Powered stapler control method and powered stapler

Abstract

Embodiments of the present disclosure provide a powered stapler control method and a powered stapler. The powered stapler control method comprises: controlling a motor to drive a jaw assembly to compress tissue; obtaining current working parameters of the motor in the process of compressing the tissue; and determining a current tissue thickness on the basis of the current working parameters. The powered stapler uses the powered stapler control method. According to the embodiments of the present disclosure, the current tissue thickness is obtained on the basis of the current working parameters of the motor, and there is no need to mount a measurement assembly at a distal end of the powered stapler, reducing the interference of frequent use on the tissue thickness measurement function; moreover, the tissue thickness is obtained in a compression stage, so that the operation details can be adjusted in a stapling stage and a cutting stage with reference to the tissue thickness, improving the quality of tissue stapling and tissue cutting.

Description

Electric stapler control method and electric stapler

[0001] This disclosure claims priority to Chinese Patent Application No. 202311027011.4 filed on August 15, 2023, and the contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as a part of this disclosure. Technical Field

[0002] Embodiments of the present disclosure relate to a method for controlling an electric stapler and an electric stapler. Background Art

[0003] An electric stapler relies on battery power to drive the device. Its primary operating principle is to separate tissue with a cutting blade and staple together with titanium staples. During an electric stapler's operating cycle, the motor first drives the jaw assembly to close, clamping and compressing the tissue. Once the jaws are fully compressed, the motor pushes the stapler assembly to staple the tissue and activates the cutting blade to fire and cut the tissue.

[0004] Knowing the thickness of the tissue in advance is of great reference significance whether it is removing staples from the staple cartridge to fit the tissue or firing the cutting knife to cut the tissue.

[0005] Currently, one approach to measuring tissue thickness involves placing a strain gauge on the distal assembly of an electric stapler, detecting the clamping load applied by the device to the tissue. However, because the distal assembly of an electric stapler comes into contact with tissue and tissue fluid and requires high-temperature sterilization or chemical sterilization, these operating environments and sterilization methods severely impact the accuracy of the strain gauge, and can even cause it to lose functionality. Furthermore, the strain gauge must be electrically connected to the handle assembly at the proximal end of the electric stapler, achieving electrical connection across both the sterile and sterile areas. This results in high costs and a complex structure.

[0006] Summary of the Invention

[0007] The purpose of the present disclosure is to provide an electric stapler control method and an electric stapler to solve the problems existing in tissue thickness detection solutions. The embodiment of the present disclosure provides an electric stapler control method, the electric stapler includes a jaw assembly and a motor disposed at the proximal end of the electric stapler;

[0008] The electric stapler control method comprises the following steps:

[0009] controlling the motor to drive the jaw assembly to squeeze the tissue;

[0010] During the tissue squeezing process, obtaining current operating parameters of the motor;

[0011] The current tissue thickness is determined according to the current working parameters.

[0012] In the above technical solution, the electric stapler control method further includes the following steps before controlling the motor to drive the jaw assembly to compress the tissue:

[0013] Establishing a mapping relationship between the preset operating parameters of the motor and the preset tissue thickness;

[0014] The step of determining the current tissue thickness based on the acquired current working parameters specifically includes the following steps:

[0015] According to the mapping relationship between the preset working parameters of the motor and the preset tissue thickness, the current tissue thickness is determined according to the acquired current working parameters.

[0016] In any of the above technical solutions, further, the step of establishing a mapping relationship between the preset working parameters of the motor and the preset tissue thickness in the electric stapler control method specifically includes the following steps:

[0017] Dividing the preset operating parameters of the motor into a plurality of first preset ranges, dividing the preset tissue thickness into a plurality of preset levels, and establishing a one-to-one mapping relationship between the plurality of first preset ranges and the plurality of preset levels;

[0018] The step of determining the current tissue thickness according to the obtained current operating parameters based on the mapping relationship between the preset operating parameters of the motor and the preset tissue thickness specifically includes the following steps:

[0019] determining, according to the current operating parameter, the first preset range corresponding to the current operating parameter;

[0020] According to the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, the corresponding preset level is determined according to the determined first preset range and is used as the current tissue thickness.

[0021] In any of the above technical solutions, further, the step of obtaining the current operating parameters of the motor specifically includes the following steps:

[0022] An average current value, an average speed value, or an average voltage value of the motor in a first predetermined time period is obtained as the current operating parameter.

[0023] In any of the above technical solutions, further, the starting time of the first predetermined period is the time when the current, speed or voltage of the motor begins to change relative to the initial value, or the starting time of the first predetermined period is the time when the motor rotates to a first predetermined stroke;

[0024] The end time of the first predetermined period is the time when the jaw assembly is fully closed, or the end time of the first predetermined period is the time when the motor rotates to the second predetermined stroke;

[0025] When the motor is in the first predetermined stroke or the second predetermined stroke, the jaw assembly is in contact with the tissue, and the second predetermined stroke is located after the first predetermined stroke.

[0026] In any of the above technical solutions, further, the preset tissue thickness is divided into three preset levels: thin, medium and thick; wherein,

[0027] When the average current of the motor in the first predetermined period is used as the current operating parameter, the preset operating parameter is divided into three first preset ranges: less than 1.5A, 1.5A-1.7A, and greater than 1.7A;

[0028] The one-to-one mapping relationship established between the plurality of first preset ranges and the plurality of preset levels is:

[0029] When the first preset range is less than 1.5A, the preset level is thin;

[0030] When the first preset range is 1.5A-1.7A, the preset level is medium;

[0031] When the first preset range is greater than 1.7A, the preset level is thick;

[0032] The step of determining the current tissue thickness according to the obtained current operating parameters based on the mapping relationship between the preset operating parameters of the motor and the preset tissue thickness specifically includes the following steps:

[0033] Determining, based on the current operating parameter, that the first preset range corresponding to the current operating parameter is less than 1.5 A, falls within 1.5 A-1.7 A, or is greater than 1.7 A;

[0034] According to a mapping relationship established between a plurality of the first preset ranges and a plurality of the preset levels, determining the corresponding preset level as thin, medium, or thick according to the determined first preset range, and using the determined preset level as the current tissue thickness;

[0035] or,

[0036] When the average value of the rotation speed of the motor in the first predetermined period is used as the current operating parameter, the preset operating parameter is divided into three first preset ranges: slow speed, medium speed and fast speed;

[0037] A one-to-one mapping relationship is established between the plurality of first preset ranges and the plurality of preset levels as follows:

[0038] When the first preset range is fast, the preset level is thin;

[0039] When the first preset range is medium speed, the preset level is medium;

[0040] When the first preset range is slow, the preset level is thick;

[0041] The step of determining the current tissue thickness according to the obtained current operating parameters based on the mapping relationship between the preset operating parameters of the motor and the preset tissue thickness specifically includes the following steps:

[0042] According to the current operating parameter, determining that the first preset range corresponding to the current operating parameter is fast, medium or slow;

[0043] According to a mapping relationship established between a plurality of the first preset ranges and a plurality of the preset levels, determining the corresponding preset level as thin, medium, or thick according to the determined first preset range, and using the determined preset level as the current tissue thickness;

[0044] or,

[0045] When the average voltage of the motor in the first predetermined period is used as the current operating parameter, the preset operating parameter is divided into three first preset ranges of low voltage, medium voltage and high voltage;

[0046] A one-to-one mapping relationship is established between the plurality of first preset ranges and the plurality of preset levels;

[0047] When the first preset range is high pressure, the preset level is thin;

[0048] When the first preset range is medium pressure, the preset level is medium;

[0049] When the first preset range is low pressure, the preset level is thick;

[0050] The step of determining the current tissue thickness according to the obtained current operating parameters based on the mapping relationship between the preset operating parameters of the motor and the preset tissue thickness specifically includes the following steps:

[0051] According to the current operating parameter, determining that the first preset range corresponding to the current operating parameter is low pressure, medium pressure or high pressure;

[0052] According to the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

[0053] In any of the above technical solutions, further, the step of obtaining the current operating parameters of the motor specifically includes the following steps:

[0054] Obtain the total stroke experienced by the motor from the first moment to the second moment as the current working parameter; wherein,

[0055] The first moment is any moment from the time when the jaw assembly is in a fully closed initial state to the time before the jaw assembly contacts the tissue;

[0056] The second moment is the moment when the jaw assembly is fully closed.

[0057] In any of the above technical solutions, further, the preset tissue thickness is divided into three preset levels: thin, medium and thick;

[0058] Dividing the preset working parameters into three first preset ranges: short, medium and long;

[0059] A one-to-one mapping relationship is established between the plurality of first preset ranges and the plurality of preset levels as follows:

[0060] When the first preset range is short, the preset level is thin;

[0061] When the first preset range is medium, the preset level is medium;

[0062] When the first preset range is long, the preset level is thick;

[0063] The step of determining the current tissue thickness according to the obtained current operating parameters based on the mapping relationship between the preset operating parameters of the motor and the preset tissue thickness specifically includes the following steps:

[0064] determining, based on the current operating parameter, that the first preset range corresponding to the current operating parameter is short, medium, or long;

[0065] According to the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

[0066] In any of the above technical solutions, the electric stapler further includes a transmission assembly and a limit switch, and the electric stapler drives the jaw assembly to move through the transmission assembly; the moment when the jaw assembly is fully closed is the moment when the motor drives the transmission assembly to trigger the limit switch.

[0067] In any of the above technical solutions, further, the jaw assembly can be loaded with staple cartridge assemblies of various staple cartridge types, and before controlling the motor to drive the jaw assembly to compress the tissue, the following steps are further included:

[0068] Establishing a mapping relationship between the preset tissue thickness and the preset staple cartridge model;

[0069] After determining the current tissue thickness according to the current working parameters, the following steps are further included:

[0070] According to the mapping relationship between the preset tissue thickness and the preset staple cartridge model, the target staple cartridge model is determined according to the current tissue thickness.

[0071] In any of the above technical solutions, further, the step of establishing a mapping relationship between the preset tissue thickness and the preset staple cartridge model specifically includes the following steps:

[0072] The plurality of nail magazine models are divided into a plurality of preset groups, and a one-to-one mapping relationship is established between the plurality of preset groups and the plurality of preset levels.

[0073] The electric stapler further includes a cutting knife, and before controlling the motor to drive the jaw assembly to compress the tissue, further includes the following steps:

[0074] Establishing a mapping relationship between the preset tissue thickness and the preset speed at which the motor drives the cutting blade;

[0075] After determining the current tissue thickness according to the current working parameters, the following steps are further included:

[0076] Based on the mapping relationship between the preset tissue thickness and the preset speed of the motor driving the cutting knife, and according to the current tissue thickness, the target rotational speed of the motor driving the cutting knife is determined, and the motor is controlled to fire the cutting knife at the target rotational speed to cut the tissue.

[0077] In any of the above technical solutions, further, the step of establishing a mapping relationship between the preset speed of the motor driving the cutting knife and the preset tissue thickness specifically includes the following steps:

[0078] Dividing the preset speed of the motor driving the cutting blade into a plurality of second preset ranges, and establishing a one-to-one mapping relationship between the plurality of second preset ranges and the plurality of preset levels;

[0079] The step of determining a target rotational speed of the motor for driving the cutting blade according to the mapping relationship between the preset tissue thickness and the preset speed of the motor for driving the cutting blade and the current tissue thickness, and controlling the motor to trigger the cutting blade to cut the tissue at the target rotational speed specifically includes the following steps:

[0080] Based on a one-to-one mapping relationship established between multiple second preset ranges and multiple preset levels, according to the preset level of the current tissue thickness, the second preset range corresponding to the preset level of the current tissue thickness is determined as the target speed of the motor driving the cutting knife, and the motor is controlled to fire the cutting knife at the target speed to cut the tissue.

[0081] An embodiment of the present disclosure further provides an electric stapler comprising a processor, a jaw assembly, and a motor disposed at a proximal end of the electric stapler;

[0082] The processor includes a sampling module, a motor driving module and a control module, and the sampling module and the motor driving module are both electrically connected to the control module;

[0083] The control module controls the motor through the motor drive module to drive the jaw assembly to squeeze the tissue;

[0084] During the squeezing process, the sampling module obtains the current operating parameters of the motor;

[0085] The control module can determine the current tissue thickness based on the current working parameters.

[0086] In any of the above technical solutions, further, the jaw assembly can be adapted to accommodate nail cartridges of various nail cartridge models;

[0087] The control module determines the target staple cartridge model according to the current tissue thickness;

[0088] And / or, the electric stapler further includes a cutting knife, and the control module determines a target rotational speed of the motor to drive the cutting knife according to the current tissue thickness, and controls the motor to fire the cutting knife at the target rotational speed to cut the tissue.

[0089] An embodiment of the present disclosure further provides an electric stapler, comprising a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor implements the electric stapler control method described in any of the above technical solutions when executing the program.

[0090] The embodiment of the present disclosure provides a control method for an electric stapler, in which the electric stapler includes a main unit located at the proximal end, a motor disposed in the main unit, and auxiliary components for collecting the working parameters of the motor can also be disposed in the main unit. Compared with the solution of adding a strain gauge inside the distal component, sterilization is not required, and interference caused by frequent use and high-temperature sterilization of the distal component can be effectively avoided, thereby improving the accuracy of the current working parameters of the motor obtained, thereby improving the accuracy of the detected tissue thickness, and extending the service life. In addition, it can also avoid the need to achieve electrical connection across the sterile area and the sterile area, effectively simplifying the structure and reducing design and manufacturing costs.

[0091] The electric stapler provided by the embodiments of the present disclosure adopts the above-mentioned electric stapler control method, thereby being able to achieve all the beneficial effects of the electric stapler control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for describing the embodiments of the present disclosure.

[0093] FIG1 is a graph illustrating a principle for obtaining the current of a motor in a method for controlling an electric stapler according to an embodiment of the present disclosure;

[0094] FIG2 is a graph illustrating a principle for obtaining the voltage of a motor in a method for controlling an electric stapler according to an embodiment of the present disclosure;

[0095] FIG3 is a graph illustrating a principle for obtaining the rotational speed of a motor in a method for controlling an electric stapler according to an embodiment of the present disclosure;

[0096] FIG4 is a schematic structural diagram of an electric stapler provided in one embodiment of the present disclosure;

[0097] FIG5 is another schematic structural diagram of an electric stapler provided in one embodiment of the present disclosure;

[0098] FIG6 is another schematic structural diagram of an electric stapler provided in one embodiment of the present disclosure;

[0099] FIG7 is another schematic structural diagram of an electric stapler provided in one embodiment of the present disclosure; and

[0100] FIG8 is a block diagram of the control principle of the electric stapler provided in one embodiment of the present disclosure.

[0101] Reference numerals: 1 - electric stapler; 10 - jaw assembly; 100 - anvil; 101 - staple cartridge seat; 11 - cannula; 12 - main unit; 13 - travel switch; 14 - slider; 140 - slider body; 141 - trigger portion; 15 - connecting rod. DETAILED DESCRIPTION

[0102] The technical solutions of the present disclosure are described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described are only a portion of the embodiments of the present disclosure, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative effort are within the scope of protection of the present disclosure.

[0103] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this disclosure and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this disclosure. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0104] In the present disclosure, unless otherwise clearly stipulated and limited, the terms such as "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a movably connection, or an integral body; it can be directly connected, or indirectly connected through an intermediate medium, or it can be internal communication between two elements or an interactive relationship between two elements such as abutment. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances. It should be noted that when there are qualifiers before "connected" and "connection", they have the meaning defined by the corresponding qualifiers, and only exclude situations that obviously need to be excluded, and do not exclude other possible situations. For example, "detachably connected" refers to a detachable connection, and does not include integration, but movably connected, etc. are not excluded.

[0105] 1 to 3 and 4 to 8 , an embodiment of the present disclosure provides a method for controlling an electric stapler 1 for detecting the thickness of tissue during a tissue compression stage performed by the electric stapler 1 .

[0106] The electric stapler 1 includes a main unit 12, a jaw assembly 10, a motor, a travel switch, a transmission assembly, a sleeve 11 and a cutting knife.

[0107] The jaw assembly 10 is connected to the main body 12 and extends distally relative to the main body 12 so that the jaw assembly 10 can contact tissue in a patient's body.

[0108] As shown in Figures 4 and 5, the jaw assembly 10 includes an anvil 100 and a staple cartridge seat 101. The staple cartridge seat 101 is pivotally connected to the anvil 100. The staple cartridge seat 101 is used to operably support a staple cartridge assembly (not shown) located therein. The anvil 100 can selectively move between an open position and a closed position, thereby cooperating with the staple cartridge seat 101 and the staple cartridge assembly to loosen or clamp tissue. The staple cartridge seat 101 can be adapted to staple cartridge assemblies of various staple cartridge sizes, so that the jaw assembly 10, when fully closed, can staple tissue using titanium staples in any staple cartridge size.

[0109] To achieve movement of the jaw assembly 10, the sleeve 11 is slidably disposed on the outside of the jaw assembly 10. The sleeve 11 is moved forward and backward to change the angle between the anvil 100 and the cartridge holder 101, thereby opening or closing the jaw assembly 10. Specifically, when the sleeve 11 moves forward relative to the jaw assembly 10, the jaw assembly 10 gradually closes, and when the sleeve 11 moves backward relative to the jaw assembly 10, the jaw assembly 10 gradually opens.

[0110] In order to realize the drive of sleeve 11 moving forward and backward, the transmission assembly is connected between the motor and sleeve 11, so that the motor drives the sleeve 11 to move forward and backward along the length direction of the jaw assembly 10 through the transmission assembly. When the motor drives the transmission assembly to trigger the travel switch, the jaw assembly 10 is fully closed.

[0111] Specifically, as shown in Figures 6 and 7 , the transmission assembly includes a slider 14 and a connecting rod 15. A travel switch 13 is spaced apart in front of the slider 14. The slider 14 is connected to the sleeve 11 and is configured to move back and forth. A motor drives the connecting rod 15 to rotate, thereby driving the slider 14 to move back and forth. This, in turn, pushes the sleeve 11 back and forth, which in turn causes the jaw assembly 10 to open and close.

[0112] The motor drives the connecting rod 15 to rotate, and the connecting rod 15 pushes the slider 14 forward. In the process of moving forward, the slider 14 pushes the sleeve 11 forward, so that the angle between the nail support 100 and the nail magazine seat 101 is reduced, thereby gradually closing the jaw assembly 10. Among them, the slider 14 moves forward and gradually approaches the travel switch 13 until the travel switch 13 is triggered, and the jaw assembly 10 closes to the bottom. For a more detailed description of how the motor drives the jaw assembly 10 to move through the transmission assembly, please refer to the applicant's prior application CN202010365525.0, which will not be repeated here.

[0113] The limit switch 13 is used to be electrically connected to the motor. When the limit switch 13 is triggered, the limit switch 13 controls the motor to stop, the current of the motor returns to zero, the drive of the sleeve 11 is stopped, the jaw assembly 10 is closed to the bottom, and the compression of the tissue is stopped.

[0114] Optionally, the slider 14 includes a slider body 140 and a touch portion 141, the touch portion 141 is connected to the side of the slider body 140, and the limit switch 13 is spaced apart on the front side of the touch portion 141, so that when the jaw assembly 10 has not yet been fully closed, the limit switch 13 and the touch portion 141 are spaced apart facing each other, and when the jaw assembly 10 is fully closed, the limit switch 13 contacts the touch portion 141 to trigger the limit switch 13.

[0115] The jaw assembly 10 has an initial fully closed state, a fully open state, and a fully closed state. The motor can drive the jaw assembly 10 to open from the initial state until it switches to the fully open state, and then drive the jaw assembly 10 to close from the fully open state, compressing the tissue during the closing process until it reaches the fully closed state. Furthermore, the electric stapler 1 can be configured to maintain the fully closed state for a certain period of time to fully drain tissue fluid and complete the compression.

[0116] Based on this, the process of the jaw assembly 10 squeezing the tissue is defined as the jaw assembly 10 gradually opening from an initial state to a fully open state, and then starting to close from the fully open state until the squeezing process is completed.

[0117] The control method of the electric stapler 1 provided in the embodiment of the present disclosure can be applied to the processor of the electric stapler 1. The control method of the electric stapler 1 includes the following steps:

[0118] Step S100, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0119] Step S101, during the tissue squeezing process, obtaining the current working parameters of the motor;

[0120] Step S102: determining the current tissue thickness according to the current working parameters of the motor.

[0121] In this technical solution, during the process of the electric stapler 1 squeezing the tissue through the jaw assembly 10, the load characteristics of the motor-driven jaw assembly 10 vary depending on the thickness of the tissue, and the working parameters of the motor will vary accordingly. Therefore, the current tissue thickness of the tissue anastomosed by the electric stapler 1 can be determined based on the current working parameters of the motor during the squeezing process.

[0122] The tissue thickness is not limited to being expressed by a precise thickness value, but may also be expressed by the type of tissue or thickness grade.

[0123] The method for detecting the compressed tissue thickness of the electric stapler 1, on the one hand, since the main unit 12 of the electric stapler 1 is located at the proximal end and the motor is arranged in the main unit 12, the auxiliary components for collecting the current working parameters of the motor can also be arranged in the main unit 12. Therefore, compared with the solution of adding a strain gauge to the distal jaw assembly 10 to detect tissue thickness, it can effectively avoid the interference of the distal jaw assembly 10 being contaminated by liquid and sterilization, thereby facilitating improving the accuracy of the acquired current working parameters of the motor, thereby improving the accuracy of the detected current tissue thickness, and extending the service life.

[0124] Furthermore, during actual use of the electric stapler 1, tissue thickness detection is completed during the compression phase, allowing this detected tissue thickness to be used as a reference for other operations of the electric stapler 1 during the anastomosis and cutting phases. Compared to alternative approaches that detect tissue thickness during the anastomosis process, or during the cutting process, this pre-emptive tissue thickness detection reduces the limitations of the reference range of the current tissue thickness and significantly expands the range of available references.

[0125] In an optional solution of this embodiment, the control method of the electric stapler 1 includes the following steps:

[0126] Step S200, establishing a mapping relationship between the preset working parameters of the motor and the preset tissue thickness;

[0127] Step S201, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0128] Step S202, during the squeezing process, obtaining the current working parameters of the motor;

[0129] Step S203 , determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness.

[0130] In this technical solution, before controlling the motor to drive the jaw assembly 10 to squeeze the tissue, a mapping relationship is established between the preset working parameters of the motor and the preset tissue thickness of the tissue. Specifically, a mapping relationship can be pre-established between the preset working parameters and the preset tissue thickness in the form of a formula or table, which can be called by the processor during the actual squeezing process.

[0131] Specifically, after obtaining the current working parameters of the motor in step S202, the current working parameters are compared with the preset working parameters in step S203 to clarify the preset tissue thickness corresponding to the preset working parameters that match the current working parameters, and use it as the current tissue thickness, thereby achieving the purpose of determining the current tissue thickness of the squeezed tissue through the current working parameters of the motor during the squeezing process.

[0132] In an optional solution of this embodiment, the control method of the electric stapler 1 includes the following steps:

[0133] Step S300, dividing the preset working parameters of the motor into a plurality of first preset ranges, dividing the preset tissue thickness into a plurality of preset levels, and establishing a one-to-one mapping relationship between the plurality of first preset ranges and the plurality of preset levels;

[0134] Step S301, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0135] Step S302, during the squeezing process, obtaining the current working parameters of the motor;

[0136] Step S303, determining a first preset range corresponding to the current working parameter according to the current working parameter;

[0137] Step S304 : According to the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, a corresponding preset level is determined according to the determined first preset range and used as the current tissue thickness.

[0138] In this technical solution, the tissue thickness is divided into levels, and accordingly, the working parameters of the motor are divided into numerical ranges, and a one-to-one mapping relationship is established between the preset level of tissue thickness and the first preset range of the working parameter for the processor to call during the actual squeezing process.

[0139] Specifically, first in step S303, the first preset range corresponding to the current working parameter is determined, and then in step S304, based on the mapping relationship between multiple first preset ranges and multiple preset levels, the preset level corresponding to the first preset range determined in step S303 is determined, so that the preset level is used as the current tissue thickness.

[0140] It can be seen that the method for detecting the compressed tissue thickness of the electric stapler 1 establishes a mapping relationship between the preset working parameters of the motor and the preset tissue thickness through step S300, and simplifies the corresponding relationship between the preset tissue thickness and the preset working parameters into a corresponding relationship between the preset level of tissue thickness and the first preset range of the working parameters, so that the calculation amount of the processor executing steps S303 and S304 is simplified, the operability of tissue thickness detection is improved, and the control method of the electric stapler 1 is easier to implement.

[0141] In an alternative embodiment of this embodiment, while the jaw assembly 10 is compressing tissue, an average value of the motor's current within a first predetermined period c is obtained as one implementation of obtaining the motor's current operating parameter. This average value of the motor's current within the first predetermined period c can then be used to determine tissue thickness. Specifically, the greater the average value of the motor's current during compression, the thicker the tissue; and the smaller the average value of the motor's current during compression, the thinner the tissue.

[0142] The start time of the first predetermined period c is the time when the current of the motor starts to change relative to the initial value I0, or the start time of the first predetermined period c is the time when the motor rotates to the first predetermined stroke.

[0143] The end time of the first predetermined period c is the moment when the jaw assembly 10 is fully closed, or the end time of the first predetermined period c is the moment when the motor rotates to the second predetermined stroke.

[0144] For tissue of any thickness, the jaw assembly 10 is in contact with the tissue when the motor is in either the first or second predetermined stroke, with the second predetermined stroke occurring after the first predetermined stroke. In other words, both the first and second predetermined strokes are within the range of travel within which the jaw assembly 10 can contact tissue of any thickness, with the first predetermined stroke occurring earlier than the second predetermined stroke.

[0145] During the squeezing process, when the jaw assembly 10 begins to touch the tissue, the current begins to change slightly relative to the initial value I0, that is, the current changes but not significantly; then the jaw assembly 10 continues to close so as to make closer contact with the tissue, and the current change begins to become obvious; as the jaw assembly 10 continues to close, the current continues to change; until it is fully closed, the squeezing is completed, the current returns to zero, and the motor stops.

[0146] In this process, as a selection scheme for the starting time of the first predetermined period c, the starting time of the first predetermined period c can be the time when the current begins to change. Specifically, the current value of the jaw assembly 10 during the entire process of squeezing the tissue can be collected, and then the time when the current begins to change can be determined and defined as the starting time of the first predetermined period c.

[0147] It should be noted that the start time of the first predetermined period c determined by this scheme varies for different tissues. As shown in Figure 1 , Ia shows the curve of the motor current varying with stroke when compressing tissue a, and Ib shows the curve of the motor current varying with stroke when compressing tissue b. Tissue a is thicker than tissue b, so the stroke r1a corresponding to the start time of the first predetermined period c for tissue a is different from the stroke r1b corresponding to the start time of the first predetermined period c for tissue b.

[0148] Alternatively, as another option for selecting the start time of the first predetermined period c, the time corresponding to the universal first predetermined stroke r2 can be designated as the start time of the first predetermined period c. The first predetermined stroke r2 needs to be configured so that the motor can contact tissue of any thickness. Specifically, as shown in FIG1 , the first predetermined stroke r2 needs to be configured to be later than both stroke r1a and stroke r1b, so that when squeezing tissue a or tissue b, the jaw assembly 10 can contact both tissue a and tissue b at the pre-designated first predetermined stroke r2. Furthermore, the start time of the first predetermined period c is as late as possible from stroke r1b by a certain stroke interval, thereby ensuring that at the start time of the first predetermined period c, the jaw assembly 10 can fully contact tissue of any thickness.

[0149] By adopting this scheme of defining the moment corresponding to the first predetermined stroke r2 as the starting moment of the first predetermined period c, there is no need to collect the current of the motor during the entire pressing process, nor is there any need to judge the moment when the current changes. It can also avoid the interval where the current change is not obvious. Therefore, this scheme for selecting the starting moment of the first predetermined period c is simple and easy, and is conducive to more accurate calculation of the average current value.

[0150] As one option for determining the end time of the first predetermined period c, the end time of the first predetermined period c is configured as the moment when the jaw assembly 10 is fully closed. The moment when the jaw assembly 10 is fully closed can also be configured as the moment when the motor stops during the pressing process. Specifically, as shown in Figure 1, for tissue a, the end time of the first predetermined period c is the moment corresponding to motor travel r4a; for tissue b, the end time of the first predetermined period c is the moment corresponding to motor travel r4b.

[0151] Alternatively, as another option for determining the end time of the first predetermined period c, the end time of the first predetermined period c is when the motor rotates to the second predetermined stroke r3. Specifically, the moment corresponding to the universal second predetermined stroke r3 can be designated as the end time of the first predetermined period c. Since the jaw assembly 10 is in contact with tissue when the motor is in any stroke range from the first predetermined stroke r2 to motor shutdown, a second predetermined stroke r3 is pre-set within this stroke range to ensure that the jaw assembly 10 is in contact with tissue at the end time of the first predetermined period c and within the first predetermined period c determined by the second predetermined stroke r3.

[0152] As shown in Figure 1 , as an optional method for selecting the first predetermined time period c, the start time is pre-designated as the time corresponding to the first predetermined trip r2, and the end time is pre-designated as the time corresponding to the second predetermined trip r3. The time period between the first predetermined trip r2 and the second predetermined trip r3 is then taken as the first predetermined time period c. Thus, for organizations a and b, the first predetermined time period c is the same.

[0153] As an alternative way to select the first predetermined time period c, the start time is pre-designated as the time corresponding to the first predetermined stroke r2, and the end time is pre-designated as the time when the jaw assembly 10 is fully closed. Thus, for tissue a, the first predetermined time period c is the time period between the first predetermined stroke r2 and the motor stroke r4a (when the jaw assembly 10 is fully closed); for tissue b, the first predetermined time period c is the time period between the first predetermined stroke r2 and the motor stroke r4b (when the jaw assembly 10 is fully closed).

[0154] As another alternative to the first predetermined time period c, the start time is pre-designated as the moment when the motor current begins to change, and the end time is pre-designated as the moment when the jaw assembly 10 is fully closed. Specifically, as shown in FIG1 , for tissue a, the first predetermined time period c starts at the moment when the motor current begins to change corresponding to the motor stroke r1a, and ends at the moment when the jaw assembly 10 is fully closed corresponding to the stroke r4a. For tissue b, the first predetermined time period c starts at the moment when the motor current begins to change corresponding to the motor stroke r1b, and ends at the moment when the jaw assembly 10 is fully closed corresponding to the stroke r4b.

[0155] As another alternative to the first predetermined time period c, the start time is pre-designated as the moment when the motor current begins to change, and the end time is selected as the moment when the motor rotates to the second predetermined range r3. Specifically, as shown in Figure 1, for tissue a, the first predetermined time period c starts at the moment when the motor current begins to change corresponding to the motor range r1a, and ends at the moment corresponding to the second predetermined range r3. For tissue b, the first predetermined time period c starts at the moment when the motor current begins to change corresponding to the motor range r1b, and ends at the moment corresponding to the second predetermined range r3.

[0156] Optionally, the motor current may be continuously collected during the first predetermined period c to calculate the current average value; or, the motor current may be collected at multiple points at regular time intervals during the first predetermined period to calculate the current average value.

[0157] It is understandable that the current of the motor in the entire pressing period can be collected, and the average value of the collected current of the motor in the entire pressing period can be calculated to obtain the average current value of the motor in the entire pressing process.

[0158] In this embodiment, under such circumstances, the control method of the electric stapler 1 includes the following steps:

[0159] Step S400: dividing the preset tissue thickness into three preset levels: thin, medium, and thick; dividing the preset working parameter into three first preset ranges: less than 1.5A, 1.5A-1.7A, and greater than 1.7A; establishing the following mapping relationship between the plurality of first preset ranges and the plurality of preset levels: when the first preset range is less than 1.5A, the preset level is thin; when the first preset range is 1.5A-1.7A, the preset level is medium; and when the first preset range is greater than 1.7A, the preset level is thick;

[0160] Step S401, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0161] Step S402, during the squeezing process, obtaining an average current value of the motor in a first predetermined period of time as a current working parameter;

[0162] Step S403: determining, based on the current operating parameters, that a first preset range corresponding to the current operating parameters is less than 1.5 A, falls within 1.5 A-1.7 A, or is greater than 1.7 A;

[0163] Step S404 , based on the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

[0164] In this technical solution, in step S400, a one-to-one mapping relationship is established between the three preset levels of thin, medium and thick and three first preset ranges divided according to the size of the current average value, so as to be called by the processor in steps S403 and S404.

[0165] In step S403, the current working parameter obtained in step S402 (the average current of the motor in the first predetermined time period) is compared with the three first preset ranges to determine which of the three first preset ranges of less than 1.5A, 1.5A-1.7A and greater than 1.7A the current working parameter belongs to. Then in step S404, based on the mapping relationship established in step S401, the preset level corresponding to the first preset range determined in step S403 is determined, and the preset level is used as the current tissue thickness. Specifically, when the first preset range corresponding to the current working parameter obtained is less than 1.5A, and the corresponding preset level less than 1.5A (first preset range) is thin, then the current tissue thickness is determined to be thin; when the first preset range corresponding to the current working parameter obtained is falling within 1.5A-1.7A, and the corresponding preset level falling within 1.5A-1.7A (first preset range) is medium, then the current tissue thickness is determined to be medium; when the first preset range corresponding to the current working parameter obtained is greater than 1.7A, and the corresponding preset level greater than 1.7A (first preset range) is thick, then the current tissue thickness is determined to be thick.

[0166] In summary, in a specific example, when the jaw assembly 10 of the electric stapler 1 is fully open, the encoder count value (stroke) of the motor is set to 1000. When the jaw assembly 10 is controlled to close, the encoder count value is accumulated and updated in real time. When the encoder count value of the motor is 1600 (the first predetermined stroke), the current value of the motor is recorded through the current sensor, and the data is collected every 10ms. When the encoder count value of the motor is 1800 (the second predetermined stroke), the data is stopped, and the average current value is calculated to determine the current tissue thickness.

[0167] In another specific example, when the jaw assembly 10 of the electric stapler 1 is fully opened, the encoder count value of the motor is set to 1000, and the current value of the motor is recorded by the current sensor. The data is collected from the point where the current of the motor begins to change relative to the initial value I0, and the data is stopped after the motor is shut down. The average current value is calculated to determine the current tissue thickness.

[0168] In an alternative embodiment of this embodiment, while the jaw assembly 10 is compressing tissue, another embodiment of the motor operating parameter obtained is an average motor speed over a first predetermined period of time. Thus, the average motor speed over the first predetermined period of time can be used to determine tissue thickness. Specifically, the faster the average motor speed during the compression process, the thicker the tissue; the slower the average motor speed during the compression process, the thinner the tissue.

[0169] Similar to the current scheme, the start time of the first predetermined period d is the moment when the motor speed begins to change relative to the initial value n0, or the start time of the first predetermined period d is the moment when the motor rotates to the first predetermined stroke.

[0170] The end time of the first predetermined period d is the moment when the jaw assembly 10 is fully closed, or the end time of the first predetermined period d is the moment when the motor rotates to the second predetermined stroke.

[0171] For tissues of any thickness, the jaw assembly 10 is in contact with the tissue when the motor is in either the first predetermined stroke or the second predetermined stroke, with the second predetermined stroke occurring after the first predetermined stroke. In other words, both the first predetermined stroke and the second predetermined stroke are within the range of travel within which the jaw assembly 10 can contact tissues of any thickness, with the first predetermined stroke occurring earlier than the second predetermined stroke.

[0172] During the squeezing process, when the jaw assembly 10 begins to touch the tissue, the speed begins to change slightly relative to the initial value n0, that is, the speed changes but not significantly; then the jaw assembly 10 continues to close so as to make closer contact with the tissue, and the speed change begins to become obvious; as the jaw assembly 10 continues to close, the speed continues to change; until it closes completely to complete the squeezing, the speed returns to zero, and the motor stops.

[0173] In this process, as a selection scheme for the starting time of the first predetermined period d, the starting time of the first predetermined period d can be the time when the rotational speed begins to change. Specifically, the rotational speed value of the jaw assembly 10 during the entire process of squeezing the tissue can be collected, and then the time when the rotational speed begins to change can be determined and defined as the starting time of the first predetermined period d.

[0174] It should be noted that the start time of the first predetermined period d determined by this scheme varies for different tissues. As shown in Figure 2, na shows the curve of the motor speed varying with the stroke when compressing tissue a, and nb shows the curve of the motor speed varying with the stroke when compressing tissue b. Tissue a is thicker than tissue b, so the stroke r1a corresponding to the start time of the first predetermined period d for tissue a is different from the stroke r1b corresponding to the start time of the first predetermined period d for tissue b.

[0175] Alternatively, as another option for selecting the start time of the first predetermined period d, the time corresponding to the universal first predetermined stroke r2 can be designated as the start time of the first predetermined period d. The first predetermined stroke r2 needs to be configured so that the motor can contact tissue of any thickness. Specifically, as shown in FIG2 , the first predetermined stroke r2 needs to be configured to be later than both stroke r1a and stroke r1b, so that when squeezing tissue a or tissue b, the jaw assembly 10 can contact both tissue a and tissue b at the pre-designated first predetermined stroke r2. Furthermore, the start time of the first predetermined period d is as late as possible from stroke r1b by a certain stroke interval, thereby ensuring that at the start time of the first predetermined period d, the jaw assembly 10 can fully contact tissue of any thickness.

[0176] By adopting this scheme of defining the moment corresponding to the first predetermined stroke r2 as the starting moment of the first predetermined time period d, there is no need to collect the speed of the motor during the entire pressing process, nor is there any need to judge the moment when the speed changes. It can also avoid the interval where the speed change is not obvious. Therefore, this scheme for selecting the starting moment of the first predetermined time period d is simple and easy, and is conducive to more accurate calculation of the average speed value.

[0177] As one option for determining the end time of the first predetermined period d, the end time of the first predetermined period d is configured as the moment when the jaw assembly 10 is fully closed. The moment when the jaw assembly 10 is fully closed can also be configured as the moment when the motor stops during the pressing process. Specifically, as shown in Figure 2, for tissue a, the end time of the first predetermined period d is the moment corresponding to motor travel r4a; for tissue b, the end time of the first predetermined period d is the moment corresponding to motor travel r4b.

[0178] Alternatively, as another option for determining the end time of the first predetermined period d, the end time of the first predetermined period d is when the motor rotates to the second predetermined stroke r3. Specifically, the moment corresponding to the universal second predetermined stroke r3 can be designated as the end time of the first predetermined period d. Since the jaw assembly 10 is in contact with tissue when the motor is in any stroke within the range from the first predetermined stroke r2 to motor shutdown, a second predetermined stroke r3 is pre-set within this stroke range to ensure that the jaw assembly 10 is in contact with tissue at the end time of the first predetermined period d and within the first predetermined period d determined by the second predetermined stroke r3.

[0179] As shown in Figure 2, as an optional method for selecting the first predetermined time period d, the start time is pre-designated as the time corresponding to the first predetermined trip r2, and the end time is pre-designated as the time corresponding to the second predetermined trip r3. The time period between the first predetermined trip r2 and the second predetermined trip r3 is then used as the first predetermined time period d. Thus, the first predetermined time period d is the same for both organizations a and b.

[0180] As an alternative way to select the first predetermined time period d, the start time is pre-designated as the time corresponding to the first predetermined stroke r2, and the end time is pre-designated as the time when the jaw assembly 10 is fully closed. Thus, for tissue a, the first predetermined time period d is the time period between the first predetermined stroke r2 and the motor stroke r4a (when the jaw assembly 10 is fully closed); for tissue b, the first predetermined time period d is the time period between the first predetermined stroke r2 and the motor stroke r4b (when the jaw assembly 10 is fully closed).

[0181] As another alternative to the first predetermined time period d, the start time is pre-designated as the moment when the motor speed begins to change, and the end time is pre-designated as the moment when the jaw assembly 10 is fully closed. Specifically, as shown in FIG2 , for tissue a, the first predetermined time period d starts at the moment when the motor speed corresponding to motor stroke r1a begins to change, and ends at the moment when the jaw assembly 10 is fully closed, corresponding to stroke r4a. For tissue b, the first predetermined time period d starts at the moment when the motor speed corresponding to motor stroke r1b begins to change, and ends at the moment when the jaw assembly 10 is fully closed, corresponding to stroke r4b.

[0182] As another alternative to the first predetermined time period d, the start time is pre-designated as the moment when the motor's speed begins to change, and the end time is pre-selected as the moment when the motor reaches the second predetermined range r3. Specifically, as shown in Figure 2, for tissue a, the first predetermined time period d starts at the moment when the motor's speed begins to change, corresponding to the motor's range r1a, and ends at the moment corresponding to the second predetermined range r3. For tissue b, the first predetermined time period d starts at the moment when the motor's speed begins to change, corresponding to the motor's range r1b, and ends at the moment corresponding to the second predetermined range r3.

[0183] Optionally, the motor speed may be continuously collected within the first predetermined period d to calculate the average speed; or, the motor speed may be collected at multiple points at regular time intervals within the first predetermined period to calculate the average speed.

[0184] It is understandable that the rotation speed of the motor in the entire pressing period can be collected, and the average value of the collected rotation speed of the motor in the entire pressing period can be calculated to obtain the average rotation speed value of the motor in the entire pressing process.

[0185] In this embodiment, the control method of the electric stapler 1 specifically includes the following steps:

[0186] Step S500: dividing the preset tissue thickness into three preset levels: thin, medium, and thick; dividing the preset working parameters into three first preset ranges: slow, medium, and fast; and establishing a one-to-one mapping relationship between the plurality of first preset ranges and the plurality of preset levels: when the first preset range is fast, the preset level is thin; when the first preset range is medium, the preset level is medium; and when the first preset range is slow, the preset level is thick;

[0187] Step S501, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0188] Step S502: during the squeezing process, obtaining an average value of the motor speed within a first predetermined period of time as a current working parameter;

[0189] Step S503, according to the current working parameter, determining whether the first preset range corresponding to the current working parameter is fast, medium or slow;

[0190] Step S504 , based on the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

[0191] In this technical solution, in step S500, a one-to-one mapping relationship is established between the three preset levels of thin, medium and thick and three first preset ranges divided according to the size of the average speed, so as to be called by the processor in steps S503 and S504.

[0192] In step S503, the current operating parameter (the average value of the motor speed within the first predetermined time period d) obtained in step S502 is compared with the three first preset ranges to determine which of the three first preset ranges, slow, medium, and fast, the current operating parameter belongs to. Then, in step S504, based on the mapping relationship established in step S501, the preset level corresponding to the first preset range determined in step S503 is determined, and the preset level is used as the current tissue thickness. Specifically, when the first preset range corresponding to the current operating parameter obtained is fast, the preset level corresponding to fast (the first preset range) is thin, and the current tissue thickness is determined to be thin; when the first preset range corresponding to the current operating parameter obtained is medium, the preset level corresponding to medium (the first preset range) is medium, and the current tissue thickness is determined to be medium; when the first preset range corresponding to the current operating parameter obtained is slow, the preset level corresponding to slow (the first preset range) is thick, and the current tissue thickness is determined to be thick.

[0193] In an alternative embodiment of this embodiment, while the jaw assembly 10 is compressing tissue, another embodiment of obtaining the motor's operating parameter is to use the average motor voltage over a first predetermined period of time. Thus, the average motor voltage over the first predetermined period of time can be used to determine tissue thickness. Specifically, the lower the average motor voltage during compression, the thicker the tissue; the higher the average motor voltage during compression, the thinner the tissue.

[0194] In an alternative embodiment of this embodiment, while the jaw assembly 10 is compressing tissue, another embodiment of the motor operating parameter obtained is an average value of the motor voltage during a first predetermined period of time. Thus, the average value of the motor voltage during the first predetermined period of time can be used to determine tissue thickness. Specifically, the lower the average value of the motor voltage during compression, the thicker the tissue; the higher the average value of the motor voltage during compression, the thinner the tissue.

[0195] Similar to the current scheme, the start time of the first predetermined period e is the moment when the voltage of the motor begins to change relative to the initial value U0, or the start time of the first predetermined period e is the moment when the motor rotates to the first predetermined stroke.

[0196] The end time of the first predetermined period e is the moment when the jaw assembly 10 is fully closed, or the end time of the first predetermined period e is the moment when the motor rotates to the second predetermined stroke.

[0197] For tissues of any thickness, the jaw assembly 10 is in contact with the tissue when the motor is in either the first predetermined stroke or the second predetermined stroke, with the second predetermined stroke occurring after the first predetermined stroke. In other words, both the first predetermined stroke and the second predetermined stroke are within the range of travel within which the jaw assembly 10 can contact tissues of any thickness, with the first predetermined stroke occurring earlier than the second predetermined stroke.

[0198] During the squeezing process, when the jaw assembly 10 begins to touch the tissue, the voltage begins to change slightly relative to the initial value U0, that is, the voltage changes but not significantly; then the jaw assembly 10 continues to close so as to make closer contact with the tissue, and the voltage change begins to become obvious; as the jaw assembly 10 continues to close, the voltage continues to change; until it is fully closed and the squeezing is completed, the voltage returns to zero and the motor stops.

[0199] In this process, as a selection scheme for the starting time of the first predetermined period e, the starting time of the first predetermined period e can be the time when the voltage begins to change. Specifically, the voltage value of the jaw assembly 10 during the entire process of squeezing the tissue can be collected, and then the time when the voltage begins to change can be determined and defined as the starting time of the first predetermined period e.

[0200] It should be noted that the start time of the first predetermined period e determined by this scheme varies for different tissues. As shown in Figure 3, Ua shows the curve of the motor voltage varying with stroke when compressing tissue a, and Ub shows the curve of the motor voltage varying with stroke when compressing tissue b. Tissue a is thicker than tissue b, so the stroke r1a corresponding to the start time of the first predetermined period e for tissue a is different from the stroke r1b corresponding to the start time of the first predetermined period e for tissue b.

[0201] Alternatively, as another option for selecting the start time of the first predetermined period e, the time corresponding to the universal first predetermined stroke r2 can be designated as the start time of the first predetermined period e. The first predetermined stroke r2 needs to be configured so that the motor can contact tissue of any thickness. Specifically, as shown in FIG3 , the first predetermined stroke r2 needs to be configured to be later than both stroke r1a and stroke r1b, so that when squeezing tissue a or tissue b, the jaw assembly 10 can contact both tissue a and tissue b at the pre-designated first predetermined stroke r2. Furthermore, the start time of the first predetermined period e is as late as possible from stroke r1b by a certain stroke interval, thereby ensuring that at the start time of the first predetermined period e, the jaw assembly 10 can fully contact tissue of any thickness.

[0202] By adopting this scheme of defining the moment corresponding to the first predetermined stroke r2 as the starting moment of the first predetermined period e, there is no need to collect the voltage of the motor during the entire pressing process, nor is there any need to judge the moment when the voltage changes. It can also avoid the interval where the voltage change is not obvious. Therefore, this scheme for selecting the starting moment of the first predetermined period e is simple and easy, and is conducive to more accurate calculation of the average voltage value.

[0203] As one option for selecting the end time of the first predetermined period e, the end time of the first predetermined period e is configured as the moment when the jaw assembly 10 is fully closed. The moment when the jaw assembly 10 is fully closed can be configured as the moment when the motor stops during the pressing process. Specifically, as shown in Figure 3, for tissue a, the end time of the first predetermined period e is the moment corresponding to motor travel r4a; for tissue b, the end time of the first predetermined period e is the moment corresponding to motor travel r4b.

[0204] Alternatively, as another option for determining the end time of the first predetermined period e, the end time of the first predetermined period e is when the motor rotates to the second predetermined stroke r3. Specifically, the moment corresponding to the universal second predetermined stroke r3 can be designated as the end time of the first predetermined period e. Since the jaw assembly 10 is in contact with tissue when the motor is in any stroke range from the first predetermined stroke r2 to motor shutdown, a second predetermined stroke r3 is pre-set within this stroke range to ensure that the jaw assembly 10 is in contact with tissue at the end time of the first predetermined period e and within the first predetermined period e determined by the second predetermined stroke r3.

[0205] As shown in Figure 3, as an optional method for selecting the first predetermined time period e, the start time is pre-designated as the time corresponding to the first predetermined trip r2, and the end time is pre-designated as the time corresponding to the second predetermined trip r3. The time period between the first predetermined trip r2 and the second predetermined trip r3 is then used as the first predetermined time period e. Thus, the first predetermined time period e is the same for both organizations a and b.

[0206] As an alternative way to select the first predetermined time period e, the start time is pre-designated as the time corresponding to the first predetermined stroke r2, and the end time is pre-designated as the time when the jaw assembly 10 is fully closed. Thus, for tissue a, the first predetermined time period e is the time period between the first predetermined stroke r2 and the motor stroke r4a (when the jaw assembly 10 is fully closed); for tissue b, the first predetermined time period e is the time period between the first predetermined stroke r2 and the motor stroke r4b (when the jaw assembly 10 is fully closed).

[0207] As another alternative to the first predetermined period e, the start time is pre-designated as the moment when the motor voltage begins to change, and the end time is pre-designated as the moment when the jaw assembly 10 is fully closed. Specifically, as shown in FIG3 , for tissue a, the first predetermined period e starts at the moment when the motor voltage begins to change corresponding to motor stroke r1a, and ends at the moment when the jaw assembly 10 is fully closed corresponding to stroke r4a. For tissue b, the first predetermined period e starts at the moment when the motor voltage begins to change corresponding to motor stroke r1b, and ends at the moment when the jaw assembly 10 is fully closed corresponding to stroke r4b.

[0208] As another alternative to the first predetermined period e, the start time is pre-designated as the moment when the motor voltage begins to change, and the end time is pre-selected as the moment when the motor rotates to the second predetermined range r3. Specifically, as shown in Figure 3, for tissue a, the first predetermined period e starts at the moment when the motor voltage begins to change corresponding to motor range r1a, and ends at the moment corresponding to the second predetermined range r3. For tissue b, the first predetermined period e starts at the moment when the motor voltage begins to change corresponding to motor range r1b, and ends at the moment corresponding to the second predetermined range r3.

[0209] Optionally, the voltage of the motor may be continuously collected during the first predetermined period e to calculate the voltage average value; or, the voltage of the motor may be collected at multiple points at regular time intervals during the first predetermined period to calculate the voltage average value.

[0210] It is understandable that the voltage of the motor in the entire pressing period can be collected, and the average value of the collected voltage of the motor in the entire pressing period can be calculated to obtain the average voltage value of the motor in the entire pressing process.

[0211] In this embodiment, the control method of the electric stapler 1 specifically includes the following steps:

[0212] Step S600: dividing the preset tissue thickness into three preset levels: thin, medium, and thick; taking the average voltage of the motor within the first predetermined period as the current operating parameter, dividing the preset operating parameter into three first preset ranges: low voltage, medium voltage, and high voltage; and establishing a one-to-one mapping relationship between the plurality of first preset ranges and the plurality of preset levels: when the first preset range is high voltage, the preset level is thin; when the first preset range is medium voltage, the preset level is medium; and when the first preset range is low voltage, the preset level is thick;

[0213] Step S601, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0214] Step S602, during the squeezing process, obtaining an average voltage value of the motor in a first predetermined period of time as a current working parameter;

[0215] Step S603, determining, based on the current operating parameters, whether the first preset range corresponding to the current operating parameters is low pressure, medium pressure, or high pressure;

[0216] Step S604 , based on the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

[0217] In this technical solution, in step S600, a one-to-one mapping relationship is established between the three preset levels of thin, medium and thick and three first preset ranges divided according to the size of the voltage average value, so as to be called by the processor in steps S603 and S604.

[0218] In step S603, the current operating parameter (the average value of the motor voltage within the first predetermined period e) obtained in step S602 is compared with the three first preset ranges to determine whether the current operating parameter belongs to the three first preset ranges of low pressure, medium pressure, or high pressure. Then, in step S604, based on the mapping relationship established in step S601, the preset level corresponding to the first preset range determined in step S603 is determined, and the preset level is used as the current tissue thickness. Specifically, when the first preset range corresponding to the current operating parameter obtained is high pressure, the preset level corresponding to the high pressure (first preset range) is thin, and the current tissue thickness can be determined to be thin; when the first preset range corresponding to the current operating parameter obtained is medium pressure, the preset level corresponding to the medium pressure (first preset range) is medium, and the current tissue thickness is determined to be medium; when the first preset range corresponding to the current operating parameter obtained is low pressure, the preset level corresponding to the low pressure (first preset range) is thick, and the current tissue thickness is determined to be thick.

[0219] In summary, the motor's current, speed, and voltage are all easily and accurately measured, effectively simplifying the parameter acquisition process and facilitating implementation. This scheme of classifying tissue thickness into three levels: thin, medium, and thick provides a simple classification of tissue thickness, and the resulting first preset range of the motor's preset operating parameters is universally applicable to most operating scenarios of the electric stapler 1.

[0220] Alternatively, the current of the motor can be detected by a current sensor electrically connected to the motor, thereby obtaining the current of the motor. Alternatively, the current of the motor can be estimated by the temperature and voltage of the motor.

[0221] Similarly, the voltage of the motor can be detected by a voltage sensor electrically connected to the motor, thereby achieving the purpose of obtaining the voltage of the motor. Alternatively, the voltage of the motor can be estimated based on the temperature and current of the motor.

[0222] In an optional solution of this embodiment, during the process of the jaw assembly 10 squeezing the tissue, as another implementation scheme for obtaining the working parameters of the motor, the total stroke experienced by the motor from the first moment to the second moment is obtained as the current working parameter; wherein, the first moment is any moment from the time when the jaw assembly 10 begins to open from the initial state of complete closure to before the jaw assembly 10 contacts tissue with any tissue thickness; the second moment is the moment when the jaw assembly 10 is completely closed.

[0223] In this technical solution, since the jaw assembly 10 is usually in a fully closed initial state before use, during use, it is usually necessary for the motor to first drive the jaw assembly 10 to open from a fully closed state to a fully open state for standby use, operate the electric stapler 1 so that the tissue is located between the nail support 100 of the jaw assembly 10 and the nail magazine assembly, and then drive the jaw assembly 10 to close by the motor to squeeze the tissue.

[0224] Among them, from the moment the jaw assembly 10 begins to close, the amplitude by which the motor drives the jaw assembly 10 to close within a certain range of travel is not sufficient to cause the anvil 100 of the jaw assembly 10 to contact tissue of any thickness.

[0225] For example, as shown in Figures 1 to 3, when the motor stroke is in the stroke range between r0 and r1a, the jaw assembly 10 has not yet contacted tissue of any tissue thickness. Therefore, the first moment is any moment from the moment when the jaw assembly 10 is in the fully closed initial state to the moment before the motor rotates to the stroke r1a.

[0226] Depending on the tissue thickness, the motor stroke corresponding to the moment the jaw assembly 10 begins to close remains the same, while the motor stroke corresponding to the moment the jaw assembly 10 fully closes is different. In other words, the total stroke from the first moment to the second moment varies depending on the tissue thickness. Therefore, the tissue thickness can be determined based on the total motor stroke. Specifically, the greater the total stroke from the first moment to the second moment, the thicker the tissue; the smaller the total stroke from the first moment to the second moment, the thinner the tissue.

[0227] The motor stroke is easy to measure accurately, which effectively simplifies the parameter acquisition steps and facilitates implementation.

[0228] Taking any one of Figures 1 to 3 as an example, for tissue a, from the first moment to the second moment, the motor rotates from the stroke r0 to the stroke r4a, and the total stroke of the motor is equal to the difference between r4a and r0; for tissue b, from the first moment to the second moment, the motor rotates from the stroke r0 to the stroke r4b, and the total stroke of the motor is equal to the difference between r4b and r0.

[0229] Optionally, the stroke of the motor can be measured by an encoder electrically connected to the motor.

[0230] In this embodiment, the control method of the electric stapler 1 includes the following steps:

[0231] Step S700: dividing the preset tissue thickness into three preset levels: thin, medium, and thick; dividing the preset working parameter into three first preset ranges: short, medium, and long; and establishing a one-to-one mapping relationship between the plurality of first preset ranges and the plurality of preset levels: when the first preset range is short, the preset level is thin; when the first preset range is medium, the preset level is medium; when the first preset range is long, the preset level is thick;

[0232] Step S701, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0233] Step S702: During the squeezing process, the total stroke of the motor from the first moment to the second moment is obtained as the current working parameter;

[0234] Step S703, determining, based on the current working parameter, whether the first preset range corresponding to the current working parameter is short, medium, or long;

[0235] Step S704 , based on the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

[0236] In this technical solution, in step S700, a one-to-one mapping relationship is established between the three preset levels of thin, medium and thick and three first preset ranges divided according to the length of the total stroke from the first moment to the second moment, so as to be called by the processor in steps S703 and S704.

[0237] In step S703, the current operating parameter (the total stroke of the motor from the first moment to the second moment) obtained in step S702 is compared with the three first preset ranges to determine which of the three first preset ranges, short, medium, and long, the current operating parameter belongs to. Then, in step S704, based on the mapping relationship established in step S701, the preset level corresponding to the first preset range determined in step S703 is determined to determine the current tissue thickness. Specifically, when the first preset range corresponding to the current operating parameter obtained is short, the preset level corresponding to short (first preset range) is thin, and the current tissue thickness is determined to be thin; when the first preset range corresponding to the current operating parameter obtained is medium, the preset level corresponding to medium (first preset range) is medium, and the current tissue thickness is determined to be medium; when the first preset range corresponding to the current operating parameter obtained is long, the preset level corresponding to long (first preset range) is thick, and the current tissue thickness is determined to be thick.

[0238] In an optional solution of this embodiment, in order to simplify the preset difficulty of the first moment, the first moment is the moment when the jaw assembly 10 begins to open, or the first moment is the moment when the jaw assembly 10 begins to close.

[0239] Furthermore, in order to simplify the difficulty of judging the second moment, the moment when the jaw assembly 10 is fully closed is the moment when the motor-driven transmission assembly triggers the travel switch 13 .

[0240] In another specific example, when the jaw assembly 10 of the electric stapler 1 is fully open, the motor encoder count value (stroke) is set to 1000. After the jaw assembly 10 is controlled to close, the encoder count value is accumulated and updated in real time. When the travel switch 13 is triggered by the slider 14, the jaw assembly 10 is fully closed. The motor encoder count value at this time is recorded, and the motor encoder count value or the difference between the motor encoder count value and 1000 is calculated as the current working parameter. It is determined whether the first preset range to which the current working parameter belongs is short, medium, or long. Based on the mapping relationship between the multiple first preset ranges and the multiple preset levels, it is determined whether the preset level corresponding to the first preset range is thin, medium, or thick, which is used as the current tissue thickness.

[0241] In an optional solution of this embodiment, controlling the motor to fire the cutting knife at the current rotation speed to cut tissue includes the following steps: controlling the motor to continue rotating for a fourth predetermined stroke after the jaw assembly 10 is fully closed, and then firing the cutting knife to cut tissue.

[0242] In this technical solution, after the electric stapler 1 completes squeezing of the tissue, it is still necessary to staple and cut the tissue. In order to cut the tissue, the cutting knife needs to be fired.

[0243] During the process of the electric stapler 1 squeezing tissue, when the motor drives the jaw assembly 10 to close through the sleeve 11, the resistance to the forward movement of the sleeve 11 is large, and the connecting rod 15 will deform in the process of transmitting the power of the motor to the slider 14, thereby causing the forward stroke of the slider 14 to become smaller, and the moment when the travel switch 13 is triggered by the slider 14 is delayed, resulting in the total stroke of the motor during the squeezing process being extended.

[0244] In view of this, the timing of controlling the motor to fire the cutting knife is configured to continue rotating for the fourth predetermined stroke after the jaw assembly is closed to the bottom, so that from the moment the travel switch 13 is triggered by the slider 14, the motor needs to go through the fourth predetermined stroke to drive the cutting knife to fire, so that there is enough time difference between the moment the jaw assembly 10 is closed to the bottom and the moment the cutting knife is fired, delaying the firing timing of the cutting knife, avoiding the cutting knife being accidentally fired in advance due to the extension of the total stroke of the motor during the squeezing process, ensuring that tissue cutting is carried out after the squeezing is completed, and improving the safety of use.

[0245] In an optional solution of this embodiment, the control method of the electric stapler 1 specifically includes the following steps:

[0246] Step S800, establishing a mapping relationship between the preset working parameters of the motor and the preset tissue thickness, and establishing a mapping relationship between the preset tissue thickness and the preset staple cartridge model;

[0247] Step S801, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0248] Step S802, during the squeezing process, obtaining the current working parameters of the motor;

[0249] Step S803, determining the current tissue thickness according to the obtained current operating parameters based on the mapping relationship between the preset operating parameters of the motor and the preset tissue thickness;

[0250] Step S804 , determining a target staple cartridge model according to the current tissue thickness based on a mapping relationship between a preset tissue thickness and a preset staple cartridge model.

[0251] In this technical solution, the obtained tissue thickness is applied to the anastomosis stage. Different tissue thicknesses require different nail magazine models to match the anastomosed tissue. Therefore, the target nail magazine model that matches the current tissue thickness can be selected, and a reference can be provided to the operator of the electric stapler 1 through voice reminders or screen reminders.

[0252] In this embodiment, the control method of the electric stapler 1 specifically includes the following steps:

[0253] Step S900: dividing the preset operating parameters of the motor into a plurality of first preset ranges, dividing the preset tissue thickness into a plurality of preset levels, establishing a one-to-one mapping relationship between the plurality of first preset ranges and the plurality of preset levels, dividing the plurality of staple cartridge models into a plurality of preset groups, and establishing a one-to-one mapping relationship between the plurality of preset groups and the plurality of preset levels;

[0254] Step S901, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0255] Step S902, during the squeezing process, obtaining the current working parameters of the motor;

[0256] Step S903, determining the current tissue thickness according to the obtained current operating parameters based on the mapping relationship between the preset operating parameters of the motor and the preset tissue thickness;

[0257] Step S904 , determining a target staple cartridge model according to the current tissue thickness based on a mapping relationship between a preset tissue thickness and a preset staple cartridge model.

[0258] In this technical solution, tissue thickness levels can be divided according to the preset groups of stapler models included in the electric stapler 1. For example, a solution that divides tissue thickness into three preset levels: thin, medium, and thick, can be applied to an electric stapler 1 with three different preset groups of stapler models. Furthermore, if the electric stapler 1 includes more preset groups of stapler models, tissue thickness can be divided into more and more detailed preset levels accordingly.

[0259] Among them, each preset group includes at least one nail magazine model. When the preset group includes multiple nail magazine models, the operator of the electric stapler 1 can select a suitable target nail magazine model in the preset group based on experience, thereby improving the flexibility of using the target nail magazine model and the matching degree with the current tissue thickness.

[0260] In an optional solution of this embodiment, the control method of the electric stapler 1 specifically includes the following steps:

[0261] Step S1001, establishing a mapping relationship between the preset working parameters of the motor and the preset tissue thickness, and establishing a mapping relationship between the preset tissue thickness and the preset speed of the motor-driven cutting blade;

[0262] Step S1002, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0263] Step S1003, during the squeezing process, obtaining the current working parameters of the motor;

[0264] Step S1004, determining the current tissue thickness according to the mapping relationship between the preset working parameters of the motor and the preset tissue thickness and the acquired current working parameters;

[0265] Step S1005, based on the mapping relationship between the preset tissue thickness and the preset speed of the motor-driven cutting knife, according to the current tissue thickness, the target speed of the motor-driven cutting knife is determined, and the motor is controlled to trigger the cutting knife to cut the tissue at the target speed.

[0266] In this technical solution, the acquired tissue thickness is applied to the cutting stage. Since the thicker the tissue, the greater the resistance to the cutting knife's feeding, and conversely, the thinner the tissue, the smaller the resistance to the cutting knife's feeding, the target speed of the motor is adjusted according to the current tissue thickness. When the cutting knife cuts tissues with different tissue thicknesses, even when facing different resistances, the cutting knife can cut tissues with different tissue thicknesses at a consistent feed speed.

[0267] In this embodiment, the control method of the electric stapler 1 specifically includes the following steps:

[0268] Step S1101: dividing the preset operating parameters of the motor into a plurality of first preset ranges, dividing the preset tissue thickness into a plurality of preset levels, establishing a one-to-one mapping relationship between the plurality of first preset ranges and the plurality of preset levels, dividing the preset speed of the motor-driven cutting blade into a plurality of second preset ranges, and establishing a one-to-one mapping relationship between the plurality of second preset ranges and the plurality of preset levels;

[0269] Step S1102, controlling the motor to drive the jaw assembly 10 to squeeze the tissue;

[0270] Step S1103, during the squeezing process, obtaining the current working parameters of the motor;

[0271] Step S1104, establishing a one-to-one mapping relationship between the plurality of first preset ranges and the plurality of preset levels, and determining the current tissue thickness according to the acquired current working parameters;

[0272] In step S1105, a one-to-one mapping relationship is established between multiple second preset ranges and multiple preset levels. According to the preset level of the current tissue thickness, the second preset range corresponding to the preset level of the current tissue thickness is determined as the target speed of the motor-driven cutting knife, and the motor is controlled to fire the cutting knife at the target speed to cut the tissue.

[0273] In this technical solution, in step S1101, the preset speed of the motor-driven cutting knife is divided into multiple second preset ranges, and a one-to-one mapping relationship is established between the multiple second preset ranges and the multiple preset levels, which can simplify the mapping relationship between the preset tissue thickness and the preset speed of the motor-driven cutting knife.

[0274] This simplifies the amount of calculation required by the processor to determine the target speed of the motor and adjust the target speed of the motor in step S1105 .

[0275] In a specific example, tissue thickness is divided into three preset levels: thin, medium, and thick, and the preset speed of the motor-driven cutting blade is divided into three second preset ranges: a slower speed, a normal speed, and a faster speed. When the current tissue thickness is determined to be thin, the target speed of the motor is determined to be a slower speed; when the current tissue thickness is determined to be medium, the target speed of the motor is determined to be a normal speed; and when the current tissue thickness is determined to be thick, the target speed of the motor is determined to be a faster speed.

[0276] Furthermore, when the second preset range is a slower speed, the preset speed of the motor is 50% of the rated speed; when the second preset range is a normal speed, the preset speed of the motor is 75% of the rated speed; when the second preset range is a faster speed, the preset speed of the motor is the rated speed.

[0277] An embodiment of the present disclosure also provides an electric stapler, which includes the electric stapler control method in the above embodiment. The technical features of the electric stapler control method disclosed in the above embodiment are also applicable to this embodiment, and the technical features of the electric stapler control method disclosed in the above embodiment will not be described again.

[0278] 1 to 3 and referring to FIG4 to 8 , the electric stapler 1 provided in this embodiment includes a processor, a jaw assembly 10 and a motor; the processor includes a sampling module, a motor drive module and a control module, and the sampling module and the motor drive module are electrically connected to the control module; the control module controls the motor-driven jaw assembly 10 through the motor drive module to squeeze the tissue; during the squeezing process, the sampling module can obtain the current working parameters of the motor; the control module can determine the current tissue thickness based on the current working parameters.

[0279] In this technical solution, as shown in FIG8 , the processor cooperates with the sampling module, the motor drive module and the control module to execute the control method of the electric stapler 1 , thereby enabling the electric stapler 1 to obtain the current tissue thickness during the squeezing process.

[0280] In an optional solution of this embodiment, the jaw assembly 10 can be adapted to accommodate nail magazines of various models; the control module determines the target nail magazine model according to the current tissue thickness.

[0281] In this technical solution, the processor can obtain the current tissue thickness through the control module and apply it to determine the target nail magazine model. The user can replace the current nail magazine model with this target nail magazine model and install the nail magazine assembly of the target nail magazine model into the nail magazine seat 101, so that the electric stapler 1 can anastomose the tissue with the appropriate target nail magazine model during the anastomosis stage, which can better anastomose the tissue and improve the quality of tissue anastomosis.

[0282] In an optional solution of this embodiment, the electric stapler 1 further includes a cutting knife. The control module determines the target rotation speed of the motor-driven cutting knife according to the current tissue thickness, and controls the motor to fire the cutting knife at the target rotation speed to cut the tissue.

[0283] In this technical solution, the processor can obtain the current tissue thickness through the control module and apply it to determine the target speed of the motor-driven cutting knife, so that the electric stapler 1 can fire the cutting knife at a suitable target speed during the cutting stage, which can better cut the tissue and improve the cutting quality of the tissue.

[0284] The electric stapler in this embodiment has the advantages of the electric stapler control method in the above embodiment. The advantages of the electric stapler control method disclosed in the above embodiment will not be repeated here.

[0285] An embodiment of the present disclosure also provides an electric stapler, which executes the electric stapler control method in the above embodiment. The technical features of the electric stapler control method disclosed in the above embodiment are also applicable to this embodiment, and the technical features of the electric stapler control method disclosed in the above embodiment will not be repeated.

[0286] 1 to 3 and referring to FIG. 4 to 8 , the electric stapler 1 provided in this embodiment includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, the above-mentioned electric stapler control method is implemented.

[0287] In this technical solution, the program can be stored in a memory obtained, for example, from a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above based on one or more electrical connections. When the program corresponding to the electric stapler control method in the memory is read or executed by the processor, the electric stapler control method can be implemented.

[0288] The electric stapler in this embodiment has the advantages of the electric stapler control method in the above embodiment. The advantages of the electric stapler control method disclosed in the above embodiment will not be repeated here.

[0289] It should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0290] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present disclosure. They are not intended to limit the scope of protection of the present disclosure. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method for controlling an electric stapler, wherein: The electric stapler comprises a jaw assembly and a motor arranged at the proximal end of the electric stapler; The electric stapler control method comprises: Controlling the motor to drive the jaw assembly to squeeze the tissue; During the process of squeezing the tissue, obtaining current working parameters of the motor; The current tissue thickness is determined according to the current working parameters.

2. The electric stapler control method according to claim 1, wherein: Before controlling the motor to drive the jaw assembly to compress the tissue, the electric stapler control method further includes: Establishing a mapping relationship between the preset working parameters of the motor and the preset tissue thickness; Determining the current tissue thickness according to the current working parameters includes: According to the mapping relationship between the preset working parameters of the motor and the preset tissue thickness, the current tissue thickness is determined according to the acquired current working parameters.

3. The electric stapler control method according to claim 2, wherein: Establishing a mapping relationship between the preset working parameters of the motor and the preset tissue thickness includes: Dividing the preset working parameters of the motor into a plurality of first preset ranges, dividing the preset tissue thickness into a plurality of preset levels, and establishing a one-to-one corresponding mapping relationship between the plurality of first preset ranges and the plurality of preset levels; The determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness includes: Determining, according to the current operating parameter, the first preset range corresponding to the current operating parameter; According to the mapping relationship established between the plurality of the first preset ranges and the plurality of the preset levels, the corresponding preset level is determined according to the determined first preset range and is used as the current tissue thickness.

4. The electric stapler control method according to claim 3, wherein: The obtaining of the current operating parameters of the motor includes: An average current value, an average speed value or an average voltage value of the motor in a first predetermined time period is obtained as the current operating parameter.

5. The electric stapler control method according to claim 4, wherein: The start time of the first predetermined period is the time when the current, speed or voltage of the motor starts to change relative to the initial value, or the start time of the first predetermined period is the time when the motor rotates to the first predetermined stroke; The end time of the first predetermined period is the time when the jaw assembly is fully closed, or the end time of the first predetermined period is the time when the motor rotates to the second predetermined stroke; When the motor is in the first predetermined stroke or the second predetermined stroke, the jaw assembly is in contact with the tissue, and the second predetermined stroke is located after the first predetermined stroke.

6. The electric stapler control method according to claim 4, wherein: The preset tissue thickness is divided into three preset levels: thin, medium and thick; wherein, When the average current of the motor in the first predetermined period is taken as the current operating parameter, the preset operating parameter is divided into three first preset ranges of less than 1.5A, 1.5A-1.7A and greater than 1.7A; The one-to-one mapping relationship between the first preset ranges and the preset levels is: When the first preset range is less than 1.5A, the preset level is thin; When the first preset range is 1.5A-1.7A, the preset level is medium; When the first preset range is greater than 1.7A, the preset level is thick; The determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness includes: According to the current operating parameter, determining that the first preset range corresponding to the current operating parameter is less than 1.5A, falls within 1.5A-1.7A, or is greater than 1.7A; According to the mapping relationship established between the first preset ranges and the preset levels, Determining the corresponding preset level as thin, medium or thick according to the determined first preset range, and using it as the current tissue thickness; or, When the average value of the rotation speed of the motor in the first predetermined period is taken as the current working parameter, the preset working parameter is divided into three first preset ranges of slow speed, medium speed and fast speed; A one-to-one mapping relationship is established between the first preset ranges and the preset levels: When the first preset range is fast, the preset level is thin; When the first preset range is medium speed, the preset level is medium; When the first preset range is slow, the preset level is thick; The determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness includes: According to the current working parameter, determining that the first preset range corresponding to the current working parameter is fast, medium or slow; According to the mapping relationship established between the plurality of first preset ranges and the plurality of preset levels, the corresponding preset level is determined to be thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness; or, When the average voltage of the motor in the first predetermined period is taken as the current working parameter, the preset working parameter is divided into three first preset ranges of low voltage, medium voltage and high voltage; A one-to-one mapping relationship is established between the first preset ranges and the preset levels: When the first preset range is high pressure, the preset level is thin; When the first preset range is medium pressure, the preset level is medium; When the first preset range is low pressure, the preset level is thick; The determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness includes: According to the current working parameter, determining that the first preset range corresponding to the current working parameter is low pressure, medium pressure or high pressure; According to the mapping relationship established between the plurality of the first preset ranges and the plurality of the preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

7. The electric stapler control method according to claim 3, wherein: The obtaining of the current operating parameters of the motor includes: The total stroke of the motor from the first moment to the second moment is obtained as the current working parameter; wherein, The first moment is any moment from when the jaw assembly is in a fully closed initial state to before the jaw assembly contacts the tissue; The second moment is the moment when the jaw assembly is fully closed.

8. The electric stapler control method according to claim 7, wherein: Dividing the preset tissue thickness into three preset levels: thin, medium and thick; Dividing the preset working parameters into three first preset ranges of short, medium and long; A one-to-one mapping relationship is established between the first preset ranges and the preset levels: When the first preset range is short, the preset level is thin; When the first preset range is medium, the preset level is medium; When the first preset range is long, the preset level is thick; The determining the current tissue thickness according to the obtained current working parameters based on the mapping relationship between the preset working parameters of the motor and the preset tissue thickness includes: According to the current working parameter, determining that the first preset range corresponding to the current working parameter is short, medium or long; According to the mapping relationship established between the plurality of the first preset ranges and the plurality of the preset levels, the corresponding preset level is determined as thin, medium or thick according to the determined first preset range, and is used as the current tissue thickness.

9. The electric stapler control method according to claim 7, wherein: The electric stapler also includes a transmission assembly and a travel switch. The transmission assembly drives the jaw assembly to move; the moment when the jaw assembly is fully closed is the moment when the motor drives the transmission assembly to trigger the travel switch.

10. The electric stapler control method according to claim 3, wherein: The jaw assembly is configured to be capable of loading a plurality of staple cartridge types of staple cartridge assemblies. Before controlling the motor to drive the jaw assembly to compress the tissue, the electric stapler control method further includes: Establishing a mapping relationship between the preset tissue thickness and the preset staple cartridge model; After determining the current tissue thickness according to the current working parameters, the electric stapler control method further includes: According to the mapping relationship between the preset tissue thickness and the preset nail magazine model, the target nail magazine model is determined according to the current tissue thickness.

11. The electric stapler control method according to claim 10, wherein: The establishing of a mapping relationship between the preset tissue thickness and the preset staple cartridge model includes: The plurality of nail magazine models are divided into a plurality of preset groups, and a one-to-one mapping relationship is established between the plurality of preset groups and the plurality of preset levels.

12. The electric stapler control method according to claim 3, wherein: The electric stapler further includes a cutting knife. Before controlling the motor to drive the jaw assembly to squeeze the tissue, the electric stapler control method further includes: Establishing a mapping relationship between the preset tissue thickness and the preset speed at which the motor drives the cutting blade; After determining the current tissue thickness according to the current working parameters, the electric stapler control method further includes: Based on the mapping relationship between the preset tissue thickness and the preset speed of the motor driving the cutting knife, and according to the current tissue thickness, the target rotation speed of the motor driving the cutting knife is determined, and the motor is controlled to fire the cutting knife at the target rotation speed to cut the tissue.

13. The electric stapler control method according to claim 12, wherein: Establishing a mapping relationship between a preset speed at which the motor drives the cutting knife and the preset tissue thickness includes: Dividing the preset speed of the motor driving the cutting blade into a plurality of second preset ranges, and establishing a one-to-one mapping relationship between the plurality of second preset ranges and the plurality of preset levels; The method of determining a target rotation speed of the motor to drive the cutting knife according to the mapping relationship between the preset tissue thickness and the preset speed of the motor to drive the cutting knife according to the current tissue thickness, and controlling the motor to fire the cutting knife at the target rotation speed to cut the tissue comprises: A one-to-one mapping relationship is established between the multiple second preset ranges and the multiple preset levels, and according to the preset level of the current tissue thickness, the second preset range corresponding to the preset level of the current tissue thickness is determined as the target speed of the motor driving the cutting knife, and the motor is controlled to fire the cutting knife at the target speed to cut the tissue.

14. An electric stapler, comprising a processor, a jaw assembly, and a motor disposed at the proximal end of the electric stapler; in, The processor comprises a sampling module, a motor driving module and a control module, wherein the sampling module and the motor driving module are both electrically connected to the control module; The control module is configured to control the motor to drive the jaw assembly to squeeze the tissue through the motor drive module; The sampling module is configured to obtain current operating parameters of the motor during the process of squeezing the tissue; The control module is configured to determine a current tissue thickness based on the current working parameters.

15. The electric stapler according to claim 14, wherein: The jaw assembly is configured to be adaptable to nail magazines of various nail magazine models; The control module is configured to determine a target staple cartridge model according to the current tissue thickness; And / or, the electric stapler also includes a cutting knife, and the control module is configured to determine a target rotational speed of the motor to drive the cutting knife according to the current tissue thickness, and control the motor to fire the cutting knife at the target rotational speed to cut the tissue.

16. An electric stapler, comprising a memory, a processor, and a program stored in the memory and running on the processor, wherein: When the processor executes the program, the electric motor according to any one of claims 1 to 13 is realized. Stapler control method.

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