Electric motor control circuit and surgical instrument

Abstract

The present disclosure relates to an electric motor control circuit and a surgical instrument. The electric motor control circuit comprises a cutting control circuit and a driving circuit; the cutting control circuit comprises a first control circuit and a second control circuit, wherein the first control circuit is configured to output a percussion signal on the basis of a grounding signal and a power supply signal, and the second control circuit is configured to output a knife returning signal on the basis of the grounding signal and the power supply signal; and the driving circuit is configured to generate a first driving signal to drive an electric motor to rotate in a first direction under the condition that the percussion signal has a first level and the knife returning signal has a second level, and generate a second driving signal to drive the electric motor to rotate in a second direction under the condition that the percussion signal has a second level and the knife returning signal has a first level. The present disclosure is not limited by a mechanical structure, can control forward and reverse rotation of the electric motor through the rapid response of the cutting control circuit and the driving circuit, and therefore satisfies the rotation requirement for the electric motor.

Description

Motor control circuit and surgical instrument

[0001] This application claims priority to Chinese patent application No. 202311197685.9 filed on September 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 application. Technical Field

[0002] The present disclosure relates to a motor control circuit and a surgical instrument. Background Art

[0003] With the rapid development of circuit technology, more and more surgical instruments are replacing manual labor. For example, staplers can replace manual suturing during surgery. They work by using titanium staples to separate or staple tissue, similar to a stapler, firing and inserting staggered staples into the tissue to create a cross-stitch suture.

[0004] Summary of the Invention

[0005] The present disclosure aims to provide a motor control circuit and a surgical instrument, which are not restricted by mechanical structure and can quickly respond to realize forward and reverse rotation of the motor.

[0006] To solve the above technical problems, the present disclosure is implemented through the following technical solutions:

[0007] A motor control circuit is applied to surgical instruments, wherein the motor control circuit includes a cutting control circuit and a driving circuit; wherein,

[0008] The cutting control circuit includes a first control circuit and a second control circuit, wherein the first control circuit is connected to a ground terminal, a power signal terminal, and the driving circuit respectively, and outputs a cutter return signal to the driving circuit according to a ground signal of the ground terminal and a power signal of the power signal terminal, and the second control circuit is connected to the ground terminal, the power signal terminal, and the driving circuit respectively, and outputs a firing signal to the driving circuit according to the ground signal and the power signal;

[0009] When the firing signal has a first level and the knife-return signal has a second level, the driving circuit generates a first driving signal to drive the motor to rotate in a first direction to drive the executive component of the surgical instrument to move in a forward direction, and when the firing signal has the second level and the knife-return signal has the first level, the driving circuit generates a second driving signal to drive the motor to rotate in a second direction to drive the executive component to move in a backward direction; wherein, the level states of the ground signal and the power supply signal are different, and the first direction is opposite to the second direction.

[0010] Furthermore, the first control circuit includes a first switch module, which is respectively connected to the ground terminal, the power signal terminal, and the drive circuit, and is configured to selectively conduct the paths between the ground terminal, the power signal terminal and the drive circuit respectively; wherein the on-off state of the first switch module is different, and the return knife signal has different levels.

[0011] Furthermore, the first switch module includes:

[0012] an optical coupling unit, connected to the ground terminal and the power signal terminal respectively, wherein the optical coupling unit is turned on when the light source is not blocked, and is turned off when the light source is blocked;

[0013] A switch control unit is respectively connected to the ground terminal, the power signal terminal, the optocoupler unit, and the drive circuit. The switch control unit is disconnected when the optocoupler unit is in the on state and outputs a return signal with the first level. The switch control unit is turned on when the optocoupler unit is disconnected and outputs a return signal with the second level.

[0014] Furthermore, the first switch module includes a single-pole multi-throw switch, multiple first ends of the single-pole multi-throw switch are respectively connected to the ground end and the power signal end, the second end of the single-pole multi-throw switch is connected to the drive circuit, and the single-pole multi-throw switch selects to conduct the paths between the ground end, the power signal end and the drive circuit respectively.

[0015] Furthermore, the second control circuit includes a second switch module, which is respectively connected to the ground terminal, the power signal terminal, and the drive circuit, and is configured to selectively conduct the paths between the ground terminal, the power signal terminal and the drive circuit respectively; wherein the on-off state of the second switch module is different, and the firing signal has different levels.

[0016] Furthermore, the cutting control circuit also includes an output control circuit, which is respectively connected to the output end of the first control circuit, the output end of the second control circuit, the target signal end, the first input end and the second input end of the driving circuit. When the first control circuit and the second control circuit have no signal output, the output control circuit controls the levels of the first input end and the second input end of the driving circuit to remain consistent according to the target signal of the target signal end; wherein, the target signal end is one of the ground end and the power signal end.

[0017] Furthermore, the output control circuit includes a third resistor and a fourth resistor, wherein the first end of the third resistor is respectively connected to the output end of the first control circuit and the first input end of the drive circuit, the second end of the third resistor is respectively connected to the target signal end and the first end of the fourth resistor, and the second end of the fourth resistor is respectively connected to the output end of the second control circuit and the second input end of the drive circuit; wherein the resistance values ​​of the third resistor and the fourth resistor are the same.

[0018] Furthermore, when the level states of the firing signal and the knife-returning signal are the same, the driving circuit generates a third driving signal to stop the motor.

[0019] The present disclosure also provides a surgical instrument, comprising:

[0020] Device body;

[0021] A circuit board, provided on the device body, including the motor control circuit provided in the above embodiment;

[0022] a motor, disposed on the apparatus body and connected to the motor control circuit;

[0023] An actuator is provided on the instrument body and connected to the motor; when the motor rotates in the first direction, the actuator is driven forward, and when the motor rotates in the second direction, the actuator is driven backward; wherein, the first direction is opposite to the second direction.

[0024] Furthermore, the first switch module in the motor control circuit includes an optical coupling unit and a switch control unit; the optical coupling unit and the switch control unit are arranged on the circuit board; wherein the surgical instrument further includes:

[0025] A transmission assembly, drivingly connected to the execution assembly;

[0026] A sliding assembly, comprising a matching portion and a shielding portion, wherein the sliding assembly is movably disposed on the instrument body;

[0027] When the actuator moves forward to the first preset position, the driving portion of the transmission assembly abuts against the matching portion, driving the sliding assembly to move forward relative to the instrument body, so that the shielding portion moves forward to shield the light source of the optical coupling unit, the optical coupling unit is in an off state, and the switch control unit is in an on state;

[0028] When the actuator moves backward to the second preset position, the driving part of the transmission assembly abuts against the matching part, driving the sliding assembly to move backward relative to the instrument body, so that the shielding part retreats to outside the light-shielding position, the optical coupling unit is in the on state, and the switch control unit is in the off state.

[0029] Furthermore, the sliding assembly includes a sliding body, and the matching part and the shielding part are arranged on the sliding body; the sliding assembly also includes a sliding part arranged on the sliding body; the sliding part is movably arranged in the first groove of the instrument body, and the driving part of the transmission assembly abuts against the matching part to drive the sliding part to move forward or backward in the first groove relative to the instrument body.

[0030] Further, the transmission assembly includes a rack, the rack includes a second groove, a first end portion provided at the proximal end of the second groove, and a second end portion provided at the distal end of the second groove, the driving portion is the first end portion and the second end portion, and the mating portion is a protrusion; when the actuator moves forward to the first preset position, the first end portion abuts against the protrusion to drive the sliding assembly to move forward, and when the actuator moves backward to the second preset position, the second end portion abuts against the protrusion to drive the sliding assembly to move backward.

[0031] Furthermore, in the process of the actuator moving forward and reaching the first preset position, the matching portion slides relatively in the second groove, the shielding portion is outside the light shielding position, the optical coupling unit is in the on state, and the switch control unit is in the off state;

[0032] During the process of the actuator retreating and reaching the second preset position, the mating portion slides relatively in the second groove, the blocking portion blocks the light source of the optical coupling unit, the optical coupling unit is in the disconnected state, and the switch control unit is in the on state.

[0033] Furthermore, the sliding assembly further includes a first extension portion provided on the sliding body, and the surgical instrument further includes:

[0034] The emergency knife return push button includes a second extension portion, the emergency knife return push button is provided with a third groove, the second extension portion is arranged in the fourth groove of the instrument body, and the first extension portion is arranged in the third groove; wherein,

[0035] In response to the emergency return button being operated, the second extension portion moves along the fourth groove and drives the sliding assembly to move through the first extension portion; wherein, when the sliding assembly moves to the light-shielding position, the shielding portion of the sliding assembly blocks the light source of the optical coupling unit, the optical coupling unit is disconnected, and the switch control unit is turned on.

[0036] Furthermore, the surgical instrument further includes a first limiting member provided on the instrument body, and when the sliding assembly is driven by the emergency knife return push button to move to cooperate with the first limiting member, the sliding assembly stops moving.

[0037] Furthermore, the second control circuit in the motor control circuit includes a second switch module, wherein the surgical instrument further includes a firing trigger, and the firing trigger is configured to receive a user operation instruction to control the on-off state of the second switch module; wherein,

[0038] The execution component is configured to move forward under the drive of the motor when the optical coupling unit is in the on state and the second switch module is in the on state;

[0039] The execution component is further configured to move backward under the drive of the motor when the optical coupling unit is in the disconnected state and the second switch module is in the disconnected state;

[0040] The execution component is further configured to stop moving when the optical coupling unit is in the on state and the second switch module is in the off state, or when the optical coupling unit is in the off state and the second switch module is in the on state.

[0041] The above-mentioned motor control circuit and surgical instrument, wherein the motor control circuit includes a cutting control circuit and a driving circuit, the cutting control circuit includes a first control circuit and a second control circuit, the first control circuit can output a knife return signal according to the ground signal of the ground end and the power signal of the power signal end, and the second control circuit can output a firing signal according to the ground signal and the power signal, and the driving circuit can generate different driving signals to drive the motor to rotate in different directions when the firing signal and the knife return signal have different level states, that is, the driving circuit generates a first driving signal to drive the motor to rotate in the first direction when the firing signal has a first level and the knife return signal has a second level, and generates a second driving signal to drive the motor to rotate in the second direction when the firing signal has a second level and the knife return signal has a first level, thereby controlling the level states of the firing signal and the knife return signal through the cutting control circuit, and controlling the level states of the first driving signal and the second driving signal through the driving circuit, that is, the forward and reverse driving control of the motor is realized through the cutting control circuit and the driving circuit, the motor control circuit disclosed in the present invention is relatively simple, highly reliable, and highly sensitive, shortens the motor steering response time, and improves the control performance of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the traditional technology, the following briefly introduces the drawings required for use in the embodiments or the description of the traditional technology. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] FIG1 is a block diagram of a motor control system according to an embodiment;

[0044] FIG2 is a block diagram of a motor control system according to another embodiment;

[0045] FIG3 is a block diagram of a motor control system according to another embodiment;

[0046] FIG4 is a structural block diagram of a motor control circuit according to an embodiment;

[0047] FIG5 is a second structural block diagram of a motor control circuit according to an embodiment;

[0048] FIG6 is a structural block diagram of a first switch module according to an embodiment;

[0049] FIG7 is a second structural block diagram of the first switch module according to an embodiment;

[0050] FIG8 is a third structural block diagram of the first switch module according to an embodiment;

[0051] FIG9 is a third structural block diagram of a motor control circuit according to an embodiment;

[0052] FIG10 is a fourth structural block diagram of a motor control circuit according to an embodiment;

[0053] FIG11 is a fifth structural block diagram of a motor control circuit according to an embodiment;

[0054] FIG12 is a sixth structural block diagram of a motor control circuit according to an embodiment;

[0055] FIG13 is a seventh structural block diagram of a motor control circuit according to an embodiment;

[0056] FIG14 is an eighth structural block diagram of a motor control circuit according to an embodiment;

[0057] FIG15 is a ninth structural block diagram of a motor control circuit according to an embodiment;

[0058] FIG16 is a tenth structural block diagram of a motor control circuit according to an embodiment;

[0059] FIG17 is a partial structural block diagram of a surgical instrument according to an embodiment;

[0060] FIG18 is a schematic structural diagram of a surgical instrument according to an embodiment;

[0061] FIG19 is a schematic diagram of a partial structure of a surgical instrument according to an embodiment;

[0062] FIG20 is a second schematic diagram of a partial structure of a surgical instrument according to an embodiment;

[0063] FIG21 is a schematic structural diagram of a sliding assembly according to an embodiment;

[0064] FIG22 is a second structural diagram of a sliding assembly according to an embodiment;

[0065] FIG23 is a third structural diagram of a sliding assembly according to an embodiment;

[0066] FIG24 is a third schematic diagram of a partial structure of a surgical instrument according to an embodiment;

[0067] FIG25 is a fourth schematic diagram of a partial structure of a surgical instrument according to an embodiment;

[0068] FIG26 is a fifth schematic diagram of a partial structure of a surgical instrument according to an embodiment;

[0069] FIG27 is a schematic structural diagram of a sliding assembly and an emergency knife return push button according to an embodiment;

[0070] FIG28 is a schematic structural diagram of an emergency knife return push button according to an embodiment;

[0071] FIG29 is a sixth schematic diagram of a partial structure of a surgical instrument according to an embodiment;

[0072] FIG30 is a seventh schematic diagram of a partial structure of a surgical instrument according to an embodiment;

[0073] FIG31 is an eighth schematic diagram of a partial structure of a surgical instrument according to an embodiment;

[0074] FIG32 is a ninth schematic diagram of a partial structure of a surgical instrument according to an embodiment.

[0075] Reference numerals:

[0076] 1-motor, 2-motor control circuit, 3-instrument body, 31-first groove, 33-first limiter, 4-circuit board, 5-actuator, 51-gear assembly, 52-rack, 52a-second groove, 52b-first end, 52c-second end, 6-sliding assembly, 61-sliding body, 62-sliding portion, 63-matching portion, 64-shielding portion, 65-first extension portion, 66-groove, 7-emergency return knife push button, 71-second extension portion, 72-third groove Slot, 8-firing trigger, 90-nail support, 91-nail magazine seat, 10-cutting control circuit, 101-rod body assembly, 102-sleeve, 105-core shaft, 106-knife rod, 107-cutting knife, 110-first control circuit, 111-first switch module, 111a-optical coupling unit, 111b-switch control unit, 120-second control circuit, 121-second switch module, 122-self-locking control circuit, 130-output control circuit, 20-drive circuit. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not intended to limit the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present disclosure.

[0078] 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.

[0079] It can be understood that the “connection” in the following embodiments should be understood as “electrical connection”, “communication connection”, etc. if there is transmission of electrical signals or data between the connected circuits, modules, units, etc.

[0080] Some staplers use motors to power their cutting and suturing functions. During use, the motor drives the actuator assembly forward, penetrating tissue to perform the cutting and suturing operations. Once the operation is complete, the motor drives the actuator assembly backward, withdrawing it from the tissue. This requires driving the motor in both forward and reverse directions to achieve forward and reverse movement of the actuator assembly.

[0081] A relatively complex motor drive circuit that does not include any non-integrated circuits is used to achieve forward and reverse rotation of the motor. This implementation method has problems of low sensitivity and low reliability due to the large number of electronic components and complex circuits.

[0082] In one embodiment, as shown in FIG1 , a motor control system is provided, which includes a motor 1 and a motor control circuit 2. The motor control circuit 2 includes a cutting control circuit 10 and a drive circuit 20. The motor control circuit 2 can be applied to a surgical instrument and configured to drive the load movement in the surgical instrument. The surgical instrument can be an instrument requiring forward and reverse motor rotation, such as a stapler. The motor control circuit 2 can drive the motor 1 in the stapler to rotate forward and reverse to enable the actuator in the stapler to advance and retract, thereby achieving the cutting and retracting operations of the stapler.

[0083] The cutting control circuit 10 includes a first control circuit 110 and a second control circuit 120. The first control circuit 110 is connected to the ground terminal GND, the power signal terminal VDD, and the driving circuit 20 respectively. The first control circuit 120 is configured to output a cutter return signal according to the ground signal of the ground terminal GND and the power signal of the power signal terminal VDD. The second control circuit 120 is connected to the ground terminal GND, the power signal terminal VDD, and the driving circuit 20 respectively. The second control circuit 120 is configured to output a firing signal according to the ground signal and the power signal. The level states of the ground signal and the power signal are different. For example, the power signal is 3.3V and the ground signal is 0V. The level states of the ground signal and the power signal can also be set to any other suitable values, which are only exemplified here.

[0084] The drive circuit 20 is configured to generate a first drive signal to drive the motor 1 to rotate in a first direction when the firing signal has a first level and the return signal has a second level. The drive circuit 20 is also configured to generate a second drive signal to drive the motor 1 to rotate in a second direction when the firing signal has a second level and the return signal has a first level. The first drive signal and the second drive signal are two different drive signals. The first drive signal corresponds to the first direction, and the second drive signal corresponds to the second direction. The first direction is opposite to the second direction. The first level and the second level are different. For example, the first level is a high level and the second level is a low level; or in another example, the first level is a low level and the second level is a high level.

[0085] The motor control circuit 2 includes a cutting control circuit 10 and a driving circuit 20. The cutting control circuit 10 includes a first control circuit 110 and a second control circuit 120. The first control circuit 110 can output a cutter return signal according to a ground signal of the ground terminal GND and a power signal of the power signal terminal VDD. The second control circuit 120 can output a firing signal according to the ground signal and the power supply signal, and the driving circuit 20 can generate different driving signals to drive the motor 1 to rotate in different directions when the firing signal and the return knife signal have different level states, that is, the driving circuit 20 generates a first driving signal to drive the motor 1 to rotate in the first direction when the firing signal has a first level and the return knife signal has a second level, and the driving circuit 20 generates a second driving signal to drive the motor 1 to rotate in the second direction when the firing signal has a second level and the return knife signal has a first level. The level states of the firing signal and the return knife signal are controlled by the cutting control circuit 10, and the level states of the first driving signal and the second driving signal are controlled by the driving circuit 20, that is, the forward and reverse drive control of the motor 1 is realized through the cutting control circuit 10 and the driving circuit 20. The motor control circuit disclosed in the present invention is relatively simple, reliable, and sensitive, which shortens the steering response time of the motor 1 and improves the control performance of the motor 1.

[0086] As shown in FIG2 , the drive circuit 20 may be configured, for example, with a first input port BI, a second input port FI, a first output port BO, and a second output port FO. The first output port BO is connected to the first input terminal of the motor 1, and the second output port FO is connected to the second input terminal of the motor 1. The drive circuit 20 includes a driver chip (IC) configured with a first input port BI, a second input port FI, a first output port BO, and a second output port FO.

[0087] Based on the drive circuit 20 shown in Figure 2, optionally, the first input port BI is connected to the output end of the first control circuit 110, and the first input port BI is configured to receive a knife return signal. The second input port FI is connected to the output end of the second control circuit 120, and the second input port FI is configured to receive a firing signal. Exemplarily, the first drive signal may include a first sub-drive signal and a second sub-drive signal. When the knife return signal has a high level and the firing signal has a low level, the drive circuit 20 may generate a first sub-drive signal with a high level and a second sub-drive signal with a low level, wherein the first sub-drive signal is output via the first output port BO and the second sub-drive signal is output via the second output port FO. In this case, the drive circuit 20 may drive the motor 1 to rotate forward to drive the actuator in a surgical instrument such as a stapler to advance, thereby cutting and stapling the tissue. Exemplarily, the second drive signal may include a third sub-drive signal and a fourth sub-drive signal. When the knife return signal is at a low level and the firing signal is at a high level, the drive circuit 20 can generate a third sub-drive signal at a low level and a fourth sub-drive signal at a high level. The third sub-drive signal is output via the first output port BO, and the fourth sub-drive signal is output via the second output port FO. In this case, the drive circuit 20 can drive the motor 1 to reverse, thereby driving the actuator in a surgical instrument, such as a stapler, to retract, thereby achieving knife return.

[0088] Based on the drive circuit 20 shown in FIG2 , optionally, as shown in FIG3 , the first input port BI is connected to the output end of the second control circuit 120, and the first input port BI is configured to receive a firing signal; the second input port FI is connected to the output end of the first control circuit 110, and the second input port FI is configured to receive a knife return signal. Based on this, when the firing signal has a high level and the knife return signal has a low level, the drive circuit 20 can generate a first sub-drive signal with a high level and a second sub-drive signal with a low level, driving the motor 1 to rotate forward to drive the surgical instrument, such as the actuator in the stapler, to move forward, thereby cutting and stapling the tissue. When the firing signal has a low level and the knife return signal has a high level, the drive circuit 20 can generate a third sub-drive signal with a low level and a fourth sub-drive signal with a high level, driving the motor 1 to reverse, to drive the surgical instrument, such as the actuator in the stapler, to move backward, thereby achieving knife return.

[0089] In one embodiment, the drive circuit 20 is further configured to generate a third drive signal to stop the motor 1 when the firing signal and the return signal are at the same level. For example, when the firing signal and the return signal are at a high level, or when the firing signal and the return signal are at a low level, the drive circuit 20 generates the third drive signal, and the motor 1 stops under the action of the third drive signal. The third drive signal is different from the first and second drive signals.

[0090] For example, based on the driving circuit 20 shown in FIG. 2 and FIG. 3 , when the firing signal and the return signal are at a high level, the driving circuit 20 can generate a third driving signal at a low level, and the third driving signal is output through the first output port BO and the second output port FO. When the firing signal and the return signal are at a low level, the driving circuit 20 does not output.

[0091] Based on the above-mentioned motor control circuit 2, the forward and reverse rotation of the driving motor 1 is realized, and the start and stop control of the motor 1 is further realized, thereby improving the control performance of the motor control circuit 2 over the motor 1. For example, taking the application of the motor 1 to the stapler drive actuator as an example, the motor 1 rotates forward, driving the actuator forward, thereby cutting and stapling the tissue; when it moves forward to the end, the motor 1 stops; then, the motor 1 reverses, driving the actuator backward to evacuate the tissue; when it moves backward to the end, the motor 1 stops. Therefore, by flexibly controlling the rotation state of the motor 1, the motion state of the surgical instrument actuator can be flexibly controlled to meet the needs of the motor 1 in the surgical instrument scenario.

[0092] For the above-mentioned driving circuit 20 , the input and output signal level control logic of the driving circuit 20 may be as shown in the truth table of Table 1, where “1” represents a high level, “0” represents a low level, and “OPEN” represents no output.

[0093] Table 1 Truth table of driving circuit 20

[0094] In one embodiment, as shown in FIG4 , the first control circuit 110 may include a first switch module 111. The first switch module 111 is respectively connected to a ground terminal GND, a power signal terminal VDD, and a drive circuit 20. The first switch module 111 is configured to selectively conduct a path between the ground terminal GND, the power signal terminal VDD, and the drive circuit 20. Specifically, the first switch module 111 is configured to conduct a path between the ground terminal GND and the first input terminal of the drive circuit 20, or to conduct a path between the power signal terminal VDD and the first input terminal of the drive circuit 20. The return signal has different levels depending on the on / off state of the first switch module 111.

[0095] For example, when the first switch module 111 connects the ground terminal GND to the first input terminal of the driver circuit 20, the first switch module 111 can output a low-level cut-off signal. When the first switch module 111 connects the power supply signal terminal VDD to the first input terminal of the driver circuit 20, the first switch module 111 can output a high-level cut-off signal. This is merely an example, and the level of the cut-off signal depends on the specific structure of the first switch module 111.

[0096] The above-mentioned first control circuit 110 selects the transmission path between the ground terminal GND, the power signal terminal VDD and the first input terminal of the driving circuit 20 through the first switch module 111, switches back to the level state of the knife signal to cooperate with the firing signal, and realizes the switching of the rotation direction of the motor 1 through the driving circuit 20 to realize the forward and reverse drive control of the motor 1.

[0097] In one embodiment, as shown in FIG5 , the first switch module 111 may include an optical coupling unit 111 a and a switch control unit 111 b. The optical coupling unit 111 a is connected to the ground terminal GND and the power signal terminal VDD, respectively. The optical coupling unit 111 a is configured to be turned on when the light source is not blocked, and to be turned off when the light source is blocked. For example, the optical coupling unit 111 a may include an optical coupler.

[0098] The switch control unit 111b is connected to the ground terminal GND, the power signal terminal VDD, the optical coupling unit 111a, and the drive circuit 20. The switch control unit 111b is configured to be disconnected when the optical coupling unit 111a is in the on state and output a first level of the return signal. The switch control unit 111b is also configured to be turned on when the optical coupling unit 111a is disconnected and output a second level of the return signal.

[0099] Optionally, as shown in Figures 6 and 7, two structural block diagrams of the first switch module 111 are provided. Specifically, the optical coupling unit 111a may include an optical coupler C and a resistor R1, and the switch control unit 111b may include resistors R2, R3, R4, R5, and a switch tube Q1. The anode of the optical coupler C is connected to the first end of the resistor R1, the second end of the resistor R1 is connected to the power signal terminal VDD, the cathode and emitter of the optical coupler C are respectively connected to the ground terminal GND, the collector of the optical coupler C is respectively connected to the first end of the resistor R3 and the first end of the resistor R4, the second end of the resistor R3 is respectively connected to the first end of the resistor R2 and the control terminal of the switch tube Q1, the second end of the resistor R2 and the first electrode of the switch tube Q1 are respectively connected to the ground terminal, the second electrode of the switch tube Q1 is connected to the resistor R5, and the second end of the resistor R5 is respectively connected to the second end of the resistor R4 and the power signal terminal VDD. Exemplarily, the switch tube Q1 is an NPN transistor.

[0100] In Figure 6, the second terminal of the switch Q1 serves as the output terminal SW1, connected to the drive circuit 20. When the light source is not obstructed, the receiving terminal of the optocoupler C, i.e., the transistor of the optocoupler C, is turned on, and the switching transistor Q1 is turned off. At this time, SW1 outputs a high-level cut-off signal. When the light source is obstructed, the receiving terminal of the optocoupler C is turned off, and the switching transistor Q1 is turned on. At this time, SW1 outputs a low-level cut-off signal.

[0101] In Figure 7, the first terminal of the switch Q1 serves as the output terminal SW1, connected to the drive circuit 20. When the light source is not obstructed, the receiving terminal of the optical coupler C is turned on, and the switching transistor Q1 is turned off. At this time, SW1 outputs a low-level cut-off signal. When the light source is obstructed, the receiving terminal of the optical coupler C is turned off, and the switching transistor Q1 is turned on. At this time, SW1 outputs a high-level cut-off signal.

[0102] In the embodiment of the present disclosure, for the convenience of description, in the solution where the first switch module 111 includes an optical coupling unit 111 a and a switch module unit 111 b , the first switch module 111 may be referred to as a photoelectric switch.

[0103] The above-mentioned first switch module 111 includes an optical coupling unit 111a and a switch control unit 111b, wherein the optical coupling unit 111a switches the on-off state when the light source is blocked or not, thereby switching the on-off state of the switch control unit 111b to output a return signal with different levels, so that the drive circuit 20 can switch the rotation direction of the motor 1 according to the return signal and in combination with the trigger signal, thereby meeting the rotation requirements of the motor 1. The first switch module 111 uses a non-contact switch to control the path between the ground terminal GND and the power signal terminal BDD and the drive circuit 20 respectively. Compared with the method of using a mechanical structure to rely on external force to close the button to the effective stroke for control, the first switch module 111 provided in the embodiment of the present disclosure does not need to rely on external force, and does not have the problem of insufficient effective stroke after repeated operation of mechanical structures such as mechanical micro switches. It has higher sensitivity and reliability, faster response, and simpler circuit structure.

[0104] In one embodiment, as shown in FIG8 , the first switch module 111 may include a single-pole multi-throw (SPnT) switch, referred to as switch KEY1 , such as SP2T, SP3T, SP5T, etc. For example, the switch KEY1 may be a mechanical switch, and the on / off state of the switch KEY1 may be controlled by a user operation.

[0105] The multiple first terminals of the switch KEY1 are respectively connected to the ground terminal GND and the power signal terminal VDD, and the second terminal of the switch KEY1 is connected to the drive circuit 20. The switch KEY1 is configured to selectively connect the paths between the ground terminal GND, the power signal terminal VDD, and the drive circuit 20. When the switch KEY1 connects the path between the ground terminal GND and the drive circuit 20, the output cutoff signal is a ground signal, that is, the cutoff signal is at a low level. When the switch KEY1 connects the path between the power signal terminal VDD and the drive circuit 20, the output cutoff signal is a power signal, that is, the cutoff signal is at a high level.

[0106] The above-mentioned first switch module 111 switches the on-off state of the single-pole multi-throw switch and the level state of the return signal, so that the drive circuit 20 can switch the rotation direction of the motor 1 according to the return signal and combined with the trigger signal, thereby meeting the rotation requirements of the motor 1 and making the steering of the motor 1 operational. In addition, the first switch module 111 cooperates with the second control circuit 120 and the drive circuit 20 to realize the forward and reverse rotation of the motor 1.

[0107] In one embodiment, the second control circuit 120 may include a second switch module. The second switch module is respectively connected to the ground terminal GND, the power signal terminal VDD, and the driver circuit 20. The second switch module is configured to selectively connect the paths between the ground terminal GND, the power signal terminal VDD, and the driver circuit 20. Specifically, the second switch module is configured to connect the path between the ground terminal GND and the second input terminal of the driver circuit 20, or to connect the path between the power signal terminal VDD and the second input terminal of the driver circuit 20. The firing signal has different levels depending on the on / off state of the second switch module.

[0108] For example, when the second switch module conducts a path between the ground terminal GND and the second input terminal of the driving circuit 20, the second switch module can output a trigger signal with a low level. When the second switch module conducts a path between the power signal terminal VDD and the second input terminal of the driving circuit 20, the second switch module can output a trigger signal with a high level.

[0109] 9 , the second switch module may include a single-pole multi-throw switch KEY2, abbreviated as switch KEY2, such as SP2T, SP3T, SP5T, etc. For example, the switch KEY2 may be a mechanical switch, and the on / off state of the switch KEY2 may be controlled by a user operation.

[0110] The multiple first terminals of switch KEY2 are respectively connected to the ground terminal GND and the power signal terminal VDD, and the second terminal of switch KEY1 is connected to the second input terminal of the driving circuit 20. Switch KEY2 is configured to selectively connect the paths between the ground terminal GND, the power signal terminal VDD, and the second input terminal of the driving circuit 20. When switch KEY2 connects the path between the ground terminal GND and the second input terminal of the driving circuit 20, the output trigger signal is a ground signal, that is, the trigger signal is at a low level. When switch KEY2 connects the path between the power signal terminal VDD and the second input terminal of the driving circuit 20, the output trigger signal is a power signal, that is, the trigger signal is at a high level.

[0111] The above-mentioned second control circuit 120 selects the transmission path between the ground terminal GND, the power signal terminal VDD and the second input terminal of the driving circuit 20 through the second switch module, switches the level state of the firing signal to cooperate with the return signal, and realizes the switching of the rotation direction of the motor 1 through the driving circuit 20 to realize the forward and reverse drive control of the motor 1.

[0112] In one embodiment, as shown in FIG10 , the second control circuit 120 may include a second switch module 121 and a self-locking control module 122. The self-locking control module 122 is connected to the second terminal of the second switch module 121 and the drive circuit 20, respectively. The self-locking control module 122 is configured to select and conduct a transmission path between the second terminal of the second switch module 121 and the drive circuit 20 based on a received self-locking control signal.

[0113] Specifically, the self-locking control module 122 disconnects the transmission path between the second end of the second switch module 121 and the drive circuit 20 based on the received first self-locking control signal. In this case, the firing signal is locked, that is, the level state of the firing signal is locked to a high level or a low level. In other words, the ground terminal GND and the power signal terminal VDD cannot be transmitted from the self-locking control module 122 to the drive circuit 20, that is, the switching of the on and off state of the second switch module 121 cannot be fed back to the drive circuit 20. The self-locking control module 122 connects the transmission path between the second end of the second switch module 121 and the drive circuit 20 based on the received second self-locking control signal, wherein the first self-locking control signal and the second self-locking control signal have different level states. In this case, the ground terminal GND and the power signal terminal VDD can be transmitted from the second switch module 121 to the drive circuit 20 via the self-locking control module 122.

[0114] For example, as shown in FIG11 , the self-locking control module 122 may include a first switch tube Q2, a first resistor R6, and a second resistor R7. The first end of the first resistor R6 is connected to the second end of the second switch module 121 and the first electrode of the first switch tube Q2, respectively. The second end of the first resistor R6 is connected to the first end of the second resistor R7, respectively. The second end of the second resistor R7 is connected to the control end of the first switch tube Q2, and the second electrode of the first switch tube Q2 is connected to the drive circuit 20. The second end of the first resistor R6, i.e., the LOCK end, is configured to receive a self-locking control signal.

[0115] Exemplarily, the first switch Q2 is an N-type MOS transistor or a P-type MOS transistor. Specifically, as shown in FIG11 , when the first switch Q2 is an NMOS transistor, the first switch Q2 is turned on by a high-level self-locking control signal and turned off by a low-level self-locking control signal. When the second switching transistor Q2 is a PMOS transistor, the first switch Q2 is turned on by a low-level self-locking control signal and turned off by a high-level self-locking control signal. In practical applications, the appropriate type of first switch Q2 can be selected based on the specific circuit structure. Based on this, different types of MOS transistors can be used as the first switch Q2 to accommodate different circuit designs.

[0116] The above-mentioned second control circuit 120 can turn on the transmission path between the second switch module 121 and the drive circuit 20 through the self-locking control circuit 122, so that the second switch module 121 can control the firing signal to switch back and forth between the ground signal and the power supply signal by switching the on-off state. In this case, the drive circuit 20 can realize forward and reverse control of the motor 1 according to the firing signal and the return signal; in addition, the transmission path between the second switch module 121 and the drive circuit 20 can be disconnected through the self-locking control circuit 122 to make the second switch module 121 invalid and lock the level state of the firing signal. In this case, the drive circuit 20 realizes locking of the rotation direction of the motor 1 according to the locked firing signal and the return signal, that is, the motor 1 can only rotate in a fixed direction or stop, further improving the control performance of the motor control circuit 2 on the motor 1 and expanding the rotation state of the motor 1. For example, in a scenario where the motor 1 is used in a medical device (such as a stapler) to drive a load (such as an actuator), the motor 1 reverses to drive the actuator backward, and the motor control circuit 2 locks the rotation direction of the motor 1 to the reverse direction. At this time, the actuator is also locked to the backward direction, thereby preventing the actuator from firing again, avoiding safety issues such as accidental triggering during re-firing, and improving the safety and reliability of the medical device.

[0117] In one embodiment, as shown in FIG12 , the cutting control circuit 10 may include a first control circuit 110, a second control circuit 120, and an output control circuit 130. The output control circuit 130 is connected to the output terminal of the first control circuit 110, the output terminal of the second control circuit 120, a target signal terminal SG, and the drive circuit 20. The target signal terminal SG is one of the ground terminal GND and the power signal terminal VDD. The target signal terminal SG can be selected from a suitable signal terminal based on the actual circuit structure and is not limited herein.

[0118] The output control circuit 130 is configured to control the voltage levels of the first and second input terminals of the driver circuit 20 to remain consistent based on the target signal at the target signal terminal when no signal is output from the first and second control circuits 110, 120. This prevents fluctuations in the voltage levels of the input terminals of the driver motor 20 when no signal is output from the first and second control circuits 110, 120, thereby preventing fluctuations in the rotational state of the motor 1. This improves the stability of the motor control circuit 2, and thus the stability of the motor 1.

[0119] In one embodiment, please continue to refer to Figure 12, the output control circuit 130 may include a third resistor R8 and a fourth resistor R9. Wherein, the first end of the third resistor R8 is connected to the output end of the first control circuit 110 and the first input end of the drive circuit 20 respectively, the second end of the third resistor R8 is connected to the target signal end SG and the first end of the fourth resistor R9 respectively, and the second end of the fourth resistor R9 is connected to the output end of the second control circuit 120 and the second input end of the drive circuit 20 respectively. Wherein, the resistance of the third resistor R8 and the fourth resistor R9 is the same. Based on this, when there is no signal output from the first control circuit 110 and the second control circuit 120, the output control circuit 130 can keep the first input end of the drive circuit 20 consistent with the level of the second input end through the third resistor R8 and the fourth resistor R9, thereby avoiding the fluctuation of the input end signal of the drive circuit 20 on the motor 1, thereby improving the stability of the motor 1.

[0120] In one embodiment, as shown in Figures 13 to 16, a motor control circuit 2 is provided, and the motor control circuit 2 is used in a stapler as an example for description. The motor control circuit 2 includes a first control circuit 110, a second control circuit 120, an output control circuit 130, and a drive circuit 20. The second control circuit 120 includes an SP2T switch KEY2 and a self-locking control module 122. The self-locking control module 122 can be seen in Figure 9 and the related description. The output control circuit 130 can be seen in Figure 11 and the related description. The drive circuit 20 can be seen in the structures shown in Figures 2 and 3 and the related description.

[0121] In FIG13 , the first control circuit 110 adopts the structure shown in FIG6 . The output terminal SW1 of the first control circuit 110 is connected to the first input terminal A (i.e., the first input port B1) of the drive circuit 20 and the first end of the third resistor R8 in the output control circuit 130. A first end 1 of the switch KEY2 is connected to the ground terminal GND, and another first end 2 of the switch KEY2 is connected to the power signal terminal VDD. The second end of the switch KEY2 is connected to the source of the NMOS transistor Q2 in the self-locking control module 122 and the first end of the first resistor R6. The drain of the NMOS transistor Q2 is connected to the second end of the fourth resistor R9 in the output control circuit 130 and the second input terminal B (i.e., the second input port F1) of the drive circuit 20.

[0122] In actual application, in the initial state, when the switch KEY2 is in the normally closed state, the first terminal 2 of the switch KEY2 is connected to the second terminal of the switch KEY2, that is, the power signal terminal VDD is connected. The NMOS tube is in the on state, and the optical coupler C is in the on state.

[0123] When the switch KEY2 is pressed, the first terminal 1 of the switch KEY2 is connected to the second terminal of the switch KEY2, and the switch KEY2 outputs a low-level signal; the optical coupler C is not blocked and its receiving end is turned on, the NPN transistor Q1 is turned off, and a high-level return signal is output and transmitted to the first input terminal A of the drive circuit 20. At this time, the LOCK terminal receives a high-level self-locking control signal, and the NMOS transistor Q2 is turned on, so that the low-level trigger signal output by the switch KEY2 can be transmitted to the second input terminal B of the drive circuit 20. At this time, the logic level of AB is (1,0), and the drive circuit 20 generates a first drive signal, that is, the logic level of the first output port BO and the second output port of the drive circuit 20 is (1,0), driving the motor 1 to rotate forward, and the motor 1 drives the actuator in the stapler to move forward to cut and suturing the tissue.

[0124] When the actuator reaches its full stop, it blocks the light source of optocoupler C, disconnecting the receiving terminal. NPN transistor Q1 then conducts, outputting a low-level return signal to the first input terminal A of driver circuit 20. At this point, the logic levels of AB become (0, 0), driver circuit 20 stops outputting, motor 1 stops, and the actuator stops moving.

[0125] At this point, switch KEY2 is released, conducting, connecting the second terminal of switch KEY2 to the first terminal 2, and outputting a high-level signal. At this point, the logic level of AB becomes (0, 1), and the drive circuit 20 generates a second drive signal. That is, the logic levels of the first output port BO and the second output port of the drive circuit 20 are (0, 1), driving motor 1 in reverse, driving the actuator in the stapler backward to achieve blade retraction.

[0126] During the knife return process, when the LOCK end receives a low-level self-locking control signal, the NMOS tube Q2 is disconnected and the locking trigger signal is high, that is, the rotation direction of the motor 1 is locked in the reverse direction. At this time, the movement direction of the actuator is also locked in the backward direction, which can prevent the actuator from being triggered again and avoid accidental touch.

[0127] When the knife returns to the bottom, optocoupler C is no longer blocked, the receiving end is turned on again, NPN transistor Q1 is turned off, and a high-level knife return signal is output and transmitted to the first input terminal A of the driver circuit 20. At this time, the logic level of AB becomes (1,1), and the driver circuit 20 generates a third drive signal. That is, the logic level of the first output port BO and the second output port of the driver circuit 20 is (0,0), which stops the motor 1 and stops the actuator movement, completing the operation.

[0128] In FIG14 , the first control circuit 110 employs the structure shown in FIG7 . Accordingly, the output terminal SW1 of the first control circuit 110 is connected to the second input terminal B of the drive circuit 20, and the first input terminal A of the drive circuit 20 is connected to the drain of the PMOS transistor Q2 and the second end of the fourth resistor R9 in the output circuit 130. The application process using the structure shown in FIG14 is similar to that of FIG13 , with the level control being opposite but the logic being the same. For details, please refer to the relevant description above and will not be repeated here.

[0129] In FIG15 , the first control circuit 110 uses an SP2T switch KEY1, which is connected to the first input terminal A of the drive circuit 20. The self-locking control module 122 uses an NMOS transistor Q2. Similar to the application process in FIG11 , when switches KEY1 and KEY2 are in the normally closed state, each first terminal 2 is connected to the corresponding second terminal, i.e., connected to the power signal terminal VDD. To initiate firing, press switch KEY2, connecting the second terminal of switch KEY2 to the first terminal 1, i.e., connecting to the ground terminal GND. At this point, the logic level of AB is (1, 0), and motor 1 rotates forward. When firing is fully engaged, press switch KEY1, the logic level of AB is (0, 0), and motor 1 stops. Then, release switch KEY2, the logic level of AB is (0, 1), and motor 1 reverses. When reverse rotation is fully engaged, release switch KEY1, the logic level of AB is (1, 1), and motor 1 stops.

[0130] In Figure 16 , the second control circuit 110 also uses an SP2T switch KEY2. Compared to Figure 15 , the self-locking control module 122 in Figure 16 uses a PMOS transistor Q2, and the switch KEY2 is connected to the first input terminal A of the drive circuit 20. The application process using the structure shown in Figure 16 is similar to that of Figure 15 , with the level control being opposite but the logic being the same. For details, please refer to the relevant description above and will not be repeated here.

[0131] In one embodiment, as shown in Figures 17 to 32, a surgical instrument is provided, which may include an instrument body 3, a circuit board 4, a motor 1, and an actuator 5. For example, the surgical instrument may be any instrument used in the surgical field that requires the motor 1 to drive, such as a stapler.

[0132] For example, the surgical instrument may be a stapler. The stapler may include an instrument body 3, a shaft assembly 101 extending from the instrument body 3, and an end effector disposed at the distal end of the shaft assembly 101. The shaft assembly 101 includes a sleeve 102 and a mandrel 105 housed within the sleeve 102. The end effector includes a stapler seat 91, an anvil 90, and a stapler assembly. The stapler seat 91 is pivotally connected to the anvil 90 and is configured to operably support a stapler assembly (not shown) located therein. The anvil 90 is selectively movable between an open position and a closed position, thereby cooperating with the stapler seat 91 and the stapler assembly to loosen or clamp tissue. The stapler also includes a motor module, a gear assembly 51, and a transmission assembly. The motor module includes a motor 1 and a motor gear connected to the motor 1. The motor 1 drives the gear assembly 51 through the motor gear, thereby driving the transmission assembly. The transmission assembly includes a rack 52, to which the proximal end of the mandrel 105 is connected. In this embodiment, the actuator 5 includes a cutting blade assembly connected to the distal end of the core shaft 105. The cutting blade assembly is configured to cut tissue and includes a blade rod 106 and a cutting blade 107 connected to the blade rod 106. The motor 1 drives the gear assembly 51 through the motor gear, thereby driving the rack 52 and the core shaft 105 to move, thereby achieving movement of the cutting blade assembly.

[0133] The circuit board 4 is disposed within the device body 3 and is integrated with a motor control circuit 2. The motor control circuit 2 may be any of the motor control circuits 2 described in the aforementioned embodiments. For details, please refer to the aforementioned related content and will not be further described here. The motor 2 is disposed within the device body 3, and the motor 1 is connected to the motor control circuit 2. Specifically, the motor 1 is connected to the drive circuit 20 within the motor control system 2 and is configured to rotate in a first direction in response to a first drive signal output by the drive circuit 20, and to rotate in a second direction in response to a second drive signal output by the drive circuit 20.

[0134] The actuator 5 is provided on the instrument body 3, and the actuator 5 is connected to the motor 2. The actuator 5 is configured to move forward under the drive of the motor 1 when the motor 1 rotates in a first direction, and to move backward under the drive of the motor 1 when the motor 1 rotates in a second direction. The forward direction is opposite to the backward direction. The actuator 5 refers to a related device that moves under the drive of the motor 1, and the corresponding structure can be set according to the type of surgical instrument, without any limitation here. For example, as shown in Figure 16, when the surgical instrument is a stapler, the actuator 5 may include a cutting knife assembly.

[0135] For example, if the first direction is the forward rotation direction of motor 1, motor 1 rotates forward, driving actuator 5 forward; if the second direction is the reverse rotation direction of motor 1, motor 1 rotates reversely, driving actuator 5 backward. In actual applications, the first direction can also be set as the reverse rotation direction of motor 1, and the second direction can be set as the forward rotation direction of motor 1. The settings can be adjusted according to the specific scenario.

[0136] The above-mentioned surgical instrument includes an instrument body 3, a circuit board 4, a motor 1 and an actuator 5, wherein the motor 1 can rotate forward and reverse under the drive of the motor control circuit 2 on the circuit board 4, so that the actuator 5 can move forward and backward under the drive of the motor 1, thereby realizing effective control of the movement direction of the actuator 5 to meet the application requirements of the surgical instrument.

[0137] In one embodiment, as shown in Figures 6 and 7 , the first switch module 111 in the motor control system includes an optical coupling unit 111a and a switch control unit 111b. The optical coupling unit 111a and the switch control unit 111b are disposed on a circuit board 4. In other words, the first control circuit 110 in the motor control system employs a photoelectric switch solution, and the photoelectric switch is disposed on the circuit board 4.

[0138] Based on the above, the surgical instrument may further include a transmission assembly and a sliding assembly 6. The transmission assembly is drivingly connected to the actuator 5. The sliding assembly 6 includes a sliding body 61, a sliding portion 62, a mating portion 63, and a shielding portion 64 disposed on the sliding body 61. The sliding portion 62 is movably disposed within the first groove 31 of the instrument body 3.

[0139] When the actuator 5 moves forward to the first preset position, the driving portion of the transmission assembly abuts against the matching portion 63, driving the sliding portion 62 to move forward relative to the instrument body 3 in the first groove 31, so that the shielding portion 64 moves in the forward direction so that the shielding portion 64 blocks the light source of the optical coupling unit 111a. In this case, the optical coupling unit 111a is in the disconnected state and the switch control unit 111b is in the on state.

[0140] When the actuator 5 moves backward to the second preset position, the driving portion of the transmission assembly abuts the mating portion 63, driving the sliding portion 62 to move backward within the first groove 31 relative to the device body 3, causing the shielding portion 64 to move backward, such that the shielding portion 64 moves beyond the light-shielding position. In this case, the optical coupling unit 111a is in an on state, and the switch control unit 111b is in an off state. The first preset position is the position where the actuator 5 has advanced nearly to the bottom, but not yet reached the bottom, and the second preset position is the position where the actuator 5 has retreated nearly to the bottom, but not yet reached the bottom.

[0141] The above-mentioned surgical instrument can cooperate with the transmission component, the sliding component 6 and the optical coupling unit 111a, so that when the actuator 5 moves to the first preset position, the driving part of the transmission component abuts against the matching part of the sliding component, thereby using the shielding part 64 in the sliding component 6 to shield the light source of the optical coupling unit 111a, switching the state of the optical coupling unit 111a to the off state, thereby switching the switch control unit 111b to the on state, and when moving to the second preset position, the driving part of the transmission component abuts against the matching part of the sliding component, thereby causing the shielding part 64 in the sliding component 6 to move out of the light shielding position, and the light is turned on. The coupling unit 111a is switched to the on state, thereby switching the switch control unit 111b to the off state, and then switching the level state of the knife return signal, so that the drive circuit 20 can switch the rotation state of the motor 1 according to the knife return signal and combined with the firing signal, thereby realizing the switching of the motion state of the execution component 5 in the surgical instrument. Compared with the switching achieved by using a mechanical microswitch, the embodiment of the present disclosure realizes the automatic switching of the motion direction of the execution component 5 without the need for external force, and there is no problem of insufficient effective stroke of the mechanical microswitch after repeated use. It has higher sensitivity and reliability, and the circuit and structure are simpler.

[0142] In one embodiment, the transmission assembly may include a rack 52, which includes a second groove 52a, a first end 52b located proximal to the second groove 52a, and a second end 52c located distal to the second groove 52a. The driving portion of the transmission assembly is the first end 52b and the second end 52c, and the mating portion 63 of the sliding assembly 6 is a protrusion. When the actuator 5 moves forward to the first preset position, the first end 52b abuts against the protrusion to drive the sliding portion 62 forward. When the actuator 5 moves backward to the second preset position, the second end 52c abuts against the protrusion to drive the sliding portion 62 backward.

[0143] Optionally, the transmission assembly may include a rack 52 including a rack protrusion. The mating portion 63 of the sliding assembly 6 is a mating groove including a first end 52b located at the proximal end of the groove and a second end 52c located at the distal end of the groove. When the actuator 5 moves forward to a first preset position, the rack protrusion engages with the first end 52c to drive the sliding portion 62 forward. When the actuator 5 moves backward to a second preset position, the rack protrusion engages with the second end 52b in the groove to drive the sliding portion 62 backward.

[0144] In one embodiment, when the actuator 5 moves forward and reaches the first preset position, the mating portion 63 slides relatively in the second groove 52a, the blocking portion 64 is outside the light-shielding position, the optical coupling unit 111a is in the on state, and the switch control unit 111b is in the off state.

[0145] When the actuator 5 moves backward and reaches the second preset position, the mating portion 63 slides relatively in the second groove 52a, and the blocking portion 64 blocks the light source of the optical coupling unit 111a. The optical coupling unit 111a is in the disconnected state, and the switch control unit 111b is in the on state.

[0146] For example, the surgical instrument is described as a stapler. When the motor 1 rotates forward, the actuator 5 moves forward. During this process, the shielding portion 64 remains outside the light-shielding position, so that the actuator 5 performs a firing operation to cut the stapled tissue. When the firing stops, the shielding portion 64 blocks the light source of the optical coupler C, triggering the motor 1 to reverse, causing the actuator 5 to retreat and achieve knife return. During the knife return process, the sliding component 6 relies on the friction with the stapler body to keep the shielding portion 64 blocking the light source, thereby causing the motor 1 to keep reversing to keep the actuator retreating. When the knife returns to the bottom, the shielding portion 64 moves outside the light-shielding position and returns to the initial state.

[0147] In the above-mentioned surgical instrument, when the actuator 5 moves forward and reaches the first preset position, the shielding portion 64 remains outside the light-shielding position to ensure that the actuator 5 moves forward, and when the actuator 5 moves backward and reaches the second preset position, the shielding portion 64 remains in a shielding state for the light source to ensure that the actuator 5 moves backward, thereby meeting the application requirements of the surgical instrument.

[0148] In one embodiment, the sliding assembly 6 also includes a first extension portion 65 provided on the sliding body, wherein the surgical instrument also includes an emergency knife return push button 7, the emergency knife return push button 7 includes a second extension portion 71, and a third groove 72 is provided on the emergency knife return push button 7. The second extension portion 71 is provided in the fourth groove (not shown in the figure) of the instrument body 3, and the first extension portion 65 is provided in the third groove 72. When the sliding assembly 6 is driven to move by the rack 52, the first extension portion 65 slides relative to the emergency knife return push button 7 in the third groove 72.

[0149] The emergency return button 7 is configured such that, under the action of an external force, the second extension portion 71 moves along the fourth groove, driving the sliding assembly 6 to move via the first extension portion 65. When the sliding assembly 6 moves to the preset light-shielding position, the shielding portion 64 of the sliding assembly 6 blocks the light source of the photoelectric switch. In this case, the optical coupling unit 111a is disconnected and the switch module unit 111b is turned on.

[0150] For example, using a surgical stapler as an example, when the motor 1 rotates forward, the actuator 5 advances. During this process, the user presses the emergency return button 7, causing the trigger signal level to change. In this case, the emergency return signal level changes, thereby achieving emergency return.

[0151] For the above-mentioned surgical instrument, when the execution component 5 moves forward, the user can press the emergency return button 7 to make the shielding part 64 block the light source of the optical coupler C, so that the optical coupler C switches to the off state and the switch control unit 111b switches to the on state, thereby realizing the switching of the firing signal level, so that the drive circuit 20 can change the rotation direction of the motor 1 according to the firing signal and combined with the return signal to meet emergency needs.

[0152] In one embodiment, the surgical instrument may further include a first limit member 33 provided on the instrument body 3, and the sliding assembly 6 may further include a groove 66, which may engage with the first limit member 33; when pushed by the emergency return button 7, the sliding assembly 6 moves until its groove 66 engages with the first limit member 33, specifically, the groove wall of the groove 66 abuts against the first limit member, and the sliding assembly 6 stops moving. The moving stroke of the sliding assembly 6 can be effectively controlled by the first limit member 33, limiting the position of the sliding assembly 6, thereby achieving effective control of the sliding assembly 6, giving the user feedback, facilitating user operation, and improving the operability of the surgical instrument.

[0153] In one embodiment, the second control circuit 120 in the motor control circuit 2 includes a second switch module 121. The surgical instrument further includes a firing trigger 8. The firing trigger 8 is configured to receive user operation instructions and control the on / off state of the second switch module 121. Based on this, the execution component 5 is configured to move forward under the drive of the motor 1 when the optical coupling unit 111a is in the on state and the second switch module 121 is in the on state. The execution component 5 is also configured to move backward under the drive of the motor 1 when the optical coupling unit 111a is in the off state and the second switch module 121 is in the off state. The execution component 5 is also configured to stop moving when the optical coupling unit 111a is in the on state and the second switch module 121 is in the off state, or when the optical coupling unit 111a is in the off state and the second switch module 121 is in the on state.

[0154] The above-mentioned surgical instrument realizes on-off control of the second control circuit 120 in the motor control circuit 2 through the firing trigger 8, so that the level state of the knife return signal can be switched through user operation. Combined with the firing signal, the rotation direction of the motor 1 can be switched, thereby realizing the switching of the movement direction of the execution component 5, thereby improving the operability of the surgical instrument.

[0155] In one embodiment, the surgical instrument is used as a stapler, and the stapler provided in the embodiment of the present disclosure is described in conjunction with the above drawings.

[0156] When firing is required, the firing trigger 8 is pressed to activate the firing switch KEY2, causing it (normally high signal) to be connected to a low level, that is, the A terminal (i.e., BI pin) of the motor driver IC is connected to a low level. At this time, the end-of-stroke switch, i.e., the light source of the photoelectric switch, is not blocked and remains on (normally high signal), that is, the B terminal (i.e., FI pin) of the motor driver IC is connected to a high level. When BI inputs a low level, the output terminal FO of the motor outputs a high level and the output terminal BO outputs a low level. The motor rotates forward, controlling the rack 51 to drive the cutting blade assembly forward and perform cutting. When the cutting blade assembly moves to the end of its stroke, the first end 52b of the rack 51 engages with the mating portion 63 of the slide assembly 6 to drive the slide assembly 6 from its proximal position to the distal position. When the cutting blade assembly moves to the bottom firing position, the light source of the photoelectric switch is blocked, the optical coupler of the photoelectric switch is disconnected, the conduction signal becomes low, that is, the FI input is low, and at this time, the BI input is also low. The motor driver IC has no valid output signal, and the motor stops. At this point, the firing trigger 8 is released, disengaging the firing switch KEY2 and causing it to return from the low position to the high position, i.e., BI inputs a high level. However, since the slide assembly 6 blocks the light source of the photoelectric switch, the photoelectric switch remains in the low position, i.e., FI inputs a low level. At this point, the motor FO outputs a low level, while BO outputs a high level. The motor then reverses, controlling the rack 51 to retract the cutter assembly, i.e., initiate the retraction process. During the retraction process, the mating portion 63 of the slide assembly 6 moves relative to the rack 51 and is not pushed by the rack 51, remaining in its distal position, i.e., the light shielding portion 64 of the slide assembly 6 blocks the light source of the photoelectric switch. When the cutter assembly nears the bottom retraction position, the second end 52c of the rack 51 engages the mating portion 63 of the slide assembly 6, driving the slide assembly 6 from its distal position toward the proximal position. When the cutter assembly retracts to the bottom retraction position, the slide assembly 6 leaves the light shielding position, unblocking the light source of the photoelectric switch, and the photoelectric switch returns to the high position, i.e., FI inputs a high level. At this point, both FO and BO output a low level, the motor stops, and the knife returns to its initial state. As can be seen above, during the knife return process, the slide assembly 6 blocks the light source of the photoelectric switch, keeping the photoelectric switch in the low position, meaning that FI continuously inputs a low level. To terminate the knife return, press the cutting button KEY2, which returns the trigger switch KEY2 to the low position, meaning that BI inputs a low level. At this point, both FO and BO output a low level, the motor stops, and the knife return pause state is entered. Releasing the cutting button KEY2 resumes the knife return process.During the process of the cutting knife assembly moving toward the distal end to cut the tissue, if thick tissue or hard tissue is encountered and it is impossible to continue firing, the operator can release the firing trigger 8 and operate the emergency knife return push button 8 outside the instrument housing to drive the sliding assembly 6 toward the distal end, so that the blocking portion 64 of the sliding assembly 6 blocks the light source of the photoelectric switch, and the photoelectric switch remains in a low position, that is, FI inputs a low level. At this time, since it is in a released state, the firing switch KEY2 is not actuated and is connected to a high position, that is, BI inputs a high level, that is, at this time the motor FO outputs a low level, BO outputs a high level, the motor reverses, and controls the rack 51 to drive the cutting knife assembly back, that is, it starts to retract the knife until the second end 52c of the rack 51 drives the blocking portion 64 of the sliding assembly 6 to leave the distal position and return to the initial position, the light source of the photoelectric switch is not blocked again, FI becomes a high level, and the knife return is completed, that is, it returns to the initial position.

[0157] It should be understood that although the present disclosure is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the present disclosure is only for the sake of clarity. Those skilled in the art should regard the present disclosure 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.

[0158] 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 motor control circuit, applied to surgical instruments, the motor control circuit comprising a cutting control circuit and a driving circuit; wherein: The cutting control circuit comprises a first control circuit and a second control circuit, wherein the first control circuit is respectively connected to a ground terminal, a power signal terminal and the driving circuit, and the first control circuit outputs a knife return signal to the driving circuit according to a ground signal of the ground terminal and a power signal of the power signal terminal, and the second control circuit is respectively connected to the ground terminal, the power signal terminal and the driving circuit, and the second control circuit outputs a firing signal to the driving circuit according to the ground signal and the power signal; When the firing signal has a first level and the knife return signal has a second level, the driving circuit generates a first driving signal to drive the motor to rotate in a first direction to drive the actuator of the surgical instrument to move in a forward direction, and when the firing signal has the second level and the knife return signal has the first level, the driving circuit generates a second driving signal to drive the motor to rotate in a second direction to drive the actuator to move in a backward direction; wherein the level states of the ground signal and the power supply signal are different, and the first direction is opposite to the second direction.

2. The motor control circuit according to claim 1, wherein: The first control circuit includes a first switch module, which is respectively connected to the ground terminal, the power signal terminal, and the drive circuit, and is configured to selectively conduct the paths between the ground terminal, the power signal terminal and the drive circuit, respectively; wherein the on-off state of the first switch module is different, and the return signal has different levels.

3. The motor control circuit according to claim 2, wherein: The first switch module comprises: an optical coupling unit, connected to the ground terminal and the power signal terminal respectively, the optical coupling unit is turned on when the light source is not blocked, and is turned off when the light source is blocked; A switch control unit is respectively connected to the ground terminal, the power signal terminal, the optical coupling unit, and the drive circuit. The switch control unit is disconnected when the optical coupling unit is in a conducting state, and outputs a return signal with the first level. The switch control unit is turned on when the optical coupling unit is in a disconnected state, and outputs a return signal with the second level.

4. The motor control circuit according to claim 2, wherein: The first switch module includes a single-pole multi-throw switch, multiple first ends of the single-pole multi-throw switch are respectively connected to the ground end and the power signal end, the second end of the single-pole multi-throw switch is connected to the drive circuit, and the single-pole multi-throw switch selects to conduct the paths between the ground end, the power signal end and the drive circuit respectively.

5. The motor control circuit according to any one of claims 1 to 4, wherein: The second control circuit includes a second switch module, which is respectively connected to the ground terminal, the power signal terminal, and the drive circuit, and is configured to selectively conduct the paths between the ground terminal, the power signal terminal and the drive circuit, respectively; wherein the on-off state of the second switch module is different, and the firing signal has different levels.

6. The motor control circuit according to any one of claims 1 to 5, wherein: The cutting control circuit also includes an output control circuit, which is respectively connected to the output end of the first control circuit, the output end of the second control circuit, the target signal end, the first input end and the second input end of the drive circuit. When the first control circuit and the second control circuit have no signal output, the output control circuit controls the first input end of the drive circuit and the second input end of the drive circuit to keep the levels consistent according to the target signal of the target signal end; wherein the target signal end is one of the ground end and the power signal end.

7. The motor control circuit according to claim 6, wherein: The output control circuit includes a third resistor and a fourth resistor, wherein the first end of the third resistor is respectively connected to the output end of the first control circuit and the first input end of the drive circuit, the second end of the third resistor is respectively connected to the target signal end and the first end of the fourth resistor, and the second end of the fourth resistor is respectively connected to the output end of the second control circuit and the second input end of the drive circuit; wherein the resistance values ​​of the third resistor and the fourth resistor are the same.

8. The motor control circuit according to any one of claims 1 to 7, wherein: When the level states of the firing signal and the knife return signal are the same, the driving circuit generates a third driving signal to stop the motor.

9. A surgical instrument comprising: Device body; A circuit board, arranged on the device body, comprising a motor control circuit according to any one of claims 1 to 8; A motor, disposed on the device body and connected to the motor control circuit; The actuator is arranged on the main body of the device and connected to the motor; the motor When the motor rotates in the first direction, the actuator is driven forward, and when the motor rotates in the second direction, the actuator is driven backward; wherein the first direction is opposite to the second direction.

10. The surgical instrument according to claim 9, wherein: The first switch module in the motor control circuit includes an optical coupling unit and a switch control unit; the optical coupling unit and the switch control unit are arranged on the circuit board; wherein the surgical instrument further includes: A transmission component, drivingly connected to the execution component; A sliding assembly, comprising a matching portion and a shielding portion, wherein the sliding assembly is movably disposed on the instrument body; When the actuator moves forward to the first preset position, the driving portion of the transmission assembly abuts against the matching portion, driving the sliding assembly to move forward relative to the instrument body, so that the shielding portion moves forward to shield the light source of the optical coupling unit, the optical coupling unit is in a disconnected state, and the switch control unit is in a conducting state; When the actuator moves backward to the second preset position, the driving part of the transmission assembly abuts against the matching part, driving the sliding assembly to move backward relative to the instrument body, so that the shielding part retreats to outside the light-shielding position, the optical coupling unit is in the on state, and the switch control unit is in the off state.

11. The surgical instrument according to claim 10, wherein: The sliding assembly includes a sliding body, and the matching portion and the shielding portion are arranged on the sliding body; the sliding assembly also includes a sliding portion arranged on the sliding body; the sliding portion is movably arranged in a first groove of the instrument body, and the driving portion of the transmission assembly abuts against the matching portion to drive the sliding portion to move forward or backward in the first groove relative to the instrument body.

12. The surgical instrument according to claim 10 or 11, wherein: The transmission assembly includes a rack, and the rack includes a second groove, a first end portion arranged at the proximal end of the second groove, and a second end portion arranged at the distal end of the second groove. The driving portion is the first end portion and the second end portion, and the matching portion is a protrusion. When the actuator moves forward to the first preset position, the first end portion abuts against the protrusion to drive the sliding assembly to move forward, and when the actuator moves backward to the second preset position, the second end portion abuts against the protrusion to drive the sliding assembly to move backward.

13. The surgical instrument according to claim 12, wherein: When the actuator moves forward and reaches the first preset position, the matching portion slides relatively in the second groove, the shielding portion is outside the light shielding position, the optical coupling unit is in the on state, and the switch control unit is in the off state; During the process of the actuator retreating and reaching the second preset position, the matching portion slides relatively in the second groove, the shielding portion shields the light source of the optical coupling unit, the optical coupling unit is in a disconnected state, and the switch control unit is in a conducting state.

14. The surgical instrument according to any one of claims 10 to 13, wherein: The sliding assembly further includes a first extension portion provided on the sliding body, and the surgical instrument further includes: The emergency knife return push button includes a second extension portion, the emergency knife return push button is provided with a third groove, the second extension portion is arranged in the fourth groove of the instrument body, and the first extension portion is arranged in the third groove; wherein, In response to the emergency knife return push button being operated, the second extension portion moves along the fourth groove and drives the sliding assembly to move through the first extension portion; wherein, when the sliding assembly moves to the light-shielding position, the shielding portion of the sliding assembly blocks the light source of the optical coupling unit, the optical coupling unit is disconnected, and the switch control unit is turned on.

15. The surgical instrument according to claim 14, further comprising a first limiting member arranged on the instrument body, and when the sliding assembly is driven by the emergency knife return push button to move to cooperate with the first limiting member, the sliding assembly stops moving.

16. The surgical instrument according to any one of claims 10 to 15, wherein: The second control circuit in the motor control circuit includes a second switch module, wherein the surgical instrument further includes a firing trigger, and the firing trigger is configured to receive a user operation instruction to control the on-off state of the second switch module; wherein, The execution component is configured to move forward under the drive of the motor when the optical coupling unit is in the on state and the second switch module is in the on state; The execution component is further configured to move backward under the drive of the motor when the optical coupling unit is in an off state and the second switch module is in an off state; The execution component is further configured to stop moving when the optical coupling unit is in an on state and the second switch module is in an off state, or when the optical coupling unit is in an off state and the second switch module is in an on state.

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