the transmission rack, and the theoretical distance X between the moving target position and the 0 point is calculated; (3) when the transmission rack triggers the calibration sensor, the control panel obtains an actual movement distance Z; (4) calculating a target position compensation value beta by using the difference value alpha and the theoretical distance X according to the difference value alpha = Z-Y; and (5) X '= X + beta, and X' is taken as an actual target position for controlling the transmission rack to move, so that the influence of elastic deformation, resistance and the like is reduced, the accuracy of the actual target position formulated by the control panel is improved, the error between the stop position and the target position of the electric anastomat is reduced, the poor anastomosis nail forming effect is avoided, and the operation effect is guaranteed.

Description

Technical Field

[0001] The patent of this invention relates to the technical field of positioning compensation of electric staplers, specifically, to a positioning compensation method of an electric stapler and a compensating electric stapler. Background Art

[0002] Minimally invasive surgery under laparoscopic guidance has the advantages of less trauma, less pain and faster recovery, and is gradually becoming popular in clinical practice. Among them, electric staplers are widely used. The operation of electric staplers generally includes actions such as forceps jaw deflection adjustment, forceps jaw rotation adjustment, and forceps jaw closing and firing.

[0003] At present, in order to reduce the physical effort of doctors in performing some mechanical operations during surgery, electric staplers have optimized their automatic performance. For example, the prior patent with patent publication number CN118576265A discloses a distributed control all-electric stapler, including a device housing, a transmission rack, a control panel, a rack drive detection module, a deflection control module and a rotation control module. The transmission rack, the control panel, the rack drive detection module, the deflection control module and the rotation control module are respectively assembled with the device housing, and the rack drive detection module, the deflection control module and the rotation control module are respectively electrically connected to the control panel. The device housing includes a main housing and a rotating shell, and the main housing and the rotating shell are movably assembled. The rotation control module is used to control and drive the rotating shell to rotate relative to the main housing. The rack drive detection module is used to drive the transmission rack to move and detect the movement position. The deflection control module is used to drive the stapler assembly to deflect left and right.

[0004] In the prior art, due to the differences in the materials and structural strength of the transmission rack, when the loaded electric stapler pushes the anastomotic part forward, the transmission rack will undergo a certain elastic deformation. The greater the resistance, the greater the deformation. This deformation will affect the positioning accuracy of the electric stapler, resulting in a large error between the stop position and the target position of the electric stapler. In severe cases, it will directly lead to poor forming effect of the anastomotic staples at the end, affecting the surgical effect. Summary of the Invention

[0005] The object of the present invention is to provide an electric stapler positioning compensation method and a compensating electric stapler, aiming to solve the problem in the prior art that there is a large error between the stop position and the target position of the electric stapler.

[0006] The present invention is implemented as follows: a positioning compensation method for an electric stapler includes a transmission rack, a control panel, a positioning sensor, and a calibration sensor. The specific positioning compensation steps are as follows: (1) The positioning sensor marks the starting point of the movement of the transmission rack as 0 point, and the distance between the calibration sensor and 0 point is a constant value Y; (2) The control board obtains the moving target position of the transmission rack and calculates the theoretical distance X between the moving target position and the 0 point; (3) When the transmission rack is moved by the propulsion force and triggers the calibration sensor, the control board detects the actual movement distance Z of the transmission rack; (4) The control board calculates the difference α, where the difference α=ZY, and uses the difference α and the theoretical distance X to calculate the target position compensation value β; (5) X' = X + β, the control board replaces the theoretical distance X with X', and X' serves as the actual target position for controlling the movement of the transmission rack.

[0007] Furthermore, in step (2), the constant value Y is the theoretical movement distance value recorded when the electric stapler is in an unloaded state, that is, the movement distance of the transmission rack in the unloaded state; when the electric stapler is in a loaded state, the transmission rack is affected by elastic deformation and resistance, and there is an error between the movement distance of the transmission rack and the constant value Y. In step (3), the actual movement distance Z of the transmission rack in the loaded state is recorded by the calibration sensor.

[0008] Furthermore, in step (4), the control board calculates the absolute value of the difference between Z and Y to obtain the difference α.

[0009] Furthermore, in step (4), the target position compensation value β=f(α), where f(α) is the elastic deformation curve fitting formula and α is the difference between Z and Y.

[0010] Furthermore, the electric stapler positioning compensation method includes an RFID module, which is electrically connected to the control board. The RFID module is used to read information in the RFID electronic tag to obtain the moving target position of the transmission rack.

[0011] Furthermore, the electric stapler positioning compensation method includes a rack drive detection module, which includes a driving gear and a position detector. The driving gear is arranged to rotate under the driving force, and the driving gear is arranged to mesh with the meshing portion. The position detector is used to detect and feedback the real-time position of the transmission rack, and the position detector is electrically connected to the control panel. When the transmission rack is moved by the propulsion force and triggers the calibration sensor, the data is fed back to the control panel to obtain the actual movement distance Z of the transmission rack.

[0012] Furthermore, when the transmission rack is moving, the rack drive detection module accumulates the movement distance of the transmission rack. When the transmission rack triggers the calibration sensor, the rack drive detection module feeds back the accumulated actual movement distance of the transmission rack to the control board and records the actual movement distance Z.

[0013] A compensating electric stapler comprises a transmission rack, a control panel, a positioning sensor, a calibration sensor, a rack drive detection module and a stapler housing, wherein the transmission rack and the control panel are respectively mounted on the stapler housing, the positioning sensor and the calibration sensor are respectively mounted on the control panel, and the transmission rack is arranged to move relative to the stapler housing under the driving force, the positioning sensor is used to establish the starting point of the transmission rack and to feed back to the control panel, the calibration sensor is used to establish the actual movement distance of the transmission rack and to feed back to the control panel, the control panel calculates the compensation value based on the feedback data and corrects the target position of the transmission rack movement; the transmission rack comprises a meshing portion, the rack drive detection module comprises a driving gear and a position detector, the driving gear is arranged to rotate under the driving force, the driving gear is meshed with the meshing portion, the position detector is used to detect and feed back the real-time position of the transmission rack, and the position detector is electrically connected to the control panel.

[0014] Furthermore, the compensating electric stapler includes a rotation control module, and the stapler shell includes a main shell and a rotating shell, and the main shell and the rotating shell are in a movably assembled arrangement, and the rotation control module is used to control and drive the rotating shell to be rotated relative to the main shell; the rotation control module includes a rotating motor and a rotating gear, and the rotating motor is used to drive the rotating gear to be rotated, and the main shell has a shell ring groove, and the shell ring groove is arranged in an annular shape, and the rotating shell has a convex strip, and the convex strip is arranged in an annular shape, and the convex strip is arranged outwardly, and the convex strip is embedded in the shell ring groove, and the convex strip has a bar tooth portion, and the bar tooth portion is arranged in an annular shape, and the bar tooth portion is meshed with the rotating gear.

[0015] Furthermore, the compensating electric stapler includes a deflection control module, which includes a worm, a worm wheel and a deflection disk. The worm wheel and the deflection disk are assembled, and the worm and the worm wheel are meshed. The rotating shell has a deflection groove, and the deflection disk is embedded in the deflection groove. The rotation of the deflection disk is used to drive the stapler assembly to be deflected left and right.

[0016] Compared with the prior art, the electric stapler positioning compensation method and compensated electric stapler provided by the present invention, when the electric stapler is working, obtains the starting point of the transmission rack through the positioning sensor, and obtains the actual movement distance of the transmission rack through the calibration sensor. Then, the control board calculates the compensation value based on the feedback data, and then combines the theoretical movement distance with the compensation value as the actual target position for controlling the movement of the transmission rack; in this way, through the calculation of the compensation value, external influences such as elastic deformation and resistance are reduced, and the accuracy of the actual target position set by the control board is improved, thereby improving the accuracy of the control board output command to control the movement of the transmission rack to the actual target position, reducing the error between the stop position and the target position of the electric stapler, avoiding poor staple forming effect, and ensuring the surgical effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 1 is a flow chart of the positioning compensation method of the electric stapler provided by the present invention; Figure 2 It is a cross-sectional schematic diagram of the compensating electric stapler provided by the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0019] The implementation of the present invention is described in detail below with reference to specific embodiments.

[0020] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0021] Reference Figure 1 and 2 The figure shows a preferred embodiment of the present invention.

[0022] The electric stapler positioning compensation method includes a transmission rack 1, a control panel 2, a positioning sensor 3, and a calibration sensor 4. The specific positioning compensation steps are as follows: (1) The positioning sensor marks the starting point of the movement of the transmission rack 1 as point 0, and the distance between the calibration sensor 4 and point 0 is a constant value Y; (2) The control board 2 obtains the target position of the transmission rack 1 and calculates the theoretical distance X between the target position and the 0 point; (3) When the transmission rack 1 is moved by the propulsion force and triggers the calibration sensor 4, the control board 2 detects the actual movement distance Z of the transmission rack 1; (4) Control board 2 calculates the difference α, which is ZY. The target position compensation value β is calculated using the difference α and the theoretical distance X. (5) X' = X + β. The control board 2 replaces the theoretical distance X with X', and X' serves as the actual target position for controlling the movement of the transmission rack 1.

[0023] The above-mentioned electric stapler positioning compensation method, when the electric stapler is working, obtains the starting point of the transmission rack 1 through the positioning sensor 3, and obtains the actual movement distance of the transmission rack 1 through the calibration sensor 4. Then, the control board 2 calculates the compensation value based on the feedback data, and then combines the theoretical movement distance with the compensation value as the actual target position for controlling the movement of the transmission rack 1; in this way, through the calculation of the compensation value, external influences such as elastic deformation and resistance are reduced, and the accuracy of the actual target position set by the control board 2 is improved, thereby improving the accuracy of the control board 2 outputting instructions to control the transmission rack 1 to move to the actual target position, reducing the error between the stop position and the target position of the electric stapler, avoiding poor staple forming effect, and ensuring the surgical effect.

[0024] In step (2), the constant value Y is the theoretical movement distance value recorded when the electric stapler is in an unloaded state, that is, the movement distance of the transmission rack 1 in the unloaded state; when the electric stapler is in a loaded state, the transmission rack 1 is affected by elastic deformation and resistance, and there is an error between the movement distance of the transmission rack 1 and the constant value Y. In step (3), the actual movement distance Z of the transmission rack 1 in the loaded state is recorded by calibrating the sensor 4.

[0025] Therefore, when in the no-load state, the constant Y is almost equal to the actual movement distance Z. However, when the anastomosis device is used, it is generally necessary to load the anastomosis component to perform various surgical operations through the anastomosis component. When in the loaded state, there will be an error between the constant Y and the actual movement distance Z.

[0026] In step (4), the control board 2 calculates the difference between Z and Y and takes the absolute value to obtain the difference α, thereby obtaining the difference α.

[0027] In step (4), the target position compensation value β = f(α), f(α) is the elastic deformation curve fitting formula, and α is the difference between Z and Y.

[0028] Substitute the difference α into the compensation value technical formula, and obtain the compensation value β based on the elastic deformation curve fitting formula.

[0029] There are many methods for fitting elastic deformation curves, the most commonly used of which is the least squares method. Suppose that m points are obtained from the discretization of the plot: (xi, yi), i=1,2,…,m; suppose that the fitting formula obtained from these points is y=f(x), then the deviation at each node is: e i =f(x i )−yi, i=1,2,…,m, and find the best fitting parameters by minimizing the sum of squares of these deviations. The electric stapler positioning compensation method includes an RFID module, which is electrically connected to the control board 2. The RFID module is used to read the information in the RFID electronic tag to obtain the moving target position of the transmission rack 1; in this way, the data of the RFID electronic tag is extracted through the RFID module, thereby obtaining the moving target position of the transmission rack 1.

[0030] Furthermore, the RFID electronic tag generates different tag information corresponding to different target positions according to different surgical requirements; when the distributed control all-electric stapler is used, the tag information is extracted through the RFID module to obtain the moving target position of the transmission rack 1.

[0031] The electric stapler positioning compensation method includes a rack drive detection module 5, which includes a driving gear and a position detector. The driving gear is arranged to rotate under the driving force, and the driving gear is arranged to mesh with the gear part. The position detector is used to detect and feedback the real-time position of the transmission rack 1, and the position detector is electrically connected to the control board 2; when the transmission rack 1 is moved by the propulsion force and triggers the calibration sensor 4, the data is fed back to the control board 2 to obtain the actual movement distance Z of the transmission rack 1.

[0032] In this way, under the action of the rack drive detection module 5, the real-time moving distance of the transmission rack 1 is detected and fed back, so that when the movement of the transmission rack 1 triggers the calibration sensor 4, the actual moving distance of the transmission rack 1 is fed back in time to obtain data Z.

[0033] When the transmission rack 1 is moving, the rack drive detection module 5 accumulates the movement distance of the transmission rack 1. When the transmission rack 1 triggers the calibration sensor 4, the rack drive detection module 5 feeds back the accumulated actual movement distance of the transmission rack 1 to the control board 2 and records the actual movement distance Z.

[0034] In this way, under the action of the rack drive detection module 5, the real-time moving distance of the transmission rack 1 is cumulatively detected and fed back, so that when the movement of the transmission rack 1 triggers the calibration sensor 4, the actual moving distance of the transmission rack 1 is fed back in time to obtain data Z.

[0035] The anastomosis component can be an anastomosis device or a cutting tool, and the anastomosis component can be a forceps mouth.

[0036] The compensating electric stapler includes a transmission rack 1, a control panel 2, a positioning sensor 3, a calibration sensor 4, a rack drive detection module 5 and a stapler shell. The transmission rack 1 and the control panel 2 are respectively installed on the stapler shell, the positioning sensor 3 and the calibration sensor 4 are respectively installed on the control panel 2, and the transmission rack 1 is arranged to move relative to the stapler shell under the driving force. The positioning sensor 3 is used to establish the starting point of the transmission rack 1 and feed it back to the control panel 2. The calibration sensor 4 is used to establish the actual movement distance of the transmission rack 1 and feed it back to the control panel 2. The control panel 2 calculates the compensation value based on the feedback data and corrects the target position of the transmission rack 1. The transmission rack 1 includes a meshing portion, and the rack drive detection module 5 includes a driving gear and a position detector. The driving gear is arranged to rotate under the driving force, and the driving gear is meshed with the meshing portion. The position detector is used to detect and feed back the real-time position of the transmission rack 1, and the position detector is electrically connected to the control panel 2.

[0037] The above-mentioned compensated electric stapler, when the electric stapler is working, obtains the starting point of the transmission rack 1 through the positioning sensor 3, and obtains the actual movement distance of the transmission rack 1 through the calibration sensor 4. Then, the control board 2 calculates the compensation value based on the feedback data, and then combines the theoretical movement distance with the compensation value as the actual target position for controlling the movement of the transmission rack 1; in this way, through the calculation of the compensation value, external influences such as elastic deformation and resistance are reduced, and the accuracy of the actual target position set by the control board 2 is improved, thereby improving the accuracy of the control board 2 outputting instructions to control the transmission rack 1 to move to the actual target position, reducing the error between the stop position and the target position of the electric stapler, avoiding poor staple forming effect, and ensuring the surgical effect.

[0038] The compensating electric stapler includes a rotation control module 6, and the stapler shell includes a main shell and a rotating shell. The main shell and the rotating shell are arranged in a movably assembled manner. The rotation control module 6 is used to control and drive the rotating shell to be arranged in rotation relative to the main shell; the rotation control module 6 includes a rotating motor and a rotating gear. The rotating motor is used to drive the rotating gear to be arranged in rotation. The main shell has a shell ring groove, which is arranged in an annular shape. The rotating shell has a convex strip, which is arranged in an annular shape, and the convex strip is arranged to convex outward, and the convex strip is embedded in the shell ring groove.

[0039] Under the cooperation of the convex strips and the shell ring grooves, the assembly stability of the rotating shell and the main shell is improved, and the rotation stability of the rotating shell is guaranteed, which facilitates the rotation of the rotating shell.

[0040] The convex strip has a tooth portion, which is arranged in a ring shape and meshes with the rotating gear; thus, the precision of the rotation can be controlled and the control precision of the rotation is higher.

[0041] The control board 2 provides power to the rotation control module 6 through the first two-wire cable. The control board 2 includes a signal loading module, which is used to couple the control signal to the first two-wire cable; the rotation control module 6 includes a signal analysis module, which is used to analyze the signal coupled to the first two-wire cable by the control board 2, so as to realize the control of the rotation control module 6 by the control board 2; and the control signal transmission is more stable and the control instructions are more accurate.

[0042] The compensating electric stapler includes a deflection control module 7, which includes a worm, a worm wheel and a deflection disk. The worm wheel and the deflection disk are assembled, and the worm and the worm wheel are meshed. The rotating shell has a deflection groove, and the deflection disk is embedded in the deflection groove. The rotation of the deflection disk is used to drive the stapler assembly to deflect left and right.

[0043] In this way, the left and right deflection of the anastomosis component is achieved, the automatic deflection is achieved, and the automation level of the distributed control all-electric anastomosis device is improved.

[0044] The deflection control module 7 is electrically connected to a second two-wire cable via a first two-wire cable, providing power to the deflection control module 7. The second two-wire cables are connected via brushes. The deflection control module 7 includes a signal analysis module for analyzing the signal coupled from the control board 2 to the second two-wire cable, enabling the control board 2 to control the deflection control module 7. This ensures more stable control signal transmission and more accurate control instructions.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A positioning compensation method for an electric stapler, characterized in that: Including transmission rack, control board, positioning sensor and calibration sensor, the specific positioning compensation steps are as follows: (1) The positioning sensor marks the starting point of the movement of the transmission rack as 0 point, and the distance between the calibration sensor and 0 point is a constant value Y; (2) The control board obtains the moving target position of the transmission rack and calculates the theoretical distance X between the moving target position and the 0 point; (3) When the transmission rack is moved by the propulsion force and triggers the calibration sensor, the control board detects the actual movement distance Z of the transmission rack; (4) The control board calculates the difference α, where the difference α=ZY, and uses the difference α and the theoretical distance X to calculate the target position compensation value β; (5) X' = X + β, the control board replaces the theoretical distance X with X', and X' serves as the actual target position for controlling the movement of the transmission rack.

2. The electric stapler positioning compensation method according to claim 1, characterized in that: In step (2), the constant value Y is the theoretical movement distance value recorded when the electric stapler is in an unloaded state, that is, the movement distance of the transmission rack in the unloaded state; when the electric stapler is in a loaded state, the transmission rack is affected by elastic deformation and resistance, and there is an error between the movement distance of the transmission rack and the constant value Y. In step (3), the actual movement distance Z of the transmission rack in the loaded state is recorded by the calibration sensor.

3. The electric stapler positioning compensation method according to claim 1, wherein: In step (4), the control board calculates the absolute value of the difference between Z and Y to obtain the difference α.

4. The electric stapler positioning compensation method according to claim 1, wherein: In step (4), the target position compensation value β = f(α), f(α) is the elastic deformation curve fitting formula, and α is the difference between Z and Y.

5. The electric stapler positioning compensation method according to any one of claims 1 to 4, characterized in that: The electric stapler positioning compensation method includes an RFID module, which is electrically connected to the control board. The RFID module is used to read information in the RFID electronic tag to obtain the moving target position of the transmission rack.

6. The electric stapler positioning compensation method according to any one of claims 1 to 4, characterized in that: The electric stapler positioning compensation method includes a rack drive detection module, which includes a driving gear and a position detector. The driving gear is arranged to rotate under the driving force, and the driving gear is arranged to mesh with the meshing portion. The position detector is used to detect and feedback the real-time position of the transmission rack, and the position detector is electrically connected to the control panel. When the transmission rack is moved by the propulsion force and triggers the calibration sensor, the data is fed back to the control panel to obtain the actual movement distance Z of the transmission rack.

7. The electric stapler positioning compensation method according to claim 6, characterized in that: When the transmission rack is moving, the rack drive detection module accumulates the movement distance of the transmission rack. When the transmission rack triggers the calibration sensor, the rack drive detection module feeds back the accumulated actual movement distance of the transmission rack to the control board and records the actual movement distance Z.

8. Compensating electric stapler, characterized in that: It includes a transmission rack, a control panel, a positioning sensor, a calibration sensor, a rack drive detection module and an anastomosis shell, the transmission rack and the control panel are respectively installed on the anastomosis shell, the positioning sensor and the calibration sensor are respectively installed on the control panel, and the transmission rack is arranged to move relative to the anastomosis shell under the driving force, the positioning sensor is used to establish the starting point of the transmission rack and feed back to the control panel, the calibration sensor is used to establish the actual movement distance of the transmission rack and feed back to the control panel, the control panel calculates the compensation value based on the feedback data, and corrects the target position of the transmission rack movement; the transmission rack includes a meshing portion, the rack drive detection module includes a driving gear and a position detector, the driving gear is arranged to rotate under the driving force, the driving gear is meshed with the meshing portion, the position detector is used to detect and feed back the real-time position of the transmission rack, and the position detector is electrically connected to the control panel.

9. The compensating electric stapler according to claim 8, characterized in that: The compensating electric stapler includes a rotation control module, and the stapler shell includes a main shell and a rotating shell. The main shell and the rotating shell are in a movably assembled arrangement. The rotation control module is used to control and drive the rotating shell to be rotated relative to the main shell; the rotation control module includes a rotating motor and a rotating gear. The rotating motor is used to drive the rotating gear to be rotated. The main shell has a shell ring groove, and the shell ring groove is arranged in an annular shape. The rotating shell has a convex strip, and the convex strip is arranged in an annular shape. The convex strip is arranged outward in a convex arrangement, and the convex strip is embedded in the shell ring groove. The convex strip has a bar tooth portion, and the bar tooth portion is arranged in an annular shape. The bar tooth portion is meshed with the rotating gear.

10. The compensating electric stapler according to claim 8, characterized in that: The compensating electric stapler includes a deflection control module, which includes a worm, a worm wheel and a deflection disk. The worm wheel and the deflection disk are assembled, and the worm and the worm wheel are meshed. The rotating shell has a deflection groove, and the deflection disk is embedded in the deflection groove. The rotation of the deflection disk is used to drive the stapler assembly to deflect left and right.

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