An intelligent control method and system for an electric anastomat, an electronic device, and a medium

Abstract

The present application relates to the technical field of medical machine control, and provides an intelligent control method and system for an electric anastomat, an electronic device and a medium.The method comprises the following steps: acquiring a real-time displacement stroke of the electric anastomat; when the real-time displacement stroke reaches a tissue compression position threshold, continuously acquiring a plurality of first working currents of the motor until the real-time displacement stroke reaches an initial standard stroke, determining a first stroke compensation based on the plurality of first working currents, and compensating a theoretical displacement stroke in the process of cutting thick tissue by using the first stroke compensation; after the real-time displacement stroke reaches a target standard stroke, acquiring a second working current of the motor, determining slope data within a plurality of preset time windows based on the second working current, and determining that the electric anastomat reaches an end position according to the slope data and a preset slope change condition.The method can not only compensate the deviation stroke of the electric anastomat in time, but also enhance the accuracy of end position recognition in the electric anastomat.

Description

Technical Field

[0001] This invention relates to the field of medical device control technology, and in particular to an intelligent control method, system, electronic device and medium for an electric stapler. Background Technology

[0002] Electric staplers produce smoother and neater anastomoses than traditional manual laparoscopic staplers, and patients recover faster and better after surgery. Electric staplers have become an industry trend.

[0003] During the firing process of an electric stapler, ensuring accuracy and safety during the anastomosis process is crucial. The actual displacement of the electric stapler may deviate from its theoretical displacement due to factors such as extremely thick tissue, changes in battery power, and inching operations. End-point detection is also a key technology, used to identify the final position of the electric stapler during the anastomosis process. If the travel distance of the electric stapler deviates, it may lead to under- or over-anastomosis. Therefore, it is necessary to accurately determine whether the electric stapler has reached the end position, thereby controlling the device to stop at the end point.

[0004] In related technologies, the forward stroke of the electric stapler is compensated by fixing parameters. However, this adjustment method has poor adaptability, a cumbersome adjustment process, and poor real-time performance, reducing the efficiency of the operation. The endpoint position of the electric stapler relies on mechanical limit switches or simple electrical signal feedback. Both of these endpoint identification methods have inaccurate accuracy; slow response speed in complex environments; and untimely anastomosis adjustment. After long-term use, the continuity and safety of mechanical operation are affected.

[0005] Therefore, how to provide a control technology solution for an electric stapler with accurate stroke, high working efficiency and accurate endpoint recognition is a technical problem that urgently needs to be solved. Summary of the Invention

[0006] This invention provides an intelligent control method, system, electronic device, and medium for an electric stapler to solve the technical problems of inaccurate stroke detection, low work efficiency, poor adaptability, and poor accuracy of endpoint position recognition during the operation of the electric stapler.

[0007] This invention provides an intelligent control method for an electric stapler, comprising:

[0008] Obtain the real-time displacement stroke of the electric stapler;

[0009] When the real-time displacement stroke reaches the tissue compression position threshold, the first operating current of the motor in the electric stapler is continuously monitored until the real-time displacement stroke reaches the initial standard stroke. The first stroke compensation amount is determined based on multiple first operating currents, and the theoretical displacement stroke of the motor is compensated by the first stroke compensation amount to determine the target standard stroke.

[0010] When the real-time displacement stroke reaches the target standard stroke, the second operating current of the motor is continuously acquired, the slope data of the second operating current in multiple preset time windows is extracted, and the electric anastomosis device is determined to have reached the endpoint position based on the slope data and preset slope change conditions.

[0011] In one embodiment of the present invention, the method further includes: identifying the jogging process of the electric stapler; continuously acquiring a third operating current of the motor based on the starting operation of the jogging process; determining a second stroke compensation amount based on a plurality of the third operating currents, and using the second stroke compensation amount to compensate for the theoretical displacement stroke.

[0012] In one embodiment of the present invention, determining a first stroke compensation amount based on a plurality of first operating currents, and compensating the theoretical displacement stroke of the motor by the first stroke compensation amount, includes: calculating the average value of a plurality of first operating currents as the average value of tissue compression current; substituting the average value of tissue compression current into a preset nonlinear compensation formula to obtain the first stroke compensation amount, wherein the preset nonlinear compensation formula is used to characterize the compression mapping relationship between current and stroke; and positively adjusting the theoretical displacement stroke by the first stroke compensation amount.

[0013] In one embodiment of the present invention, determining a second stroke compensation amount based on a plurality of third operating currents and using the second stroke compensation amount to compensate for the theoretical displacement stroke includes: calculating the average value of a plurality of third operating currents based on the duration of the start-up operation to obtain an average jogging current; determining the second stroke compensation amount based on the average jogging current and a current threshold; and adjusting the theoretical displacement stroke in the opposite direction using the second stroke compensation amount to correct the theoretical displacement stroke.

[0014] In one embodiment of the present invention, the slope data includes current fitting slope, current slope change rate, average current fitting slope, and average maximum slope change. Extracting the slope data of the second operating current within multiple preset time windows includes: obtaining the corresponding second operating current within multiple preset time windows using a sliding window method; performing linear fitting analysis on the multiple second operating currents to obtain the current fitting slope; calculating the current slope change rate based on adjacent current fitting slopes; determining the average current fitting slope based on multiple current fitting slopes within a preset slope monitoring time; and recording the maximum slope value during the slope change process when the current fitting slope is less than a preset endpoint slope threshold and the current fitting slope exhibits an increasing characteristic, and calculating the average maximum slope change based on the multiple maximum slope values.

[0015] In one embodiment of the present invention, the preset slope change condition includes a first endpoint feature, a second endpoint feature, and a third endpoint feature. Determining the endpoint position of the electric anastomosis device based on the slope data and the preset slope change condition includes: if the average value of two adjacent current fitting slopes shows an increasing characteristic and the duration exceeds a preset time interval threshold, then the slope data is determined to satisfy the first endpoint feature; if the current fitting slope is greater than a preset maximum slope change threshold and the current fitting slope is greater than the preset endpoint threshold slope, the current slope change rate is positive and the current slope change rate is greater than a preset current slope change threshold, then the slope data is determined to satisfy the second endpoint feature, wherein... The preset maximum slope change threshold is determined based on the maximum slope value and the average of the maximum slope change, and the preset current slope change threshold is determined based on the previous current slope change rate. After the second endpoint feature is met for the first time, according to the current fitting slope and the real-time displacement stroke marker feature start information, if at least two or more slope data satisfy the second endpoint feature in a preset number of fitting attempts, and the current fitting slope is greater than the fitting slope in the feature start information, then the slope data is determined to satisfy the third feature point. When the slope data satisfies the preset slope change condition, the electric anastomosis device is determined to have reached the endpoint position and the motor is controlled to stop.

[0016] In one embodiment of the present invention, after the second endpoint feature is satisfied for the first time, the method further includes: if the slope data does not satisfy the third feature point or the average value of the current fitting slope is less than the average value of the previous current fitting slope, then the feature start information is cleared.

[0017] This invention also provides an intelligent control system for an electric stapler, the system comprising: a stroke acquisition module for acquiring the real-time displacement stroke of the electric stapler; a tissue compression compensation module for continuously monitoring the first operating current of the motor in the electric stapler until the real-time displacement stroke reaches an initial standard stroke when the real-time displacement stroke reaches a tissue compression position threshold, determining a first stroke compensation amount based on multiple first operating currents, and compensating the theoretical displacement stroke of the motor with the first stroke compensation amount to determine a target standard stroke; and an endpoint determination module for continuously acquiring the second operating current of the motor when the real-time displacement stroke reaches the target standard stroke, extracting the slope data of the second operating current within multiple preset time windows, and determining the endpoint position of the electric stapler based on the slope data and preset slope change conditions.

[0018] In one embodiment of the present invention, the system further includes a jog compensation module, which includes a jog identification unit, a jog acquisition unit, and a jog compensation unit. The jog identification unit is used to identify the jog process of the electric stapler; the jog acquisition unit is used to continuously acquire the third operating current of the motor based on the start operation of the jog process; and the jog compensation unit is used to determine a second stroke compensation amount based on multiple third operating currents and use the second stroke compensation amount to compensate for the theoretical displacement stroke.

[0019] In one embodiment of the present invention, the tissue compression compensation module includes a tissue current processing unit, a tissue compensation amount determination unit, and a tissue adjustment unit; the tissue current processing unit is used to calculate the average value of multiple first working currents as the average value of tissue compression current; the tissue compensation amount determination unit is used to substitute the average value of tissue compression current into a preset nonlinear compensation formula to obtain the first stroke compensation amount, wherein the preset nonlinear compensation formula is used to characterize the compression mapping relationship between current and stroke; the tissue adjustment unit is used to positively adjust the theoretical displacement stroke through the first stroke compensation amount.

[0020] In one embodiment of the present invention, the jogging compensation unit includes: a jogging current processing subunit, a jogging compensation amount determination subunit, and a jogging adjustment subunit; the jogging current processing subunit is used to calculate the average value of multiple third operating currents based on the duration of the start-up operation to obtain the average jogging current; the jogging compensation amount determination subunit determines the second stroke compensation amount based on the average jogging current and a current threshold; the jogging adjustment subunit adjusts the theoretical displacement stroke in the opposite direction using the second stroke compensation amount to correct the theoretical displacement stroke.

[0021] In one embodiment of the present invention, the slope data includes current fitting slope, current slope change rate, average current fitting slope, and average maximum slope change. The endpoint determination module includes a slope determination unit, a slope change rate determination unit, an average slope determination unit, and a maximum slope processing unit. The slope determination unit is used to obtain the corresponding second operating current within a plurality of preset time windows based on the sliding window method, and to perform linear fitting analysis on the plurality of second operating currents to obtain the current fitting slope. The slope change rate determination unit is used to calculate the current slope change rate based on adjacent current fitting slopes. The average slope determination unit is used to determine the average current fitting slope based on a plurality of current fitting slopes within a preset slope monitoring time. The maximum slope processing unit is used to record the maximum slope during the slope change process when the current fitting slope is less than a preset endpoint slope threshold and the current fitting slope exhibits an increasing characteristic, and to calculate the average maximum slope change based on the plurality of maximum slope values.

[0022] In one embodiment of the present invention, the preset slope change condition includes a first endpoint feature, a second endpoint feature, and a third endpoint feature. The endpoint determination module includes a first endpoint feature diagnosis unit, a second endpoint feature diagnosis unit, a third endpoint feature diagnosis unit, and an endpoint locking unit. The first endpoint feature diagnosis unit is used to determine that the slope data satisfies the first endpoint feature if the average value of two adjacent current fitting slopes shows an increasing characteristic and the duration exceeds a preset time interval threshold. The second endpoint feature diagnosis unit is used to determine that the slope data satisfies the first endpoint feature if the current fitting slope is greater than a preset maximum slope change threshold and the current fitting slope is greater than the preset endpoint threshold slope, the current slope change rate is positive, and the current slope change rate is greater than a preset current slope change threshold. The system comprises two endpoint features, wherein the preset maximum slope change threshold is determined based on the maximum slope value and the average of the maximum slope change, and the preset current slope change threshold is determined based on the previous current slope change rate; the third endpoint feature diagnosis unit is used to determine that the slope data satisfies the third feature point after the second endpoint feature is first satisfied, based on the current fitting slope and the real-time displacement stroke marker feature start information, if at least two or more of the slope data satisfy the second endpoint feature in a preset number of fitting attempts, and the current fitting slope is greater than the fitting slope in the feature start information; the endpoint locking unit is used to determine that the electric anastomosis device has reached the endpoint position and control the motor to stop when the slope data satisfies the preset slope change condition.

[0023] In one embodiment of the present invention, the endpoint determination module further includes an endpoint optimization unit, which is used to clear the feature start information if the slope data does not satisfy the third feature point or the average value of the current fitting slope is less than the average value of the previous current fitting slope.

[0024] The present invention also provides an electronic device, comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device enables the intelligent control method for the electric stapler as described above.

[0025] The present invention also provides a computer-readable storage medium storing computer-readable instructions thereon, which, when executed by a computer processor, cause the computer to perform the intelligent control method for the electric stapler as described above.

[0026] The beneficial effects of this invention are as follows: This invention proposes an intelligent control method, system, electronic device, and medium for an electric stapler. The method includes: acquiring the real-time displacement stroke of the electric stapler; continuously acquiring multiple first operating currents of the motor until the real-time displacement stroke reaches an initial standard stroke when the real-time displacement stroke reaches a tissue compression position threshold; determining a first stroke compensation amount based on the multiple first operating currents to compensate for the theoretical displacement stroke of the electric stapler during the cutting of thick tissue, thereby achieving real-time compensation for the stroke of the electric stapler; after the real-time displacement stroke reaches the target standard stroke, acquiring a second operating current of the motor; determining slope data within multiple preset time windows based on the second operating current; and determining the endpoint position of the electric stapler based on the slope data and preset slope change conditions, thereby improving the accuracy of endpoint position identification, timely controlling the electric stapler to stop, and increasing the safety of the stapler. Attached Figure Description

[0027] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0028] In the attached diagram:

[0029] Figure 1 This is a flowchart of an intelligent control method for an electric stapler provided in one embodiment of the present invention;

[0030] Figure 2 This is a flowchart illustrating the compensation of theoretical displacement stroke by an electric stapler during a jogging process, as provided in one embodiment of the present invention.

[0031] Figure 3 This is a block diagram of an intelligent control system for an electric stapler provided in one embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram illustrating the structure of a computer system suitable for implementing the electronic device of the present invention, as shown in an exemplary embodiment of the present invention. Detailed Implementation

[0033] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0034] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0035] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0036] As described in the background section, electric staplers produce smoother and neater anastomoses than traditional manual laparoscopic staplers, and patients recover faster and better after surgery. Electric staplers have become an industry trend.

[0037] During firing, the actual displacement of the electric stapler may deviate from its theoretical displacement due to factors such as extremely thick tissue, battery level changes, and inching. This means that the stroke cannot be guaranteed to remain consistent throughout firing. End-point identification is a crucial technology for electric staplers, used to pinpoint the endpoint of the anastomosis process and prevent under- or over-anastomosis.

[0038] In related technologies, the forward stroke of the electric stapler is compensated by fixing parameters. However, this adjustment method has the following problems when facing complex and ever-changing operating environments: fixed parameters cannot adapt to changes in different mechanical states and operating environments, resulting in unstable firing effects and poor adaptability; manually adjusting the stroke parameters of the electric stapler requires strong professional knowledge and rich practical experience, and the adjustment process is cumbersome; there is a lag between recognition and adjustment, which cannot respond to changes in mechanical state in a timely manner, resulting in poor real-time performance and reduced efficiency of the operation.

[0039] The end position recognition of electric staplers relies on mechanical limit switches or simple electrical signal feedback. Existing recognition methods have the following problems: mechanical limit switches are subject to wear and environmental factors, resulting in inaccurate recognition accuracy; simple electrical signal recognition methods may have slow response speed in complex environments, resulting in untimely adjustments to the anastomosis operation; and they are prone to failure after long-term use, affecting the continuity and safety of the operation.

[0040] Please see Figure 1 , Figure 1 A flowchart of an intelligent control method for an electric stapler provided in an embodiment of the present invention is shown below. Figure 1 As shown, in one embodiment of the present invention, an intelligent control method for an electric stapler is provided, comprising at least steps S110 to S130:

[0041] S110, Obtain the real-time displacement stroke of the electric stapler.

[0042] Specifically, the motor of the electric stapler outputs a preset number of pulse signals per revolution. The number of pulse signals output by different motors varies and is determined based on the specific motor used. For example, if the motor provided by this invention outputs 3 pulse signals per revolution, and each pulse signal causes the cutting blade of the electric stapler to advance 0.025 mm (in millimeters), and the endpoint position of the electric stapler is 60 mm, the cutting blade advance stroke corresponding to each pulse signal and the endpoint position of the electric stapler can be set according to the specific model of the electric stapler.

[0043] During the cutting process of an electric stapler, if it encounters thicker tissue, it can cause slight deformation of the cutting blade, resulting in an S-shape. This causes the blade's physical travel distance to be less than the theoretically calculated length based on the number of motor pulses. Consequently, the instrument may perceive that it is within the target travel range, but it may not actually reach the target travel range, potentially preventing the cutting blade from reaching its endpoint. The degree of blade deformation varies when anastomosing different tissue thicknesses, and the compensation travel distance will also change accordingly.

[0044] Generally, the tissue thickness thins near the endpoint, and the cutting blade may be released, resulting in no extra stroke. Therefore, it is more appropriate to set the tissue compression position threshold before the end of the target standard stroke.

[0045] The target standard stroke is set according to the end position of the electric stapler. The target standard stroke is 0.5mm away from the end position. The firing working length of the 60 staple cartridge is 60mm, so the position of 59.5mm is taken as the target standard stroke. The tissue compression position threshold is set according to the target standard stroke. The tissue compression position threshold is set 10mm before the end of the target standard stroke, that is, the tissue compression position threshold is 49.5mm.

[0046] The pulse signals during the motor's operation are acquired, and the number of pulses output by the motor from the start-up process to the current position is determined based on the pulse signals. The real-time displacement stroke of the electric stapler is calculated based on the number of pulses and the working length of each pulse.

[0047] The theoretically, the threshold number of pulses required for an electric stapler to advance to the tissue compression position is calculated using the following expression:

[0048]

[0049] For example, if the tissue compression position threshold is 49.5 mm and the working length of each pulse is 0.025 mm, the number of pulses for the tissue compression position threshold can be calculated according to the above expression: 49.5 / 0.025 = 1980.

[0050] It should be noted that, theoretically, electric anastomosis does not require compensation during operation. The number of pulses required for the electric anastomosis cutter to move to the target displacement stroke is the target standard stroke divided by the working length of each pulse, which is calculated to be 2380 pulses. However, in actual operation, this number of pulses needs to be adjusted according to the compensation operation. Therefore, during the actual electric shock process of the electric anastomosis, the point corresponding to the number of pulses reaching the target standard stroke is the initial standard stroke, and the number of pulses corresponding to the initial standard stroke is adjusted according to the compensation operation.

[0051] S120. When the real-time displacement stroke reaches the tissue compression position threshold, continuously monitor the first operating current of the motor in the electric stapler until the real-time displacement stroke reaches the initial standard stroke. Determine the first stroke compensation amount based on multiple first operating currents, and compensate the theoretical displacement stroke of the motor through the first stroke compensation amount to determine the target standard stroke.

[0052] Specifically, when the real-time displacement stroke of the cutting blade reaches the tissue compression position threshold, that is, when the real-time displacement stroke of the cutting blade is 49.5mm, the first working current output by the motor is collected every 1ms. Each time it is accumulated, n is incremented by 1. When the real-time displacement stroke of the cutting blade reaches the theoretical initial standard stroke, the collection of the first working current of the motor is stopped.

[0053] In detail, determining the first stroke compensation amount based on multiple first operating currents, and compensating the theoretical displacement stroke of the motor through the first stroke compensation amount, includes: calculating the average value of multiple first operating currents as the average value of tissue compression current; substituting the average value of tissue compression current into a preset nonlinear compensation formula to obtain the first stroke compensation amount, wherein the preset nonlinear compensation formula is used to characterize the compression mapping relationship between current and stroke; and making a positive adjustment to the theoretical displacement stroke through the first stroke compensation amount.

[0054] Specifically, the n first working currents are summed and divided by n to calculate the average value of the n first working currents, which is then used to obtain the average value of the tissue compression current. The average value of the tissue compression current is expressed as follows:

[0055]

[0056] Among them, I d I11, I12, I13, ..., I1n are the average values ​​of the compression current of the tissue, and I11, I12, I13, ..., I1n are the first working currents from the first acquisition to the nth acquisition.

[0057] The experiment involved using an electric stapler to clamp tissues of varying thicknesses, stopping at the theoretical initial standard stroke. The average tissue compression current was recorded for each clamping and cutting operation, and the test displacement stroke of the cutting blade was measured. The deviation between the actual and theoretical displacement strokes was calculated. Fifty or more sets of data were collected. Using the average tissue compression current as the X-axis and the deviation stroke as the Y-axis, an equation was fitted to obtain a preset nonlinear compensation relationship. Substituting the average tissue compression current during actual tissue cutting into the preset nonlinear compensation relationship yielded the first stroke compensation amount. The preset nonlinear compensation relationship is shown in the following expression:

[0058] L1 = m 2 I d +nI d +t

[0059] Where L1 is the compensation amount for the first stroke, I d The average compression current is given by the constants m, n, and t, which are obtained by testing the displacement stroke.

[0060] The theoretical displacement stroke of the motor is calculated by counting the number of pulses. The theoretical displacement stroke is then added to the first stroke compensation amount to update the initial standard stroke of the electric stapler during operation. The target displacement stroke of the electric stapler is then determined, which is: when the number of pulses output by the motor is the corresponding number, the cutting blade of the electric stapler reaches the target standard stroke (59.5mm).

[0061] S130: When the real-time displacement stroke reaches the target standard stroke, the second working current of the motor is continuously acquired, the slope data of the second working current in multiple preset time windows is extracted, and the electric stapler reaches the end position based on the slope data and the preset slope change conditions.

[0062] Specifically, once the real-time displacement stroke of the cutting blade reaches the target standard stroke, the second operating current of the motor is collected every 1 millisecond to obtain multiple second operating currents.

[0063] In detail, the slope data includes the current fitting slope, the rate of change of the current slope, the average value of the current fitting slope, and the average value of the maximum slope change. The slope data of the second operating current within multiple preset time windows is extracted, including: obtaining the corresponding second operating current within multiple preset time windows based on the sliding window method, and performing linear fitting analysis on multiple second operating currents to obtain the current fitting slope; calculating the rate of change of the current slope based on adjacent current fitting slopes; determining the average value of the current fitting slope based on multiple current fitting slopes within a preset slope monitoring time; when the current fitting slope is less than a preset endpoint slope threshold and the current fitting slope exhibits an increasing characteristic, recording the maximum slope value during the slope change process, and calculating the average value of the maximum slope change based on multiple maximum slope values.

[0064] Specifically, the second operating current is collected within consecutive 5-millisecond intervals using a sliding window method. Linear fitting is performed on the five second operating currents within each 5-millisecond interval (preset time window) to obtain multiple linear fitting curves. The current fitting slope is then obtained from these curves. For example, after the real-time displacement stroke of the cutting blade reaches 59.5mm, the second operating current of the motor is collected for each millisecond within a 30-millisecond interval, resulting in 30 second operating currents. Data acquisition is performed on these 30 second operating currents using a sliding window method, collecting the second operating current every 5 milliseconds. Linear fitting is then performed on the five second operating currents within each 5-millisecond interval to obtain five fitting curves. The sliding window method is as follows: collecting the second operating current from the 1st millisecond to the 5th millisecond, collecting the second operating current from the 2nd millisecond to the 6th millisecond, and collecting the second operating current from the 25th millisecond to the 30th millisecond. Based on the time interval, linear fitting is performed on the second operating current to obtain multiple fitting curves. The current fitting slope P during the motor firing process is obtained from these fitting curves. The rate of change ΔP of the current slope between two adjacent currents is calculated, and the current fitting slope P of the previous iteration is used as the basis for the calculation. last and the current fitting slope P cur The current slope change rate ΔP is calculated, and based on this, multiple current slope change rates ΔP are calculated according to multiple current fitting slopes P.

[0065] Within a preset slope monitoring time, multiple current fitting slopes P are stored. For example, within 10 milliseconds before the current working time, the average current fitting slope within this time period is calculated based on 10 collected second working currents.

[0066] Schematic, when the current fitting slope is less than the preset endpoint slope threshold P end The current current fitting slope P cur The current fitting slope P is greater than the previous one. last At that time, start recording the maximum slope P during the slope change process. max Record the 30 maximum slope values ​​P that occur during the slope change process. max For the 30 slope maximum values ​​P max The average value P of the maximum change in slope is obtained by averaging. maxAvr .

[0067] In detail, the preset slope change conditions include a first endpoint characteristic, a second endpoint characteristic, and a third endpoint characteristic. Based on the slope data and the preset slope change conditions, the electric anastomosis device reaches the endpoint position, including: if the average value of two adjacent current fitting slopes shows an increasing characteristic and the duration exceeds a preset time interval threshold, then the slope data is determined to satisfy the first endpoint characteristic; if the current fitting slope is greater than a preset maximum slope change threshold and the current fitting slope is greater than a preset endpoint threshold slope, and the current slope change rate is positive and greater than a preset current slope change threshold, then the slope data is determined to satisfy the second endpoint characteristic. The preset maximum slope change threshold is determined based on the maximum slope value and the average of the maximum slope change, while the preset current slope change threshold is determined based on the previous current slope change rate. After the second endpoint feature is met for the first time, based on the current fitting slope and the real-time displacement stroke marker feature start information, if at least two or more slope data satisfy the second endpoint feature in the preset fitting number of times, and the current fitting slope is greater than the fitting slope in the feature start information, then the slope data is determined to satisfy the third feature point. When the slope data satisfies the preset slope change condition, the electric anastomosis device is determined to have reached the endpoint position and the motor is controlled to stop.

[0068] After the electric stapler is activated, and the cutting blade reaches the target standard stroke, the current fitting slope is less than the preset endpoint slope threshold P. end The endpoint of the electric stapler is identified, and the preset slope change conditions include the first endpoint feature, the second endpoint feature, and the third endpoint feature.

[0069] If the average current fitting slope is greater than the average current fitting slope of the previous time and the duration is greater than the preset time interval threshold (e.g., 5 milliseconds), then the slope data is determined to meet the first endpoint feature.

[0070] Schematic, the preset maximum slope change threshold is the maximum slope value P, which is a preset fixed multiple. max The preset maximum slope change threshold is the average of the maximum slope change and the average of the maximum slope change, i.e.: Preset maximum slope change threshold = (3 * maximum slope + average of maximum slope change) / 4; the preset current slope change threshold is the product of the preset adjustment coefficient and the previous current slope change rate, i.e.: Preset current slope change threshold = 0.5 * previous current slope change rate ΔP last When the current fitting slope is greater than the preset maximum slope change threshold and greater than the preset endpoint threshold slope P end If the rate of change of the current slope ΔP is greater than 0 and the rate of change of the current slope ΔP is greater than the preset current slope change threshold, then the slope data is determined to satisfy the second endpoint feature.

[0071] After the slope data first satisfies the second endpoint feature, the current current fitting slope P is marked as the feature start mark slope P0, and the actual displacement stroke of the cutting blade corresponding to the feature start mark slope P0 is recorded (i.e., the initial position mark of the endpoint position). To reduce misjudgment of the endpoint position, the second endpoint feature needs to be judged multiple times to improve the accuracy of endpoint identification. If, in the subsequent 5 fittings, the current fitting slope satisfies the second endpoint feature at least twice, and the current fitting slope P is greater than the feature start mark slope P0, then the slope data is determined to satisfy the third feature point. When the current fitting slope P and the current slope change rate ΔP in the slope data satisfy the preset slope change condition, it is determined that the cutting blade of the electric stapler has reached the endpoint position, and the motor is controlled to stop.

[0072] More specifically, after the second endpoint feature is met for the first time, the following steps are also included: if the slope data does not meet the third feature point or the average current fitting slope is less than the average current fitting slope of the previous time, then the feature start information is cleared. Specifically, after the second endpoint feature is met for the first time, if in the subsequent 5 fittings, the slope data meets the second endpoint feature only once, or if the second endpoint feature is not met at all, or if the average current fitting slope is less than the average current fitting slope of the previous time, then it is determined that the electric anastomosis device has not reached the endpoint position, and the feature start marker slope P0 and the initial position marker of the endpoint position are cleared.

[0073] It is also important to note that during the firing and cutting process of the electric stapler, the operator's operation is not necessarily continuous. If there are areas with tissue thickness that are difficult to cut, multiple firings may be necessary to ensure the effectiveness of the cutting. Multiple firings involve stopping the motor midway and then restarting it. Due to gear backlash in the motor's reduction gearbox and the springback of the clamped tissue, each time the motor stops midway, it will work to overcome the backlash, resulting in a portion of the stroke that does not push the cutting blade forward. This causes the actual displacement of the cutting blade to be less than the theoretical length calculated from the motor pulse count. This can lead to the instrument recognizing that the target stroke range has been reached when it has not actually been reached. Therefore, it is necessary to identify the inching stroke of the motor and compensate for the displacement difference caused by inching.

[0074] Please see Figure 2 , Figure 2 This is a flowchart illustrating the compensation of theoretical displacement stroke by an electric stapler during a jogging process, as provided in an embodiment of the present invention. Figure 2 As shown, in one embodiment of the present invention, the step of compensating for the jogging process of the motor includes at least steps S210 to S230:

[0075] S210 identifies the jogging process of the electric stapler.

[0076] Specifically, the operating current of the motor is obtained. If the operating current of the motor changes from a positive number to zero, and changes from zero to a positive number within a preset start-up time threshold, then it is determined that the motor has a jogging process. The jogging process of the motor can also be identified by other methods of the electric stapler, such as: the position change of the switch, the running state of the cutting blade, etc., which are not limited here.

[0077] S220: The third operating current of the motor is continuously acquired based on the starting operation of the jogging process.

[0078] Specifically, when the motor stops and restarts, the third operating current of the motor is collected at fixed intervals. For example, if the motor stops after outputting 500 pulses, the third operating current of the motor is collected every 1 millisecond when it starts up again. When the motor returns to normal firing state, the third operating current of the full y (e.g., 50) points is collected.

[0079] S230. Determine the second stroke compensation amount based on multiple third working currents, and use the second stroke compensation amount to compensate for the theoretical displacement stroke.

[0080] In detail, the second stroke compensation amount is determined based on multiple third operating currents, and the theoretical displacement stroke is compensated using the second stroke compensation amount. This includes: calculating the average value of multiple third operating currents based on the duration of the start-up operation to obtain the average value of the jogging current; determining the second stroke compensation amount based on the average value of the jogging current and the current threshold; and adjusting the theoretical displacement stroke in the opposite direction using the second stroke compensation amount to correct the theoretical displacement stroke.

[0081] Specifically, if the motor start-up operation lasts for 50ms, the motor's third operating current is collected every millisecond, resulting in 50 motor third operating currents. The third operating currents of the y points are summed, and the average value is calculated to obtain the average inching current. The expression for calculating the average inching current is as follows:

[0082]

[0083] Among them, I click I31, I32, ..., I3y represent the average value of the jogging current, while I31, I32, ..., I3y represent the third operating current from the first acquisition to the yth acquisition, and y represents the number of acquisition points for the third operating current.

[0084] Based on the average value of the jogging current I click The second stroke compensation amount is determined by the current threshold, and the expression for determining the second stroke compensation amount is as follows:

[0085]

[0086] Where L2 is the compensation amount for the second stroke, I clickLet I be the average value of the jogging current, a be the current threshold, and n be a rounding constant. It should be emphasized that, according to experimental tests, the average value of the jogging current I... click When the deviation is small below the current threshold, no compensation is needed. The current threshold 'a' is set, and 'n' is the coefficient of the stroke number corresponding to the current deviation value.

[0087] The theoretical displacement stroke of the motor is calculated by counting the number of pulses in the motor. The theoretical displacement stroke is then subtracted from the second stroke compensation amount to obtain the current theoretical displacement stroke of the cutting blade, thereby correcting the theoretical displacement stroke.

[0088] It's worth mentioning that electric staplers exhibit jogging behavior during firing, and each jogging action requires compensation for the cutter's stroke. For example, if the cutter jogs once at 500 pulses from the motor output, the theoretical displacement stroke of the electric stapler needs to be corrected. After this correction, the initial standard stroke of the electric stapler is also adjusted accordingly. This involves subtracting the pulse count related to the initial standard stroke from the pulse count related to the second stroke compensation to obtain the updated pulse count for the initial standard stroke. The cutter jogged at 59.6 mm, and after starting, the cutter compensated for the stroke of the electric stapler to ensure that the actual displacement stroke matches the theoretical displacement stroke during the subsequent endpoint identification process.

[0089] This invention proposes an intelligent control method, system, electronic device, and medium for an electric stapler. The method includes: determining the real-time displacement stroke of the electric stapler based on the pulse signal of the motor, and determining the displacement stroke by the number of output pulses of the motor, resulting in high real-time performance; during the firing process of the electric stapler, performing inching stroke compensation based on the inching stroke to correct the error between the actual stroke and the theoretical stroke, ensuring the accuracy and consistency of each firing; when the real-time displacement stroke reaches the tissue compression position threshold, acquiring multiple operating currents of the motor, determining a first stroke compensation amount based on the operating current, and compensating for the stroke of the electric stapler during the cutting of thick tissue to achieve tissue deviation stroke compensation for the electric stapler stroke; after the real-time displacement stroke reaches the target standard stroke, acquiring the operating current of the motor, extracting the slope data of the operating current within multiple preset time windows, and determining the end position of the electric stapler based on the slope data and preset slope change conditions. This control method not only corrects the stroke error during the firing process of the electric stapler, but also eliminates the need for mechanical limit switches when identifying the endpoint position. This simplifies the mechanical design and enhances stability, enabling timely determination of the endpoint position. It can basically complete the endpoint position identification and control the motor to stop within 30 milliseconds of the cutting blade contacting the endpoint metal rod, protecting the cut tissue and the cutting blade, and increasing the safety of the anastomosis.

[0090] Please see Figure 3 This is a block diagram illustrating an intelligent control system for an electric stapler, as shown in an exemplary embodiment of the present invention. Figure 3 As shown, the exemplary intelligent control system of the electric stapler includes: a stroke acquisition module 310, a tissue compression compensation module 320, and an endpoint determination module 330.

[0091] Embodiments of the present invention also provide an intelligent control system for an electric stapler, the system comprising:

[0092] The stroke acquisition module 310 is used to acquire the real-time displacement stroke of the electric stapler.

[0093] The tissue compression compensation module 320 is used to continuously monitor the first operating current of the motor in the electric stapler until the real-time displacement stroke reaches the tissue compression position threshold when the real-time displacement stroke reaches the initial standard stroke. It determines the first stroke compensation amount based on multiple first operating currents and compensates the theoretical displacement stroke of the motor through the first stroke compensation amount to determine the target standard stroke.

[0094] The endpoint determination module 330 is used to continuously acquire the second operating current of the motor when the real-time displacement stroke reaches the target standard stroke, extract the slope data of the second operating current within multiple preset time windows, and determine the endpoint position of the electric stapler based on the slope data and preset slope change conditions.

[0095] It should be noted that the intelligent control system for electric staplers provided in the above embodiments and the intelligent control method for electric staplers provided in the above embodiments belong to the same concept. The specific way of performing each step has been described in detail in the system embodiments, and will not be repeated here.

[0096] Embodiments of the present invention also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device enables the intelligent control method for the electric stapler provided in the above embodiments.

[0097] Please see Figure 4 A schematic diagram of a computer system suitable for implementing embodiments of the present invention is shown. It should be noted that... Figure 4 The computer system 400 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0098] like Figure 4As shown, the computer system 400 includes a Central Processing Unit (CPU) 401, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 402 or programs loaded from storage portion 408 into Random Access Memory (RAM) 403. The RAM 403 also stores various programs and data required for system operation. The CPU 401, ROM 402, and RAM 403 are interconnected via a bus 404. An Input / Output (I / O) interface 405 is also connected to the bus 404.

[0099] The following components are connected to I / O interface 405: an input section 406 including a keyboard, mouse, etc.; an output section 407 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to I / O interface 405 as needed. A removable medium 411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 410 as needed so that computer programs read from it can be installed into storage section 408 as needed.

[0100] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 409, and / or installed from removable medium 411. When the computer program is executed by central processing unit (CPU) 401, it performs various functions defined in the system of the present invention.

[0101] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a computer processor, causes the computer to perform the aforementioned intelligent control method for an electric stapler. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0102] It should be noted that the computer-readable medium shown in the embodiments of the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0103] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0104] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. An intelligent control system for an electric stapler, characterized in that, include: The stroke acquisition module is used to acquire the real-time displacement stroke of the electric stapler; The tissue compression compensation module is used to continuously monitor the first operating current of the motor in the electric stapler until the real-time displacement stroke reaches the initial standard stroke when the real-time displacement stroke reaches the tissue compression position threshold. It determines the first stroke compensation amount based on multiple first operating currents and compensates the theoretical displacement stroke of the motor through the first stroke compensation amount to determine the target standard stroke. The endpoint determination module is used to continuously acquire the second operating current of the motor when the real-time displacement stroke reaches the target standard stroke, extract the slope data of the second operating current within multiple preset time windows, and determine the endpoint position of the electric stapler based on the slope data and preset slope change conditions. The system further includes a jog compensation module, which comprises a jog recognition unit, a jog acquisition unit, and a jog compensation unit. The jog recognition unit is used to identify the jog process of the electric stapler; The jog acquisition unit is used to continuously acquire the third operating current of the motor based on the start operation of the jog process; The jog compensation unit is used to determine the second stroke compensation amount based on the multiple third operating currents, and to compensate the theoretical displacement stroke using the second stroke compensation amount.

2. The intelligent control system for the electric stapler according to claim 1, characterized in that, The tissue compression compensation module includes a tissue current processing unit, a tissue compensation amount determination unit, and a tissue adjustment unit. The tissue current processing unit is used to calculate the average value of multiple first working currents as the average value of tissue compression current. The tissue compensation amount determination unit is used to substitute the average value of the tissue compression current into a preset nonlinear compensation formula to obtain the first stroke compensation amount, wherein the preset nonlinear compensation formula is used to characterize the compression mapping relationship between current and stroke. The organization adjustment unit is used to positively adjust the theoretical displacement stroke through the first stroke compensation amount.

3. The intelligent control system for the electric stapler according to claim 1, characterized in that, The jog compensation unit includes: a jog current processing subunit, a jog compensation amount determination subunit, and a jog adjustment subunit; The jogging current processing subunit is used to calculate the average value of multiple third operating currents based on the duration of the start-up operation, and obtain the average jogging current. The inching compensation amount determination subunit determines the second stroke compensation amount based on the average inching current and the current threshold value. The jog adjustment subunit adjusts the theoretical displacement stroke in the opposite direction by using the second stroke compensation amount to correct the theoretical displacement stroke.

4. The intelligent control system for the electric stapler according to claim 1, characterized in that, The slope data includes the current fitting slope, the rate of change of the current slope, the average value of the current fitting slope, and the average value of the maximum change of the slope. The endpoint determination module includes the slope determination unit, the rate of change of the slope determination unit, the average value of the slope determination unit, and the maximum value of the slope processing unit. The slope determination unit is used to obtain the second operating current corresponding to multiple preset time windows based on the sliding window method, and to perform linear fitting analysis on multiple second operating currents to obtain the current fitting slope. The slope change rate determination unit is used to calculate the current slope change rate based on adjacent current fitting slopes; The slope average value determination unit is used to determine the average value of the current fitting slope based on multiple current fitting slopes within a preset slope monitoring time. The slope maximum value processing unit is used to record the maximum slope value during the slope change process when the current fitting slope is less than the preset endpoint slope threshold and the current fitting slope has an increasing characteristic, and to calculate the average value of the maximum slope change based on the multiple maximum slope values.

5. The intelligent control system for the electric stapler according to claim 4, characterized in that, The preset slope change conditions include a first endpoint feature, a second endpoint feature, and a third endpoint feature. The endpoint determination module includes a first endpoint feature diagnosis unit, a second endpoint feature diagnosis unit, a third endpoint feature diagnosis unit, and an endpoint locking unit. The first endpoint feature diagnosis unit is used to determine that the slope data satisfies the first endpoint feature if the average value of two adjacent current fitting slopes shows an increasing characteristic and the duration exceeds a preset time interval threshold. The second endpoint feature diagnosis unit is used to determine that the slope data satisfies the second endpoint feature if the current fitting slope is greater than a preset maximum slope change threshold and the current fitting slope is greater than the preset endpoint slope threshold, the current slope change rate is positive and the current slope change rate is greater than the preset current slope change threshold. The preset maximum slope change threshold is determined based on the maximum slope value and the average value of the maximum slope change, and the preset current slope change threshold is determined based on the previous current slope change rate. The third endpoint feature diagnosis unit is used to determine that the slope data satisfies the third endpoint feature after the second endpoint feature is met for the first time, based on the current fitting slope and the real-time displacement stroke mark feature start information. If at least two or more of the slope data satisfy the second endpoint feature in a preset number of fitting attempts, and the current fitting slope is greater than the fitting slope in the feature start information, then the slope data satisfies the third endpoint feature. The endpoint locking unit is used to determine that the electric stapler has reached the endpoint position and control the motor to stop when the slope data meets the preset slope change condition.

6. The intelligent control system for the electric stapler according to claim 5, characterized in that, The endpoint determination module further includes an endpoint optimization unit, which is used to clear the feature start information if the slope data does not meet the third endpoint feature or the average value of the current fitting slope is less than the average value of the previous current fitting slope.

7. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the following intelligent control method for an electric stapler, the method comprising: Obtain the real-time displacement stroke of the electric stapler; When the real-time displacement stroke reaches the tissue compression position threshold, the first operating current of the motor in the electric stapler is continuously monitored until the real-time displacement stroke reaches the initial standard stroke. The first stroke compensation amount is determined based on multiple first operating currents, and the theoretical displacement stroke of the motor is compensated by the first stroke compensation amount to determine the target standard stroke. When the real-time displacement stroke reaches the target standard stroke, the second operating current of the motor is continuously acquired, the slope data of the second operating current in multiple preset time windows is extracted, and the electric stapler is determined to have reached the endpoint position based on the slope data and preset slope change conditions. The method further includes: Identify the jogging process of the electric stapler; The third operating current of the motor is continuously acquired based on the starting operation of the jogging process; The second stroke compensation amount is determined based on the multiple third operating currents, and the theoretical displacement stroke is compensated using the second stroke compensation amount.

8. The computer-readable storage medium according to claim 7, characterized in that, Determining a first stroke compensation amount based on multiple first operating currents, and compensating for the theoretical displacement stroke of the motor using the first stroke compensation amount, includes: The average value of multiple first operating currents is calculated as the average value of tissue compression current; Substituting the average value of the tissue compression current into a preset nonlinear compensation formula yields the first stroke compensation amount, wherein the preset nonlinear compensation formula is used to characterize the compression mapping relationship between current and stroke. The theoretical displacement stroke is positively adjusted by the first stroke compensation amount.

9. The computer-readable storage medium according to claim 7, characterized in that, Determining the second stroke compensation amount based on multiple third operating currents, and using the second stroke compensation amount to compensate for the theoretical displacement stroke, includes: Based on the duration of the startup operation, the average value of multiple third operating currents is calculated to obtain the average value of the jogging current; The second stroke compensation amount is determined based on the average value of the jogging current and the current threshold value. The theoretical displacement stroke is adjusted in the opposite direction by the second stroke compensation amount to correct the theoretical displacement stroke.

10. The computer-readable storage medium according to claim 7, characterized in that, The slope data includes the current fitting slope, the rate of change of the current slope, the average value of the current fitting slope, and the average value of the maximum change in slope. The slope data of the second operating current within multiple preset time windows is extracted, including: The sliding window method is used to obtain the second operating current corresponding to multiple preset time windows, and a linear fitting analysis is performed on the multiple second operating currents to obtain the current fitting slope. The rate of change of the current slope is calculated based on the adjacent current fitting slopes; The average value of the current fitting slope is determined based on multiple current fitting slopes within a preset slope monitoring time. When the current fitting slope is less than the preset endpoint slope threshold and the current fitting slope exhibits an increasing characteristic, the maximum slope value during the slope change process is recorded, and the average value of the maximum slope change is calculated based on the multiple maximum slope values.

11. The computer-readable storage medium according to claim 10, characterized in that, The preset slope change conditions include a first endpoint feature, a second endpoint feature, and a third endpoint feature. Determining the endpoint position of the electric stapler based on the slope data and the preset slope change conditions includes: If the average slope of two adjacent current fittings shows an increasing characteristic and the duration exceeds a preset time interval threshold, then the slope data is determined to satisfy the first endpoint feature. If the current fitting slope is greater than a preset maximum slope change threshold and the current fitting slope is greater than a preset endpoint slope threshold, and the current slope change rate is positive and the current slope change rate is greater than a preset current slope change threshold, then the slope data is determined to satisfy the second endpoint feature. The preset maximum slope change threshold is determined based on the maximum slope value and the average value of the maximum slope change, and the preset current slope change threshold is determined based on the previous current slope change rate. After the second endpoint feature is met for the first time, based on the current fitting slope and the real-time displacement stroke marker feature start information, if at least two or more of the slope data meet the second endpoint feature in the preset number of fittings, and the current fitting slope is greater than the fitting slope in the feature start information, then it is determined that the slope data meets the third endpoint feature. When the slope data meets the preset slope change condition, the electric stapler is determined to have reached the endpoint position and the motor is controlled to stop.

12. The computer-readable storage medium according to claim 11, characterized in that, After the second endpoint feature is satisfied for the first time, the following is also included: If the slope data does not meet the third endpoint feature or the average current fitting slope is less than the average current fitting slope of the previous time, then the feature start information is cleared.

13. An electronic device, characterized in that, The electronic device includes: One or more processors; The computer-readable storage medium as described in any one of claims 7 to 12; The processor is used to execute a computer program stored in the computer-readable storage medium.

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