Electric anastomat

Abstract

The present disclosure relates to a motorized stapler including an end effector, a first actuation mechanism, a sensor, and a controller. The first actuating mechanism comprises a first moving part, the first moving part is driven to move in the far and near direction so as to enable the end effector to execute the joint action, and the first moving part comprises a sensed part. The sensor is used for sensing the position of the sensed part in the far and near direction. And the controller is electrically connected with the sensor and is configured to determine the swinging angle of the joint action according to the sensed position of the sensed part in the far and near direction. According to the characteristic value output by the sensor and the corresponding relation between the head swinging angle and the position of the sensed part, the controller can accurately determine the head swinging angle of the end effector.

Description

Technical Field

[0001] This disclosure relates to the field of medical devices, and in particular, to an electric stapler. Background Technology

[0002] Electrification is the future trend of electric staplers. Compared with manual staplers, electric staplers have many advantages, such as less traction on tissues during operation, less firing jitter, and higher anastomosis quality. Some electric staplers have end effectors that can be driven to perform joint movements to adapt to different surgical scenarios.

[0003] When performing a joint motion, the angle of the end effector relative to the axis (i.e., the swivel angle) changes. Accurately determining the swivel angle of the end effector is beneficial. For example, if the drive source experiences a power outage and subsequent restoration during a joint motion, the controller will be unable to determine the current swivel angle, potentially requiring operator intervention to manually adjust the end effector to its initial position.

[0004] However, traditional electric staplers have the problem of difficulty in accurately determining the swing angle of the end effector. Summary of the Invention

[0005] In view of this, the present disclosure provides an electric stapler to solve the problem of difficulty in accurately knowing the swing angle of the end effector.

[0006] The electric stapler disclosed herein includes an end effector, a first actuation mechanism, a sensor, and a controller. The first actuation mechanism includes a first moving member driven to move in a proximal direction to cause the end effector to perform joint movements. The first moving member includes a sensed portion. The sensor is used to sense the position of the sensed portion in the proximal direction. The controller is electrically connected to the sensor and configured to determine the head angle of the joint movement based on the sensed position of the sensed portion in the proximal direction.

[0007] When the first moving member moves along the near-far direction, the end effector performs a joint action, and its tilt angle changes. Therefore, there is a correspondence between the tilt angle of the end effector and the position of the first moving member in the near-far direction, that is, the position of the sensed part in the near-far direction. The sensor outputs different feature values ​​depending on the position of the sensed part in the near-far direction. Based on the feature values ​​output by the sensor and the correspondence between the tilt angle and the position of the sensed part, the controller can determine the tilt angle of the end effector relatively accurately.

[0008] In one possible implementation, the first moving member includes a main body having an elongated structure extending in a proximal direction, and the sensed part having a protruding structure protruding from one side of the main body.

[0009] According to this structure, the presence of the sensing part will not increase the structural complexity of the first moving part excessively, nor will it have a significant impact on the overall structure of the first moving part, so the role of the first moving part in transmitting power in the actuation mechanism will not be affected.

[0010] In one possible implementation, the sensed portion includes an extension and a bend. One end of the extension is connected to the main body and the other end is connected to the bend, which bends toward one side of the extension.

[0011] The sensing part protrudes from one side of the main body and is away from the main body. Accordingly, the sensor can be set in the space formed by the extension and the bending part, which makes the structure of the electric stapler more compact and improves the space utilization of the electric stapler.

[0012] In one possible implementation, the electric stapler further includes a second actuation mechanism comprising an actuating element. The actuating element has an elongated structure extending in a proximal-distal direction, and movement of the actuating element in the proximal-distal direction causes the end effector to perform closure and / or firing. The actuating element is located in the space formed by the body and the sensor.

[0013] Based on this design, the electric stapler will be more compact and have a higher space utilization rate.

[0014] In one possible implementation, the sensor is a slide wire rheostat. The slide wire rheostat includes a slider, the movement of which in the proximal direction changes the resistance of the slide wire rheostat. The slider is connected to a first moving element to move together in the proximal direction.

[0015] The first moving component moves along the near-far direction, which drives the sliding component to move, causing a change in the resistance value of the slide wire rheostat. This establishes a correspondence between the position of the first moving component and the resistance value of the slide wire rheostat. Therefore, the position of the first moving component in the near-far direction, i.e., the swing angle of the end effector, can be obtained through the resistance value of the slide wire rheostat.

[0016] In one possible implementation, the sensor is a photoelectric sensor. The photoelectric sensor forms a sensing grating during operation. During the movement of the first moving member in the proximal direction between a distal position and a proximal position, at least a portion of the sensed part is covered by the sensing grating.

[0017] As the first moving member moves along the near-far direction, the position of the sensing grating blocked by the sensing unit changes. This alters the light signal received by the photoelectric sensor, thus establishing a correspondence between the position and value of the first moving member and the light signal received by the photoelectric sensor. In this way, the position of the first moving member, and consequently the oscillation angle of the end effector, can be obtained from the light signal received by the photoelectric sensor.

[0018] In one possible implementation, the first actuation mechanism is switchable between an engaged state and a disengaged state. The first actuation mechanism includes a first transmission section and a second transmission section. The second transmission section is located upstream of the first transmission section along the power transmission path. The first transmission section includes a first moving member. In the engaged state, power from a power source can be transmitted along the power transmission path from the second transmission section to the first transmission section to drive the first moving member to move in a proximal direction. In the disengaged state, the power transmission path is broken to release the restriction of the first transmission section on the movement of the second transmission section.

[0019] During the joint movement of the end effector, malfunctions may occur. If the first and second transmission units remain engaged, the second transmission unit will restrict the movement of the first transmission unit in the proximal-distal direction, preventing the end effector from returning to its initial position. In this case, switching to the disconnected state can break the power transmission path, allowing the first transmission unit to operate independently of the second transmission unit. After switching to the disconnected state, the first transmission unit will no longer be restricted by the second transmission unit and can move in the proximal-distal direction, thus allowing the end effector to return to its initial position and enabling the electric stapler to be smoothly withdrawn from the body.

[0020] Since the first moving member is part of the first transmission unit, the correspondence between the position of the sensed part in the near and far directions and the swing angle of the end effector will still exist even when disconnected. Thus, even when disconnected, the controller can determine the swing angle of the end effector relatively accurately based on the characteristic value of the position of the sensed part in the near and far directions as reflected by the sensor output.

[0021] In one possible implementation, the second transmission unit includes a second moving member, and the first actuation mechanism further includes a coupling member. In the engaged state, the first and second moving members are drivenly engaged through the coupling member, causing the first and second moving members to move together in a proximal-rear direction. In the disengaged state, the drive engagement between the first and second moving members is disengaged, allowing the first moving member to move independently of the second moving member in the proximal-rear direction.

[0022] Through the cooperation of the first moving member, the second moving member, and the engaging member, the first actuation mechanism can switch between the engaged state and the disengaged state.

[0023] In one possible implementation, the first actuation mechanism includes a first transmission section and a third transmission section. The third transmission section is located downstream of the first transmission section along the power transmission path. The third transmission section is pivotable relative to the first transmission section about a longitudinal axis parallel to the proximal direction. The first transmission section includes a first moving member.

[0024] According to the above implementation, when the third transmission unit rotates around the longitudinal axis, the first moving member located in the first transmission unit will not rotate, and consequently the sensed unit will not rotate, thereby preventing the sensed unit from disengaging from its position in conjunction with the sensor when the third transmission unit rotates around the longitudinal axis.

[0025] In one possible implementation, the third transmission unit includes a third moving member, which engages with the first moving member such that they can move together in a near-far direction and the third moving member can pivot relative to the first moving member about a longitudinal axis.

[0026] Through the cooperation of the first moving part and the third moving part, the third transmission part can transmit power together with the first transmission part, and can also pivot relative to the first transmission part about a longitudinal axis parallel to the near and far directions. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly described below.

[0028] It should be understood that the following figures only illustrate certain embodiments of this disclosure and should not be construed as limiting the scope.

[0029] It should also be understood that the same or similar reference numerals are used in the accompanying drawings to denote the same or similar elements.

[0030] It should also be understood that the accompanying drawings are only schematic, and the dimensions and scales of the elements in the drawings are not necessarily precise.

[0031] Figure 1 This is a schematic diagram of the structure of an electric stapler according to an embodiment of the present disclosure.

[0032] Figure 2 yes Figure 1 A schematic diagram of the end effector of the electric stapler.

[0033] Figure 3 yes Figure 1 An exploded schematic diagram of the first actuation mechanism, sensor, and controller of the electric anastomosis device.

[0034] Figure 4 yes Figure 1 A schematic diagram of the structure of the first actuation mechanism and a part of the second actuation mechanism.

[0035] Figure 5 yes Figure 1 An exploded view of the second actuation mechanism of the electric stapler.

[0036] Figure 6 and Figure 7 yes Figure 1A schematic diagram of the first actuation mechanism of the electric stapler.

[0037] Figure 8 yes Figure 6 A schematic diagram of the connection between the first and third moving parts.

[0038] Figure 9 This is a schematic diagram of a portion of an electric stapler provided according to a variation of this disclosure.

[0039] Explanation of reference numerals in the attached figures:

[0040] 100-Electric stapler;

[0041] 10-Instrument platform; 11-Slender body;

[0042] 20 - End effector; 21 - Clamp; 22 - Clamp; 232 - Fixing part;

[0043] 30-First actuation mechanism; 31-First moving member; 311-Sensed part; 312-Main body; 312a-Side side of main body 312; 313-Extension; 314-Bending part; 315-Notch; 315-Proximal end of moving member 31; 316-Distal end of first moving member; 32-Second moving member; 33-Connecting member; 331-Connecting part; 332-First opening; 333-Second opening; 334-Connecting arm; 34-Third moving member; 341-Rotary connecting part; 3411-Opening; 3412-Hole wall; 35-Power source;

[0044] 40-Sensor, 40-Slide wire rheostat, 40-Photoelectric sensor; 41-Slider;

[0045] 50-Controller;

[0046] 60-Second actuation mechanism; 61-Actuating element; 61-Rack; 62-Drive source; 63-Gear. Detailed Implementation

[0047] The embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that there are many ways to implement this disclosure, and it should not be construed as being limited to the embodiments set forth herein. The embodiments set forth herein are only for a more thorough and clear understanding of this disclosure.

[0048] This disclosure provides an electric stapler 100. (Reference) Figure 1 The electric stapler 100 may include an instrument platform 10 and an end effector 20. By way of example only, the instrument platform 10 may include an elongated body 11 extending in a proximal direction, the proximal end of which may be connected to the body portion of the instrument platform 10, and the distal end of which may be connected to the end effector 20.

[0049] It should be noted that, in this text, the term "proximal" can be used to generally indicate the end, side, or part of an element (device, mechanism, component, or portion) closer to the physician; the term "far" can be used to generally indicate the end, side, or part of an element farther from the physician. For ease of understanding, in the accompanying drawings, arrow X+ can be used to indicate the distal side in the far-proximal direction, and arrow X- can be used to indicate the proximal side in the far-proximal direction.

[0050] By way of example only, the end effector 20 may include a pair of clamps 21, 22. During surgery, the pair of clamps 21, 22 can be driven to close to hold tissue between them. After the pair of clamps 21, 22 are properly closed, the end effector 20 can be fired. During firing, clamp 21 acts as an anvil, and the staples stored in clamp 22 are ejected and shaped under the guidance of the anvil, thereby achieving suturing of the tissue. In some examples, the end effector 20 also has a blade to cut the tissue during firing.

[0051] It should be noted that the end effector 20 can be constructed in the same way as previous end effectors, and for the sake of brevity, this article will not go into detail.

[0052] To adapt to different application scenarios, the end effector 20 can be driven to perform joint movements. Joint movements can also be called head-swinging movements. When the end effector 20 performs joint movements, such as... Figure 2 As shown, the angle between the end effector 20 and the longitudinal axis S changes; this angle can be called the swivel angle. For ease of understanding, in... Figure 2 In the diagram, dashed lines indicate the different positions of the end effector 20 during joint movements. Here, the longitudinal axis S refers to an axis extending in the proximal-rear direction. For example, the longitudinal axis S can be defined by an elongated body 11.

[0053] refer to Figure 3 To drive the end effector 20 to perform joint movements, the instrument platform 10 may include a first actuation mechanism 30. The first actuation mechanism 30 may include a first moving member 31. The first moving member 31 moves along a proximal direction to cause the end effector 20 to perform joint movements.

[0054] It should be noted that in conventional electric staplers, the actuation mechanism also drives one or more moving parts to move along the proximal-distal direction, thereby causing the end effector to perform joint movements. Therefore, for how the movement of the first moving part 31 along the proximal-distal direction causes the end effector 20 to perform joint movements, please refer to the prior art, and this will not be elaborated upon here.

[0055] Continue to refer to Figure 3The instrument platform 10 may also include a sensor 40 and a controller 50, and the first moving member 31 may include a sensed part 311. The sensor 40 may be used to sense the position of the sensed part 311 in the proximal direction. The controller 50 may be electrically connected to the sensor 40 and configured to determine the yaw angle of the joint movement of the end effector 20 based on the sensed position of the sensed part 311 in the proximal direction.

[0056] When the first moving member 31 moves in the near-far direction, the end effector 20 performs a joint action, and its tilt angle changes. Therefore, there is a correspondence between the tilt angle of the end effector 20 and the position of the first moving member 31 in the near-far direction, that is, the position of the sensed part 311 in the near-far direction. The sensor 40 outputs different feature values ​​according to the position of the sensed part 311 in the near-far direction. Based on the feature values ​​output by the sensor 40 and the correspondence between the tilt angle and the position of the sensed part 311, the controller 50 can determine the tilt angle of the end effector 20 relatively accurately.

[0057] refer to Figure 3 and Figure 4 The first moving member 31 may further include a main body 312, which may have an elongated structure extending in a proximal direction. The sensed part 311 has a protruding structure protruding from one side 312a of the main body 312. The protruding structure can protrude in any direction. As an example, the protruding structure can protrude from one side 312a of the main body 312 in a first direction, which is perpendicular to the proximal direction. According to this configuration, the presence of the sensed part 311 will not excessively increase the structural complexity of the first moving member 31, nor will it have a significant impact on the overall structure of the first moving member 31, so that the power transmission function of the first moving member 31 in the first actuation mechanism 30 will not be affected.

[0058] Continue to refer to Figure 3 and Figure 4 The sensed portion 311 may include an extension portion 313 and a bending portion 314. One end of the extension portion 313 is connected to the main body portion 312 and the other end is connected to the bending portion 314, which bends towards one side of the extension portion 313. As an example, the extension portion 313 extends from the side 312a of the main body portion 312 along a first direction, and the bending portion 314 bends from the end of the extension portion 313 away from the main body portion 312 in the first direction towards one side in a second direction. The second direction is perpendicular to both the first direction and the proximal direction. In this implementation, the sensed portion 311 extends from the main body portion 312 in the first direction and away from the main body portion 312 in the second direction. Accordingly, the sensor 40 can be disposed in the space formed by the extension portion 313 and the bending portion 314, which enables the electric stapler 100 to have a more compact structure and thus improves the space utilization of the electric stapler 100.

[0059] It should be noted that in this paper, the first direction, the second direction, and the near and far directions are three mutually orthogonal directions. For ease of understanding, in the accompanying drawings, arrows Z+ and Z- can be used to indicate opposite sides of the first direction, and arrows Y+ and Y- can be used to indicate opposite sides of the second direction.

[0060] refer to Figure 4 and Figure 5 The electric stapler 100 may further include a second actuation mechanism 60. The second actuation mechanism 60 may include an actuating element 61. The actuating element 61 may have an elongated structure extending in the proximal-distal direction. Movement of the actuating element 61 in the proximal-distal direction can cause the end effector 20 to close and / or fire. Figure 4 As shown, the actuator 61 is opposite to the main body 312 in the second direction and opposite to the sensor 40 in the first direction. Since the actuator 61 is opposite to the main body 312 in the second direction and opposite to the sensor 40 in the first direction, this means that the actuator 61 is located in the space formed by the main body 312 and the sensor 40. According to this configuration, the electric stapler 100 will have a more compact structure and higher space utilization.

[0061] It should be noted that in conventional electric staplers, the actuation mechanism also causes the end effector to close and / or fire by driving one or more actuators to move along the proximal direction. Therefore, for how the movement of actuator 61 along the proximal direction causes the end effector 20 to close and / or fire, please refer to the prior art, and this will not be elaborated upon here.

[0062] Continue to refer to Figure 4 and Figure 5 As a non-limiting implementation, the actuator 61 can be a rack 61, and the second actuation mechanism 60 can also include a drive source 62 and a gear 63, with the gear 63 meshing with the rack 61. For example, the drive source 62 can be an electric motor. When the gear 63 is driven by the drive source 62 to rotate in one direction, the rack 61 moves to the distal side; when the gear 63 is driven to rotate in another direction, the rack 61 moves to the proximal side.

[0063] It is understood that the second actuation mechanism 60 is not limited to the above-described configuration. For example, in some foreseeable examples, the drive source 62 may be a linear electric motor, the actuator 61 may be a linkage, and the drive source 62 may directly push the actuator 61 to move in the near-far direction.

[0064] There are many ways to implement the sensor 40, and this disclosure does not impose any particular restrictions on it.

[0065] As an example, continue to refer to Figure 3 and Figure 4The sensor 40 can be a slide wire rheostat 40. The slide wire rheostat 40 includes a slider 41, and the movement of the slider 41 in the proximal direction changes the resistance of the slide wire rheostat 40. The first moving member 31 moves in the proximal direction, which can drive the slider 41 to move, causing the resistance value of the slide wire rheostat 40 to change, thereby establishing a correspondence between the position of the first moving member 31 and the resistance value of the slide wire rheostat 40. In this way, the position of the first moving member 31 in the proximal direction can be obtained through the resistance value of the slide wire rheostat 40, that is, the swing angle of the end effector 20 can be obtained.

[0066] There are many ways in which the slider 41 can be connected to the first movable member 31, and this disclosure does not impose any particular limitation on this. As an example, please refer to [reference needed]. Figure 3 and Figure 4 The bent portion 314 on the first moving member 31 has a notch 315 opening toward the sliding member 41 in the second direction. The sliding member 41 can be placed in the notch 315. This construction has the advantage of easy assembly. Of course, it is conceivable that in other examples, the sliding member 41 can also be connected to the first moving member 31 by means of bonding, welding, etc., and this disclosure does not impose any particular limitation on this.

[0067] Continue to refer to Figure 3 and Figure 4 The first actuation mechanism 30 may include a power source 35. For example, the power source 35 may be an electric motor. When the power source 35 is running, power is transmitted along a power transmission path consisting of multiple components, including the first moving member 31, and finally reaches the end effector 20, driving it to perform joint movements. It is understood that on this power transmission path, the side closer to the power source 35 is the upstream side, and the side closer to the end effector 20 is the downstream side.

[0068] The first actuation mechanism 30 may include a first transmission section and a second transmission section, the second transmission section being located upstream of the first transmission section along the power transmission path. The first transmission section may include a first moving member 31. In the engaged state, power from the power source 35 can be transmitted along the power transmission path from the second transmission section to the first transmission section to drive the first moving member 31 to move in a proximal direction. In the disengaged state, the power transmission path is disconnected to release the restriction of the first transmission section on the movement of the second transmission section.

[0069] During the joint movement of the end effector 20, a malfunction may occur. If the first transmission part and the second transmission part remain engaged, the second transmission part will restrict the movement of the first transmission part in the proximal and distal directions, making it impossible for the end effector 20 to return to the initial position (i.e., the position where the head angle is 0).

[0070] In this situation, the power transmission path can be switched to the disconnected state, thus breaking the power transmission path and making the first transmission unit independent of the second transmission unit. After switching to the disconnected state, the first transmission unit will no longer be restricted by the second transmission unit, and the first transmission unit can move in the proximal and distal directions, thereby allowing the end effector to return to its initial position, and thus allowing the electric stapler 100 to be smoothly withdrawn from the body.

[0071] According to the electric stapler provided in this disclosure, since the first moving member 31 is a first transmission unit, the correspondence between the position of the sensed part 311 in the proximal direction and the swing angle of the end effector 20 will still exist even in the disconnected state. Thus, even in the disconnected state, the controller 50 can determine the swing angle of the end effector 20 more accurately based on the characteristic value of the position of the sensed part 311 in the proximal direction output by the sensor 40.

[0072] refer to Figure 3 , Figure 4 , Figure 6 and Figure 7 As a non-limiting implementation, the second transmission unit may include a second moving member 32, and the first actuation mechanism 30 may further include a connecting member 33. In the engaged state, the first moving member 31 and the second moving member 32 are drivenly engaged through the connecting member 33, causing the first moving member 31 and the second moving member 32 to move together in the proximal direction. In the disengaged state, the drive engagement between the first moving member 31 and the second moving member 32 is disengaged, allowing the first moving member 31 to move independently of the second moving member 32 in the proximal direction. Thus, through the cooperation of the first moving member 31, the second moving member 32, and the connecting member 33, the first actuation mechanism 30 can switch between the engaged state and the disengaged state.

[0073] Continue to refer to Figure 6 By way of example only, the coupling 33 may include two coupling portions 331. Each coupling portion 331 has a first opening 332 along a proximal direction, and the coupling portion 331 is fitted onto the second movable member 32 through the first opening 332. The two coupling portions 331 have a second opening 333 along a second direction, and the coupling portions 331 can engage or disengage with the proximal end 315 of the movable member 31 through the second opening 333. The coupling 33 may also include a U-shaped connecting arm 334, the ends of which are respectively connected to the side of the two coupling portions 331 opposite to the first opening 332. It is understood that the coupling 33 may also be constructed in other forms, and this disclosure does not impose any particular limitation.

[0074] To adapt to different surgical scenarios, the end effector 20 needs to be able to rotate about the longitudinal axis S. To ensure the transmission path of the first actuation mechanism 30 remains effective when the longitudinal axis S of the end effector 20 rotates, the first actuation mechanism 30 may further include a third transmission unit, which may be located downstream of the first transmission unit along the power transmission path. The third transmission unit is capable of pivoting relative to the first transmission unit about the longitudinal axis S, which is parallel to the proximal-distal direction.

[0075] According to the above implementation, when the third transmission unit rotates around the longitudinal axis S, the first moving member 31 located in the first transmission unit will not rotate, and consequently the sensed part 311 will not rotate either. This prevents the sensed part 311 from disengaging from its position cooperating with the sensor 40 when the third transmission unit rotates around the longitudinal axis S.

[0076] Continue to refer to Figure 3 and Figure 8 As an exemplary implementation, the third transmission unit may include a third moving member 34, with the first moving member 31 engaging with the third moving member 34 so that both can move together in the near-far direction and the third moving member 34 can pivot relative to the first moving member 31 about the longitudinal axis S. In this way, through the cooperation of the first moving member 31 and the third moving member 34, the third transmission unit can both transmit power together with the first transmission unit and pivot relative to the first transmission unit about the longitudinal axis S, which is parallel to the near-far direction.

[0077] There are many ways in which the first moving part 31 and the third moving part 34 can cooperate, and this disclosure does not impose any particular limitation on this. As an example, please refer to [reference needed]. Figure 8 The third moving member 34 may include a rotatable connecting portion 341 and a fixing portion 232. The distal end 316 of the first moving member 31 is rotatably connected to the rotatable connecting portion 341. The rotatable connecting portion 341 may have an opening 3411, which is a circular or nearly circular hole. The rotatable connecting portion 341 may also include a hole wall 3412 surrounding the opening 3411. The distal end 316 of the first moving member 31 forms a hook-shaped portion that engages with the hole wall 3412, and the opening of the hook-shaped portion is larger than the wall thickness of the hole wall 3412, so that the hook-shaped portion is slidably connected to the hole wall 3412.

[0078] It should be understood that there are various ways to implement the electric stapler 100 disclosed herein, and it should not be construed as being limited to the embodiments described above. The following, in conjunction with... Figure 9 The following are illustrative examples of variations of this disclosure. It should be noted that the foregoing embodiments and the following variations share some common elements. In the following variations, these elements will use the same reference numerals as in the foregoing embodiments to omit repeated descriptions.

[0079] refer to Figure 9In this variation, the sensor 40 can be a photoelectric sensor 40, which forms a sensing grating during operation. During the movement of the first moving member 31 in the proximal direction between a distal position and a proximal position, at least a portion of the sensed portion 311 is covered by the sensing grating. For example, the photoelectric sensor 40 can be a through-beam or reflective photoelectric sensor.

[0080] Thus, as the first moving member 31 moves along the near-far direction, the position of the sensing grating blocked by the sensing unit 311 changes. This alters the light signal received by the photoelectric sensor 40, thereby establishing a correspondence between the position and value of the first moving member 31 and the light signal received by the photoelectric sensor 40. In this way, during the operation of the electric stapler 100, the position of the first moving member 31, and thus the position of the end effector 20, can be obtained through the light signal received by the photoelectric sensor 40.

[0081] It is understood that the above description of the electric stapler is merely exemplary, and the stapler provided in this disclosure is not limited to the above content. For example, in some embodiments, the first transmission part, the second transmission part, and the third transmission part of the first actuation mechanism may each include multiple moving parts. Furthermore, in some examples, the sensor may also be of other types.

[0082] It should be understood that the term "comprising" and its variations as used in this disclosure are open-ended, meaning "including but not limited to". The term "according to" means "at least in part according to". The term "one embodiment" means "a pair of embodiments"; the term "another embodiment" means "a pair of additional embodiments".

[0083] It should be understood that although terms such as “first” or “second” may be used in this disclosure to describe various elements (such as a first actuating mechanism and a second actuating mechanism), these elements are not defined by these terms, which are only used to distinguish one element from another.

[0084] The scope of protection of this disclosure is not limited to the above embodiments. Any variations or substitutions that can be conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. An electric stapler, characterized in that, include: End effector; The first actuator includes a first moving member, which is driven to move in a proximal direction such that the end effector performs a joint action, and the first moving member includes a sensing part. A sensor for sensing the position of the sensed part in the near-far direction; as well as A controller, electrically connected to the sensor, is configured to determine the head-swing angle of the joint movement based on the sensed position of the sensed part in the near-far direction.

2. The electric stapler according to claim 1, characterized in that, The first moving member includes a main body having an elongated structure extending along the proximal direction, and the sensed part having a protruding structure protruding from one side of the main body.

3. The electric stapler according to claim 2, characterized in that, The sensed portion includes an extension portion and a bending portion. One end of the extension portion is connected to the main body portion and the other end is connected to the bending portion. The bending portion bends toward one side of the extension portion.

4. The electric stapler according to claim 3, characterized in that, It also includes a second actuation mechanism, which includes an actuating element having an elongated structure extending along the proximal direction, the movement of the actuating element along the proximal direction causing the end effector to close and / or fire, the actuating element being located in the space formed by the body and the sensor.

5. The electric anastomosis device according to any one of claims 1 to 4, wherein the sensor is a slide wire rheostat, the slide wire rheostat includes a slider, the movement of the slider along the proximal direction changes the resistance of the slide wire rheostat, and the slider is connected to the first moving member to move together along the proximal direction.

6. The electric stapler according to any one of claims 1 to 4, wherein the sensor is a photoelectric sensor, and the photoelectric sensor forms a sensing grating during operation; During the movement of the first moving member along the proximal direction between the distal and proximal positions, at least a portion of the sensed portion is covered by the sensing grating.

7. The electric stapler according to any one of claims 1 to 4, characterized in that, The first actuation mechanism is switchable between an engaged state and a disengaged state. The first actuation mechanism includes a first transmission section and a second transmission section, the second transmission section being located upstream of the first transmission section along the power transmission path. The first transmission section includes the first moving member. In the engaged state, power from the power source can be transmitted from the second transmission part to the first transmission part along the power transmission path to drive the first moving member to move along the near-far direction; In the disconnected state, the power transmission path is disconnected to release the restriction on the movement of the second transmission unit by the first transmission unit.

8. The electric stapler according to claim 7, characterized in that, The second transmission part includes a second moving member, and the first actuation mechanism further includes a coupling member, wherein In the engagement state, the first moving member and the second moving member are engaged by the engagement member, such that the first moving member and the second moving member move together along the proximal-rear direction; In the disconnected state, the transmission engagement between the first moving member and the second moving member is disengaged, allowing the first moving member to move independently of the second moving member along the near-far direction.

9. The electric stapler according to any one of claims 1 to 4, characterized in that, The first actuation mechanism includes a first transmission part and a third transmission part. The third transmission part is located downstream of the first transmission part along the power transmission path. The third transmission part is pivotable relative to the first transmission part about a longitudinal axis parallel to the near-far direction. The first transmission part includes the first moving member.

10. The electric stapler according to claim 9, characterized in that, The third transmission unit includes a third moving member, which engages with the first moving member such that the two can move together along the near-far direction and the third moving member can pivot relative to the first moving member about the longitudinal axis.

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