A profile feature-based motion detection system and surgical instrument

Abstract

The utility model relates to medical instrument technical field, concretely relates to a motion detection system and surgical instrument based on tooth profile feature, including control module, transmission assembly, with the transmission assembly connection's executive component, install in the transmission assembly side's reflection type photoelectric sensor, with the reflection type photoelectric sensor electricity connection's detection circuit, reflection type photoelectric sensor emits light to the tooth profile surface of transmission assembly, and will receive the light change conversion as periodic current change, and detection circuit detects current change and exports the periodic voltage signal of reflecting transmission piece motion state, control module is based on voltage signal obtains transmission assembly's motion state parameter, the utility model discloses the motion of transmission chain link gear / rack is converted into the electric signal according to time periodic change, obtains transmission piece time's motion parameter information, and the detection is more direct, and the reaction is more sensitive, and the detection error is smaller, reduces the misidentification situation, and the anti -interference ability of circuit scheme is stronger.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a motion detection system and surgical instrument based on tooth profile features. Background Technology

[0002] Surgery using laparoscopic staplers has advantages such as smaller incisions and faster postoperative recovery, while electric laparoscopic staplers have advantages such as ease of operation and high cutting efficiency. Therefore, their market share has been increasing in recent years.

[0003] Currently, the main method for detecting the blade position of mainstream electric laparoscopic staplers is through an incremental encoder at the tail of the motor combined with a microswitch for initial zero-position detection.

[0004] Incremental encoders are usually mounted directly on the motor shaft. The mechanical error of the backlash between the forward and reverse gears of the motor gearbox and the fit error between the gears in the machine will bring about the detection error of the incremental encoder. That is, the counting of the incremental encoder cannot completely and accurately reflect the travel position and speed of the cutting blade.

[0005] Furthermore, commonly used incremental encoders generally include Hall devices and magnetic poles. If there is a strong magnetic field in the storage or use environment, it can easily affect the normal operation of the Hall device or even damage the Hall device.

[0006] Since the motor shaft is a high-speed rotating component, reaching tens of thousands of revolutions per minute, the amount of encoder data measured per revolution multiplied by the accumulated time is enormous. When performing drive control, if data loss or abnormal data occurs, it is difficult for the system to perform data compensation or micro-control adjustment of the motor phase angle. The high-frequency acquired data actually has a lot of redundancy for detecting the position of the cutting blade, which in turn affects the computing power and reliability of the low-power, small-memory chip.

[0007] To address the problems in the existing technology, this utility model provides a motion detection system and surgical instrument based on tooth profile features. Utility Model Content

[0008] The purpose of this invention is to provide a motion detection system and surgical instruments based on tooth profile features to solve the technical problems of slow response, low reliability, and difficulty in meeting high-precision detection requirements in the existing technology for detecting and recognizing motion parameters of surgical instruments.

[0009] The technical solution of this utility model is: a motion detection system based on tooth profile features, comprising: A transmission assembly, comprising a transmission element having a periodic tooth profile and a drive mechanism for driving the transmission element to move. An actuator is connected to the transmission assembly and moves under the drive of the transmission assembly; A reflective photoelectric sensor is installed on the side of the tooth profile of the transmission component. The reflective photoelectric sensor emits light towards the tooth profile surface of the transmission component and simultaneously receives the light reflected by the tooth profile surface. The detection circuit is electrically connected to the reflective photoelectric sensor and converts the periodic current change of the reflective photoelectric sensor into a voltage signal. The control module is electrically connected to the transmission component, the actuator, the reflective photoelectric sensor, and the detection circuit, respectively; the control module acquires the motion state parameters of the transmission component and / or the actuator based on the voltage signal.

[0010] Preferably, the reflective photoelectric sensor includes an integrated light source and a photosensitive device, wherein the light source is incident on the tooth profile surface at a fixed angle; the fixed angle is the angle between the light ray from the light source and the normal direction of the tooth profile surface, and the angle ranges from 20° to 60°.

[0011] Preferably, the detection circuit includes a signal acquisition module, a signal amplification module, a filtering module, and a voltage conversion module connected in sequence. The voltage conversion module is used to convert the periodic current signal output by the photosensitive device into a periodic voltage signal.

[0012] Preferably, the control module includes: The timing unit is synchronously triggered to start timing when the voltage signal of the detection circuit reaches the preset trigger condition threshold 1. The counting pulse unit is synchronously triggered to count when the voltage signal of the detection circuit reaches the preset trigger condition pulse signal voltage threshold 2. The storage unit is used to store the condition threshold 1 for triggering the timing unit and the corresponding timing data, as well as the condition pulse signal voltage threshold 2 for triggering the technical pulse unit and the corresponding number of pulses. The data processing unit acquires motion state parameters based on tooth profile feature parameters, timing data obtained by the timing unit, and pulse count obtained by the counting pulse unit. The control unit, including the timing unit, counting pulse unit, storage unit, and data processing unit, is electrically connected to the control unit.

[0013] Preferably, the control module further includes a judgment unit and an alarm unit, which are electrically connected to the control unit.

[0014] Preferably, the reflective photoelectric sensor is provided in two sets, including a first reflective photoelectric sensor and a second reflective photoelectric sensor, which are spaced apart along the movement direction of the actuator.

[0015] Preferably, the tooth profile surface of the transmission component is provided with a reflective material coating.

[0016] A surgical instrument based on a motion detection system for tooth profile features, the surgical instrument comprising the aforementioned motion detection system based on tooth profile features; the actuating component is rigidly connected to the transmission assembly.

[0017] Preferably, the actuating component is configured as a cutting component rigidly connected to the transmission assembly, and the transmission assembly is configured as a meshing gear and rack structure and a motor for driving the gear and rack to move.

[0018] Preferably, the motion state parameters include one or more of motion speed, motion displacement, motion direction, and motion fault.

[0019] Compared with the prior art, the advantages of this utility model are: This invention provides a method for installing at least one reflective photoelectric sensor beside the transmission mechanism of a surgical instrument. The reflective photoelectric sensor detects changes in the intensity of reflected light caused by variations in the position of the light source as the tooth profile structure changes over a certain time period. These changes in light intensity are converted into periodic current and voltage variations. By detecting the electrical signals output by the reflective photoelectric sensor, motion parameters of the transmission component are obtained, which in turn provide feedback motion parameters of the actuating component. This method offers more direct detection, smaller detection errors, and stronger anti-interference capabilities for the circuit design.

[0020] This invention features two reflective photoelectric sensors positioned beside a surgical instrument transport mechanism. By collecting the phase relationship between the output signals of the two sensors, the direction of motion of the gear or rack, i.e., the direction of motion of the actuator, is determined. Under normal conditions, the phase difference between the output electrical signals of the two reflective photoelectric sensors is constant. If the phase difference changes and exceeds a threshold, it indicates that at least one reflective photoelectric sensor is malfunctioning and cannot output accurate results. The two reflective photoelectric sensors can mutually verify whether a fault has occurred and perform a self-test. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a structural block diagram of the motion detection system based on tooth profile features described in this utility model; Figure 2 This is a three-dimensional structural schematic diagram of the surgical instrument described in this utility model; Figure 3 A partial structural diagram showing two reflective photoelectric sensors synchronously installed beside a rack, as provided by this utility model; Figure 4A partial schematic diagram showing two reflective photoelectric sensors synchronously installed beside a gear, as provided by this utility model; Figure 5 A partial schematic diagram showing the two reflective photoelectric sensors provided by this utility model installed on the sides of the gear and rack, respectively; Figure 6 A schematic diagram showing the application of a reflective material coating to the tooth profile surface provided by this utility model; Figure 7 This is a schematic diagram illustrating the principle of the reflective photoelectric sensor for detecting tooth profiles according to this utility model. Figure 8 The present invention provides a voltage pulse-time signal diagram and a schematic diagram showing the relationship between the number of voltage pulses and the displacement of the transmission component / actuator. The components include: 1. Reflective photoelectric sensor; 2. Transmission assembly; 3. Actuation component; 4. Surgical instrument body; 5. Detection circuit; 6. Reflective material coating; 7. Control module; 21. Transmission components; 22. Drive mechanism; 71. Timing unit; 72. Storage unit; 73. Counting pulse unit; 74. Data processing unit; 75. Control unit; 76. Judgment unit; 77. Alarm unit; 101. First reflective photoelectric sensor; 102. Second reflective photoelectric sensor. Detailed Implementation

[0022] The present invention will be further described in detail below with reference to specific embodiments: like Figure 1 As shown, this utility model provides a motion detection system based on tooth profile features, including a detection circuit 5, a control module 7, a transmission assembly 2 connected to an execution component 3, and a reflective photoelectric sensor 1 installed beside the transmission assembly 2. The transmission assembly 2, the reflective photoelectric sensor 1, and the detection circuit 5 are all electrically connected to the control module 7.

[0023] The detection circuit 5 includes a signal acquisition module, a signal amplification module, a filtering module, and a voltage conversion module connected in sequence.

[0024] The reflective photoelectric sensor 1 includes a light source and a photosensitive device integrated into a single package. (See attached diagram.) Figure 7 As shown, a reflective photoelectric sensor 1 is installed next to the transmission component 2. The light source emits light at a fixed angle to the tooth profile surface of the transmission component 2, and the photosensitive device synchronously receives the light reflected by the tooth profile surface. The fixed angle is the angle between the light from the light source and the normal direction of the tooth profile surface, and the angle range is 20°-60°.

[0025] See attached document Figure 2As shown, the transmission assembly 2 has a transmission member 21 with periodic concave and convex tooth profiles and a drive mechanism 22 that drives the transmission member 21 to move.

[0026] See attached document Figure 6 As shown, the tooth profile surface of the transmission component 2 is provided with a reflective material coating 6 to enhance the reflected signal.

[0027] Because the tooth profiles are characterized by identical shapes and sequential arrangement, when the light source illuminates the root position of the tooth profile (where the illumination distance is the farthest and the reflection distance is the farthest), the involute tooth profile (where the illumination distance is moderate and the reflection distance is moderate), and the tooth tip position (where the illumination distance is the shortest and the reflection distance is also the shortest), the reflected light undergoes a periodic change as it travels from the tooth root to the tooth tip and back to the tooth root. The intensity of the reflected light received by the photosensitive device varies, resulting in different output currents.

[0028] The signal acquisition module of the detection circuit 5 is electrically connected to the photosensitive device. After the acquired current signal is amplified and filtered, the voltage conversion module converts the current change of the photosensitive device into a periodically changing voltage signal, thereby establishing a connection between the surface contour features of the transmission component 2 and the current signal detected by the reflective photoelectric sensor 1 / voltage output by the detection circuit 5.

[0029] Specifically, the control module 7 includes: a timing unit 71, a storage unit 72, a counting pulse unit 73, a data processing unit 74, and a control unit 75. The timing unit 71 and the counting pulse unit 73 are electrically connected to the storage unit 72; the timing unit 71, the counting pulse unit 73, the storage unit 72, the data processing unit 74, and the control unit 75 are electrically connected.

[0030] The timing unit 71 is triggered synchronously with the voltage signal of the detection circuit 5. When the voltage signal of the detection circuit 5 reaches the preset trigger condition threshold 1, the timing unit 71 is triggered synchronously to start timing.

[0031] When the voltage signal of detection circuit 5 first reaches the preset "start trigger condition voltage threshold 1", the timing is triggered synchronously and the corresponding time is recorded. , , , ... .

[0032] Optionally, in specific implementation, if the initial triggering conditions are met, the timing is triggered synchronously and recorded. , , , ... The specific moments correspond to the moments when the light source illuminates the tooth tip.

[0033] When the voltage signal of the detection circuit 5 reaches the preset trigger condition pulse signal voltage threshold 2, the synchronous trigger counting pulse unit 73 starts counting. The counts are recorded sequentially as 2, 3...M.

[0034] The voltage threshold 1 and the corresponding time for triggering the timing unit 71 The pulse signal voltage threshold 2 and the corresponding number of pulses M that trigger the counting pulse unit 73 are both stored in the storage unit 72.

[0035] Appendix Figure 8 (Left side diagram) An exemplary voltage pulse-time signal diagram is provided, which uses the portion of the voltage above a set value as the high bit and the portion below the set value as the low bit, thus visually indicating the number of teeth passed. Based on the number of voltage pulses, a schematic diagram of the functional relationship between the displacement of the transmission component 2 and the actuating component 3 within a certain stroke is obtained (see Appendix). Figure 8 (See diagram on the right).

[0036] The data processing unit 74 processes the data recorded by the timing unit 71 and the counting pulse unit 73, and calculates the motion parameters of the transmission component 21 by combining the tooth profile parameters of the transmission component 21. The motion parameters include the motion distance and motion speed of the actuator 3 and / or the transmission assembly 2.

[0037] The tooth pitch of the tooth profile is denoted as P. , where m is the modulus.

[0038] The speed of movement of the actuator 3 and / or the transmission assembly 2 The calculation formula is: ; n is a positive integer; =P; in, This represents the distance from the corresponding position in the previous cycle to the corresponding position in the current cycle. This represents the time required to travel from the corresponding position in the previous cycle to the corresponding position in the current cycle. The unit is mm or rad; The unit is s, and the unit of velocity V is mm / s or rad / s.

[0039] The motion displacement of the actuator 3 and / or the transmission assembly 2 for: ; in, This represents the distance from the corresponding position in the previous cycle to the corresponding position in the current cycle. The unit is mm or rad; the unit of motion displacement S is mm or rad.

[0040] Based on the motion parameters output by the data processing unit 74 and combined with the motor motion parameters, the control unit 75 controls and adjusts the motor speed to complete the monitoring and feedback of the motion status of the actuator 3.

[0041] The reflective photoelectric sensor 1 is provided in two sets, including a first reflective photoelectric sensor 101 and a second reflective photoelectric sensor 102; the first reflective photoelectric sensor 101 and the second reflective photoelectric sensor 102 are arranged at intervals along the movement direction of the transmission member 21.

[0042] In addition, the control module 7 also includes a judgment unit 76 and an alarm unit 77, which are electrically connected to the control unit 75. The judgment unit 76 determines the direction of movement and movement faults of the transmission assembly 2 based on the information stored in the storage unit 72. The alarm unit 77 includes one or more of an LED light, a buzzer, or a display screen. When the alarm unit 77 receives an output signal from the judgment unit 76, it can drive the LED light, buzzer, or display screen to emit an audible and visual signal to alert the operator.

[0043] The following specific embodiments provide a detailed description of the functions of the first reflective photoelectric sensor 101 and the second reflective photoelectric sensor 102.

[0044] Example 1:

[0045] The first reflective photoelectric sensor 101 and the second reflective photoelectric sensor 102 are spaced apart along the moving direction of the transmission member 21 and both correspond to the tooth profile region. The detection fields of the first reflective photoelectric sensor 101 and the second reflective photoelectric sensor 102 partially overlap. The detection signals output by the first reflective photoelectric sensor 101 and the second reflective photoelectric sensor 102 both exhibit periodic changes, and the phase difference between the two periodic signals is a fixed value.

[0046] The judgment unit 76 determines the movement direction of the execution component 3 and / or the transmission component 2 based on the effective pulse phase difference between the first reflective photoelectric sensor 101 and the second reflective photoelectric sensor 102.

[0047] The effective pulse signal triggered by the first reflective photoelectric sensor 101 leads the phase of the corresponding effective pulse signal triggered by the second reflective photoelectric sensor 102, and the movement direction of the execution component 3 is determined to be the first direction; the effective pulse signal triggered by the second reflective photoelectric sensor 102 leads the phase of the corresponding effective pulse signal triggered by the first reflective photoelectric sensor 101, and the movement direction of the execution component 3 is determined to be the second direction opposite to the first direction.

[0048] The first direction is set as the direction of movement of the execution component 3 from the starting point to the far end, and the second direction is the direction of movement of the execution component 3 from the far end back to the starting point.

[0049] Example 2:

[0050] The first reflective photoelectric sensor 101 and the second reflective photoelectric sensor 102 are spaced apart along the moving direction of the transmission member 21.

[0051] When the pulse phase difference between the first reflective photoelectric sensor 101 and the second reflective photoelectric sensor 102 is detected to deviate from the preset fixed phase difference value, and the deviation exceeds the set threshold and continues for a preset duration, the judgment unit 76 determines that the execution component 3 and / or the transmission component 2 have a motion fault.

[0052] Example 3:

[0053] The first reflective photoelectric sensor 101 and the second reflective photoelectric sensor 102 are synchronously spaced along the movement trajectory direction of the transmission member 21. The detection areas of the first reflective photoelectric sensor 101 and the second reflective photoelectric sensor 102 both correspond to the continuous tooth profile segment of the transmission member 21, and the interval distance along the movement direction is less than 1 / 2 of the pitch of a single tooth, so as to ensure continuous detection coverage of the same tooth profile feature.

[0054] Two sets of reflective photoelectric sensors synchronously collect the real-time motion parameters of the transmission component 21, including displacement, speed and direction, which together constitute redundant detection of the motion state of the transmission component 21.

[0055] This invention utilizes a reflective photoelectric sensor to detect changes in the tooth profile of a transmission component within a certain time period. It converts the motion of the transmission component 21 in the transmission link into an electrical signal that changes periodically over time, thereby obtaining the motion parameter information of the transmission component 21 based on time. This results in more direct detection and smaller calculation errors in the transmission link. Furthermore, the use of two sets of reflective photoelectric sensors enables the determination of motion direction, motion fault verification, and redundancy detection.

[0056] This invention further provides a surgical instrument based on a motion detection device for tooth profile features, the structure of which includes the aforementioned motion detection device based on tooth profile features.

[0057] See attached document Figure 2 As shown, the surgical instrument includes a surgical instrument body 4, an actuating component 3, and a reflective photoelectric sensor 1. The rear transmission mechanism of the surgical instrument body 4 includes a transmission assembly 2, and the actuating component 3 moves under the drive of the transmission assembly 2.

[0058] In detail, the execution component 3 is specifically a cutting assembly of a surgical instrument, the transmission assembly 2 is specifically a gear transmission assembly of a surgical instrument, the transmission component 21 includes gears and racks, and the drive mechanism 22 is configured as a motor (box) that drives the meshing motion of the gears and racks.

[0059] A reflective photoelectric sensor 1 is mounted beside the transmission assembly 2, and reflective material coatings 6 are respectively provided on the contour surfaces of the rack and gear. The reflective photoelectric sensor includes a light source and a photosensitive device, with the light source illuminating the surface of the gear or rack at a fixed angle.

[0060] The actuator 3 is rigidly connected to the transmission assembly 2. The motion parameters of the transmission component 21 obtained by detecting tooth profile features through the reflective photoelectric sensor 1 can reflect the motion state of the cutting assembly.

[0061] In one or other embodiments, refer to the appendix. Figure 3 As shown, the first reflective photoelectric sensor 101 and the second reflective photoelectric sensor 102 are synchronously and at intervals on the side of the rack to detect the movement state of the rack, thereby obtaining the movement direction, movement distance and movement speed of the cutting assembly.

[0062] In one or other embodiments, refer to the appendix. Figure 4 As shown, the first reflective photoelectric sensor 101 and the second reflective photoelectric sensor 102 are synchronously and at intervals on the side of the gear to detect the movement state of the gear, thereby obtaining the movement direction, movement distance and movement speed of the cutting component.

[0063] In another embodiment or other implementation, refer to the appendix. Figure 5 As shown, the first reflective photoelectric sensor 101 is disposed beside the rack to detect the rack's movement state, and the second reflective photoelectric sensor 102 is disposed beside the gear to detect the gear's movement state. Under normal movement conditions, the sensor obtains the movement direction, movement distance, and movement speed of the cutting assembly. This allows for the detection of movement malfunctions in both the gear and rack.

[0064] Based on the above-mentioned motion detection device based on tooth profile features, applied to surgical instruments, the device obtains the position and speed information of the cutting component through a reflective photoelectric sensor 1, resulting in smaller errors and greater accuracy.

[0065] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. It is obvious to those skilled in the art that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and therefore, all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within this utility model.

Claims

1. A motion detection system based on tooth profile features, characterized in that, include: A transmission assembly, comprising a transmission element having a periodic tooth profile and a drive mechanism for driving the transmission element to move. An actuator is connected to the transmission assembly and moves under the drive of the transmission assembly; A reflective photoelectric sensor is installed on the side of the tooth profile of the transmission component. The reflective photoelectric sensor emits light towards the tooth profile surface of the transmission component and simultaneously receives the light reflected by the tooth profile surface. The detection circuit is electrically connected to the reflective photoelectric sensor and converts the periodic current change of the reflective photoelectric sensor into a voltage signal. The control module is electrically connected to the transmission component, the actuator, the reflective photoelectric sensor, and the detection circuit, respectively; the control module acquires the motion state parameters of the transmission component and / or the actuator based on the voltage signal.

2. The motion detection system based on tooth profile features according to claim 1, characterized in that, The reflective photoelectric sensor includes an integrated light source and a photosensitive device. The light source is incident on the tooth profile surface at a fixed angle. The fixed angle is the angle between the light ray from the light source and the normal direction of the tooth profile surface, and the angle ranges from 20° to 60°.

3. The motion detection system based on tooth profile features according to claim 1, characterized in that, The detection circuit includes a signal acquisition module, a signal amplification module, a filtering module, and a voltage conversion module connected in sequence. The voltage conversion module is used to convert the periodic current signal output by the photosensitive device into a periodic voltage signal.

4. The motion detection system based on tooth profile features according to claim 1, characterized in that, The control module includes: The timing unit is synchronously triggered to start timing when the voltage signal of the detection circuit reaches the preset trigger condition threshold 1. The counting pulse unit is synchronously triggered to count when the voltage signal of the detection circuit reaches the preset trigger condition pulse signal voltage threshold 2. The storage unit is used to store the condition threshold 1 for triggering the timing unit and the corresponding timing data, as well as the condition pulse signal voltage threshold 2 for triggering the technical pulse unit and the corresponding number of pulses. The data processing unit acquires motion state parameters based on tooth profile feature parameters, timing data obtained by the timing unit, and pulse count obtained by the counting pulse unit; The control unit, including the timing unit, counting pulse unit, storage unit, and data processing unit, is electrically connected to the control unit.

5. A motion detection system based on tooth profile features according to claim 4, characterized in that, The control module further includes a judgment unit and an alarm unit, which are electrically connected to the control unit.

6. A motion detection system based on tooth profile features according to claim 1 or 5, characterized in that, The reflective photoelectric sensor is provided in two sets, including a first reflective photoelectric sensor and a second reflective photoelectric sensor, which are spaced apart along the movement direction of the actuator.

7. The motion detection system based on tooth profile features according to claim 1, characterized in that, The tooth profile surface of the transmission component is coated with a reflective material.

8. A surgical instrument for a motion detection system based on tooth profile features, characterized in that, The surgical instrument includes a motion detection system based on tooth profile features as described in any one of claims 1-7; the actuating component is rigidly connected to the transmission assembly.

9. A surgical instrument for a motion detection system based on tooth profile features according to claim 8, characterized in that, The actuating component is configured as a cutting component rigidly connected to the transmission assembly, and the transmission assembly is configured as a meshing gear and rack structure and a motor that drives the gear and rack to move.

10. A surgical instrument for a motion detection system based on tooth profile features according to claim 9, characterized in that, The motion state parameters include one or more of the following: motion speed, motion displacement, motion direction, and motion fault.

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