A control method, system, device and medium for an intelligent stapler

Abstract

This invention discloses a control method, system, device, and medium for an intelligent stapler. The method includes installing a human tissue measuring device on the intelligent stapler to acquire voltage data and generate a staple cartridge recommendation. Then, a staple cartridge of the recommended specifications is installed on the intelligent stapler. The intelligent stapler adapts to corresponding preset operating parameters to perform anastomosis and cutting operations on the compressed human tissue. Simultaneously, real-time operating parameters are monitored during the anastomosis and cutting process. After the anastomosis and cutting are completed, the motor reverses to return the blade, removing the staple cartridge from the intelligent stapler, thus completing the operation. This control method, system, device, and medium for the intelligent stapler performs real-time pressure measurement on the human tissue to obtain a suitable staple cartridge specification recommendation for the current surgery. After the staple cartridge is installed on the intelligent stapler, the intelligent stapler can select the appropriate preset operating parameters to perform anastomosis and cutting operations on the human tissue, avoiding surgical risks caused by incorrect staple cartridge selection and improving surgical outcomes.

Description

Technical Field

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

[0002] Measuring the tissue stress characteristics of target tissues within a patient's body cavity during minimally invasive surgery has been a major challenge that has plagued clinical practice for decades. Because minimally invasive surgery involves creating tiny incision channels within the patient's body to insert minimally invasive instruments, and because the patient is under anesthesia and cannot provide the surgeon with the necessary tissue touch and compression feedback, selecting a stapler with an appropriate closure height is crucial when using staplers and staple cartridges to sever or anastomose target tissues. If the tissue is too thick and the selected stapler is too short, excessive pressure during anastomosis could lead to tissue necrosis or rupture, resulting in medical accidents.

[0003] However, there are currently no standard measuring instruments that can be inserted into the human body to measure tissue thickness, nor can direct stress measurement be performed. Therefore, in actual surgical procedures, the tissue thickness can generally only be judged and the staple cartridge selected based on the surgeon's experience. To a certain extent, the surgical outcome may be affected by the incorrect selection of the staple cartridge specification. Summary of the Invention

[0004] Purpose of the invention: To provide a control method, system, device and medium for an intelligent stapler. The intelligent stapler has preset operating parameters for staple cartridges of different specifications. During the actual operation, the human tissue is first measured by a human tissue measuring device to obtain the recommended staple cartridge selection result. The intelligent stapler can then install a staple cartridge of the appropriate specification and adapt to the corresponding preset operating parameters to realize the cutting and anastomosis operation of the intelligent stapler.

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0006] In a first aspect, a control method for an intelligent stapler is provided, the method comprising:

[0007] After the human tissue measurement device is installed on the smart stapler, the jaws are controlled to close to compress the human tissue to be tested and obtain measurement data of the sampling cycle. Based on the measurement data, recommended information on staple cartridge specifications is generated.

[0008] After the recommended specification staple cartridge replaces the human tissue measuring device and is installed on the smart stapler, it adapts to the corresponding preset operating parameters to perform anastomosis and cutting operations on the compressed human tissue, while simultaneously detecting the real-time operating parameters during the anastomosis and cutting process; wherein, the recommended specification staple cartridge is selected based on the staple cartridge specification recommendation information, and the smart stapler has several sets of preset operating parameters pre-stored, with different specifications of recommended specification staple cartridges corresponding to the corresponding preset operating parameters.

[0009] When the deviation between the real-time operating parameters and the preset operating parameters meets the preset tolerance range, the currently used recommended specification staple cartridge continues to perform the operation, and the real-time operating parameters are adaptively adjusted to the preset operating parameters until the matching cutting operation is completed.

[0010] In some possible embodiments, the step of squeezing the human tissue to be tested and acquiring measurement data for a sampling period includes:

[0011] Collect voltage data from several sampling cycles during the human tissue compression process, and convert the voltage data from several sampling cycles into G resistance values;

[0012] Based on G resistance values, each N consecutive resistance values ​​form a data group, and the average resistance value within each data group is calculated sequentially.

[0013] Based on several average resistance values, the fluctuation range between consecutive average resistance values ​​is calculated, and the relationship between the fluctuation range of the average resistance values ​​and the preset range stored in the human tissue measuring device is determined to obtain the final resistance value.

[0014] Where G is the total number of resistance values ​​obtained from the conversion, G≥100, and N is the number of resistance values ​​in each data group, N≥10.

[0015] In a further embodiment, the generation of recommended nail cartridge specifications includes:

[0016] Obtain the final resistance value, compare the final resistance value with the stable resistance value in the preset database, select the stable resistance value with the highest matching degree with the final resistance value, and output the recommended information of the Ding warehousing specification generated by the Ding warehousing specification corresponding to the stable resistance value.

[0017] The preset database stores several stable resistance values ​​that correspond one-to-one with different specifications of nail cartridges.

[0018] In a further embodiment, obtaining the final resistance value specifically includes:

[0019] If the fluctuation range of K consecutive average resistance values ​​is within the preset range, then the average resistance value with the smallest value among the K average resistance values ​​is taken as the final resistance value.

[0020] If there are no consecutive K resistance average values ​​whose fluctuation ranges are all within the preset range, then the resistance average value calculated from the latest data set will be used as the final resistance value.

[0021] Where 2≤K≤G / N.

[0022] In a further embodiment, both the preset operating parameters and the real-time operating parameters include at least the motor duty cycle and motor speed of the smart anastomosis device.

[0023] In a further embodiment, the human tissue measuring device includes a support body with a staple cartridge-like shape and several pressure sensors. The pressure sensors are disposed on the support body, and the support body is detachably connected to the smart stapler.

[0024] The pressure sensor is used to collect the voltage signal of the pressure during the human tissue squeezing process.

[0025] In a further embodiment, the resistance value is obtained based on the voltage signal of the pressure, as shown below:

[0026] ;

[0027] In the formula, This represents the i-th voltage data. ≤m, M is the number of pressure sensors, 0≤m<M, the voltage value of the pressure sensor is Then, the resistance value of the pressure sensor is obtained according to Ohm's law. , means as follows:

[0028] = ;

[0029] In the formula, It is a series resistor.

[0030] Secondly, a control system for an intelligent stapler is provided, employing the aforementioned control method for an intelligent stapler, wherein the control system includes:

[0031] The staple cartridge specification recommendation module is configured to control the jaws to close and compress the human tissue to be tested after the human tissue measurement device is installed on the smart stapler, and to obtain measurement data of the sampling cycle, and generate staple cartridge specification recommendation information based on the measurement data.

[0032] The parameter detection module is configured to, after the recommended specification staple cartridge replaces the human tissue measuring device and is installed on the smart stapler, adapt to the corresponding preset operating parameters to perform anastomosis and cutting operations on the compressed human tissue, and simultaneously detect the real-time operating parameters during the anastomosis and cutting process; wherein, the recommended specification staple cartridge is selected based on the staple cartridge specification recommendation information, and the smart stapler has several sets of preset operating parameters pre-stored, with different specification staple cartridges corresponding to the corresponding preset operating parameters;

[0033] The comparison control module is configured to maintain the currently used recommended specification staple cartridge and continue to perform the operation when the deviation between the real-time operation parameter and the preset operation parameter meets the preset tolerance range, and adaptively adjust the real-time operation parameter to the preset operation parameter until the matching cutting operation is completed.

[0034] Thirdly, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the control method for the smart anastomosis device.

[0035] Fourthly, a computer-readable storage medium is provided having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the control method for the smart stapler.

[0036] The beneficial effects of this invention are:

[0037] This invention provides a control method for an intelligent stapler. During actual surgery, a human tissue measuring device is installed on the jaws of the intelligent stapler. The jaws are controlled to close, compressing the human tissue to be tested and acquiring measurement data for the sampling period. This generates recommended staple cartridge specifications. The surgeon selects the corresponding specification of staple cartridge and installs it with the intelligent stapler according to the recommended specifications. The intelligent stapler can then adapt to the corresponding preset operating parameters to perform anastomosis and cutting operations on the compressed human tissue. Simultaneously, during the cutting process, the detected real-time operating parameters are adjusted to the preset operating parameters, and the current specification of the staple cartridge is maintained to continue the operation. This effectively improves the surgical outcome and, to a certain extent, avoids the surgical risks caused by incorrect staple cartridge selection. Attached Figure Description

[0038] Figure 1 This is a flowchart of the recommended parameter acquisition process of the present invention.

[0039] Figure 2 This is a schematic diagram of the cutting and anastomosis operation process of the present invention. Detailed Implementation

[0040] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0041] The present invention will be further described in detail below with reference to the accompanying drawings.

[0042] Example 1: This example discloses a control method for an intelligent stapler, the method comprising:

[0043] S1: After the human tissue measuring device is installed on the smart stapler, the jaws are controlled to close to compress the human tissue to be tested and obtain measurement data of the sampling cycle. Based on the measurement data, recommended information on staple cartridge specifications is generated.

[0044] The human tissue measuring device is installed on the execution jaws of the smart stapler, which has a built-in central controller.

[0045] Furthermore, refer to Figure 1 S1 also includes the following steps:

[0046] S1-1: The human tissue measuring device collects voltage data from several sampling cycles during the human tissue pressing process, and converts the voltage data from several sampling cycles into G resistance values.

[0047] The human tissue measuring device includes a support body with a staple cartridge-like shape and several pressure sensors. The pressure sensors are mounted on the support body, and the support body is detachably connected to the smart stapler.

[0048] The pressure sensor is used to collect voltage signals during the human tissue compression process and obtain the resistance value.

[0049] Furthermore, the pressure sensor is sensitive to changes in applied pressure; the greater the pressure, the lower the resistance value.

[0050] like Figure 2 As shown, the voltage data collected over several sampling periods are converted into G resistance values. The voltage data of the i-th pressure sensor is represented as follows:

[0051] ;

[0052] In the formula, This represents the i-th voltage data. ≤m, M is the number of pressure sensors, 0≤m<M, the voltage value of the pressure sensor is Then, the resistance value of the pressure sensor is obtained according to Ohm's law. , means as follows:

[0053] = ;

[0054] In the formula, It is a series resistor with a known resistance value, used to prevent short circuits. As the jaws of the smart anastomosis device close, the resistance value gradually decreases.

[0055] S1-2: Based on the G resistance values, each N consecutive resistance values ​​form a data group, and the average resistance value within each data group is calculated sequentially.

[0056] Where G is the total number of resistance values ​​obtained from the conversion, G≥100, and N is the number of resistance values ​​in each data group, N≥10.

[0057] Start searching for the minimum value R reached from the first resistance value. min And record the sequence number Q at this time. min .

[0058] From Q min Initially, set every 10 resistance values ​​as a data group to obtain the average resistance of n data groups, denoted as: R0, R1, R2…R n-1 .

[0059] If there are fewer than 10 data sets, the calculation will be based on the actual number of sets.

[0060] S1-3: Based on several average resistance values, calculate the fluctuation range between consecutive average resistance values, determine the relationship between the fluctuation range of the average resistance values ​​and the preset range stored in the human tissue measuring device, and obtain the final resistance value.

[0061] Specifically, if the fluctuation range of K consecutive average resistance values ​​is within the preset range, then the average resistance value with the smallest value among the K average resistance values ​​is taken as the final resistance value R. avg ;

[0062] If there are no consecutive K resistance average values ​​whose fluctuation ranges are all within the preset range, then the resistance average value R calculated from the latest data set will be used. n-1 As the final resistance value R avg ;

[0063] Where 2≤K≤G / N.

[0064] Optionally, K is 3, and the fluctuation range of the three consecutive average resistance values ​​is less than 300Ω. The average resistance value with the smallest value among the three average resistance values ​​is taken as the final resistance value R. avg.

[0065] S1-4: The human tissue measuring device sends the final resistance value to the central controller of the smart stapler, and the central controller calls the preset database containing several stable resistance values ​​corresponding to different sizes of staple cartridges, which are stored in its own storage module.

[0066] Specifically, different stable resistor values ​​in the preset database correspond to different colored nail bin specifications, motor duty cycles, and motor speeds, as shown in Table 1:

[0067] Table 1: Preset Database

[0068] <![CDATA[Stable resistance value R L (kΩ)]]> Staple cartridge specifications Motor duty cycle Motor speed (km) 3.07 black 85-100 200-350 2.2 green 75-85 300-450 1.85 gold 65-75 450-550 1.34 blue 60-70 550-700 1.21 White / Gray 50-60 700-800

[0069] S1-5: Compare the final resistance value with the stable resistance values ​​in the preset database, select the stable resistance value with the highest matching degree with the final resistance value, and output the stapler specification corresponding to the stable resistance value as the stapler specification recommendation information to the display module of the smart stapler.

[0070] S2: After the recommended specification staple cartridge replaces the human tissue measuring device and is installed on the smart stapler, it adapts to the corresponding preset operating parameters to perform anastomosis and cutting operations on the compressed human tissue, while simultaneously detecting the real-time operating parameters during the anastomosis and cutting process; wherein, the recommended specification staple cartridge is selected based on the staple cartridge specification recommendation information, and the smart stapler has several sets of preset operating parameters pre-stored, with different specifications of recommended specification staple cartridges corresponding to the corresponding preset operating parameters.

[0071] Specifically, after removing the human tissue measuring device from the smart stapler, a recommended staple cartridge is selected based on the recommended cartridge specifications, and then installed on the smart stapler. The smart stapler performs anastomosis and cutting operations on the compressed human tissue based on the installed recommended staple cartridge and the corresponding preset operating parameters.

[0072] The preset operating parameters and the real-time operating parameters include at least the motor duty cycle and motor speed of the smart stapler. Referring to Table 1, different specifications of staple cartridges correspond to different motor duty cycles and motor speeds.

[0073] S3: Based on the selected recommended staple cartridge, the smart stapler is adapted to perform anastomosis and cutting operations on the compressed human tissue according to the preset operating parameters, while simultaneously detecting the real-time operating parameters during the anastomosis and cutting process.

[0074] S3: When the deviation between the real-time operation parameter and the preset operation parameter meets the preset tolerance range, the currently used recommended specification staple cartridge continues to perform the operation, and the real-time operation parameter is adaptively adjusted to the preset operation parameter until the matching cutting operation is completed.

[0075] Specifically, the central controller calculates the deviation between the real-time operating parameters and the corresponding preset operating parameters, and compares the deviation with a preset tolerance range.

[0076] S4: After the anastomosis and cutting operation is completed, remove the recommended specification staple cartridge from the smart stapler.

[0077] like Figure 2 As shown, the trigger button of the smart stapler is activated. The smart stapler is set to adapt the PWM based on the selected recommended specification staple cartridge. The PWM is the motor duty cycle and motor speed. The motor is driven to perform the stapler cutting operation according to the calculated stroke. During the stapler cutting operation, the motor speed data is collected in real time. If the motor speed data is within the set range, the current operation device is maintained until the cutting is completed. If the motor speed data is not within the set range, the speed is adjusted to control it within the set range.

[0078] Furthermore, in actual operation, if the motor speed exceeds the preset range, since the selected staple cartridge size has been confirmed to meet the operational requirements by the human tissue measuring device, the possibility of an incorrect staple cartridge size selection is ruled out, and the cutting operation can continue. If the motor speed exceeds the set range during this process, it may be due to a sudden thinning of the tissue thickness, in which case the motor speed should be reduced; if the motor speed is less than the set range, it may be due to an increase in tissue thickness, in which case the motor speed should be increased to bring the speed back within the set range.

[0079] Example 2:

[0080] Based on Example 1, this example discloses a control system for an intelligent stapler, the control system comprising:

[0081] The staple cartridge specification recommendation module is configured to control the jaws to close and compress the human tissue to be tested after the human tissue measurement device is installed on the smart stapler, and to obtain measurement data of the sampling cycle, and generate staple cartridge specification recommendation information based on the measurement data.

[0082] The parameter detection module is configured to, after the recommended specification staple cartridge replaces the human tissue measuring device and is installed on the smart stapler, adapt to the corresponding preset operating parameters to perform anastomosis and cutting operations on the compressed human tissue, and simultaneously detect the real-time operating parameters during the anastomosis and cutting process; wherein, the recommended specification staple cartridge is selected based on the staple cartridge specification recommendation information, and the smart stapler has several sets of preset operating parameters pre-stored, with different specification staple cartridges corresponding to the corresponding preset operating parameters;

[0083] The comparison control module is configured to maintain the currently used recommended specification staple cartridge and continue to perform the operation when the deviation between the real-time operation parameter and the preset operation parameter meets the preset tolerance range, and adaptively adjust the real-time operation parameter to the preset operation parameter until the matching cutting operation is completed.

[0084] Example 3: Based on Example 1, this example discloses a computer device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the control method for the smart anastomosis device.

[0085] Example 4: Based on Example 1, this example discloses a computer-readable storage medium storing a computer program thereon, wherein the computer program, when executed by a processor, implements the steps of the control method for the smart stapler.

[0086] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0087] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and all such equivalent transformations fall within the protection scope of the present invention.

Claims

1. A control method for an intelligent stapler, characterized in that: The method includes: After the human tissue measurement device is installed on the smart stapler, the jaws are controlled to close to compress the human tissue to be tested and obtain measurement data of the sampling cycle. Based on the measurement data, recommended information on staple cartridge specifications is generated. After the recommended specification staple cartridge replaces the human tissue measuring device and is installed on the smart stapler, it adapts to the corresponding preset operating parameters to perform anastomosis and cutting operations on the compressed human tissue, while simultaneously detecting the real-time operating parameters during the anastomosis and cutting process; wherein, the recommended specification staple cartridge is selected based on the staple cartridge specification recommendation information, and the smart stapler has several sets of preset operating parameters pre-stored, with different specifications of recommended specification staple cartridges corresponding to the corresponding preset operating parameters. When the deviation between the real-time operating parameters and the preset operating parameters meets the preset tolerance range, the currently used recommended specification staple cartridge continues to perform the operation, and the real-time operating parameters are adaptively adjusted to the preset operating parameters until the matching cutting operation is completed.

2. The control method for an intelligent stapler according to claim 1, characterized in that: The measurement data obtained by squeezing and sampling the human tissue to be tested includes: Collect voltage data from several sampling cycles during the human tissue compression process, and convert the voltage data from several sampling cycles into G resistance values; Based on G resistance values, each N consecutive resistance values ​​form a data group, and the average resistance value within each data group is calculated sequentially. Based on several average resistance values, the fluctuation range between consecutive average resistance values ​​is calculated, and the relationship between the fluctuation range of the average resistance values ​​and the preset range stored in the human tissue measuring device is determined to obtain the final resistance value. Where G is the total number of resistance values ​​obtained from the conversion, G≥100, and N is the number of resistance values ​​in each data group, N≥10.

3. The control method for an intelligent stapler according to claim 2, characterized in that: The generated staple cartridge specification recommendation information includes: Obtain the final resistance value, compare the final resistance value with the stable resistance value in the preset database, select the stable resistance value with the highest matching degree with the final resistance value, and output the recommended information of the Ding warehousing specification generated by the Ding warehousing specification corresponding to the stable resistance value. The preset database stores several stable resistance values ​​that correspond one-to-one with different specifications of nail cartridges.

4. The control method for an intelligent stapler according to claim 2, characterized in that: The process of obtaining the final resistance value specifically includes: If the fluctuation range of K consecutive average resistance values ​​is within the preset range, then the average resistance value with the smallest value among the K average resistance values ​​is taken as the final resistance value. If there are no consecutive K resistance average values ​​whose fluctuation ranges are all within the preset range, then the resistance average value calculated from the latest data set will be used as the final resistance value. Where 2≤K≤G / N.

5. The control method for an intelligent stapler according to claim 1, characterized in that: Both the preset operating parameters and the real-time operating parameters include at least the motor duty cycle and motor speed of the smart anastomosis device.

6. The control method for an intelligent stapler according to claim 2, characterized in that: The human tissue measuring device includes a support body with a staple cartridge-like shape and several pressure sensors. The pressure sensors are mounted on the support body, and the support body is detachably connected to the smart stapler. The pressure sensor is used to collect the voltage signal of the pressure during the human tissue squeezing process.

7. The control method for an intelligent stapler according to claim 6, characterized in that: The resistance value is obtained based on the voltage signal of the pressure, as shown below: ； In the formula, This represents the i-th voltage data. ≤m, M is the number of pressure sensors, 0≤m<M, the voltage value of the pressure sensor is Then, the resistance value of the pressure sensor is obtained according to Ohm's law. , means as follows: = ； In the formula, It is a series resistor.

8. A control system for an intelligent stapler, characterized in that: The control method for an intelligent stapler according to any one of claims 1-7, wherein the control system comprises: The staple cartridge specification recommendation module is configured to control the jaws to close and compress the human tissue to be tested after the human tissue measurement device is installed on the smart stapler, and to obtain measurement data of the sampling cycle, and generate staple cartridge specification recommendation information based on the measurement data. The parameter detection module is configured to, after the recommended specification staple cartridge replaces the human tissue measuring device and is installed on the smart stapler, adapt to the corresponding preset operating parameters to perform anastomosis and cutting operations on the compressed human tissue, and simultaneously detect the real-time operating parameters during the anastomosis and cutting process; wherein, the recommended specification staple cartridge is selected based on the staple cartridge specification recommendation information, and the smart stapler has several sets of preset operating parameters pre-stored, with different specification staple cartridges corresponding to the corresponding preset operating parameters; The comparison control module is configured to maintain the currently used recommended specification staple cartridge and continue to perform the operation when the deviation between the real-time operation parameter and the preset operation parameter meets the preset tolerance range, and adaptively adjust the real-time operation parameter to the preset operation parameter until the matching cutting operation is completed.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1-7.

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