Electric surgical instrument

Abstract

The present disclosure provides an electric surgical instrument, relating to the technical field of electric surgical instruments. The electric surgical instrument comprises an electric module, a jaw assembly, and a motor. The electric module comprises a motor driving module and a control module, and the motor driving module is electrically connected to the control module. The control module is configured to: acquire a working mode of the jaw assembly, wherein the working mode is used for representing a closing mode of the jaw assembly; and determine, according to the working mode, a target detection algorithm from a detection algorithm family. The detection algorithm family comprises at least one of the following: a motor working parameter detection algorithm and a jaw stroke detection algorithm. The control module is further configured to acquire, according to the target detection algorithm, a corresponding clamping force during a closing operation performed by the jaw assembly, such that a more matching target detection algorithm can be selected from the detection algorithm family for detection, and the detection accuracy of the clamping force and the applicability of the electric surgical instrument can be improved.

Description

Electric surgical instrument

[0001] The present application claims priority to Chinese Patent Application No. 202411376879.X, filed on September 29, 2024, the disclosure of which is incorporated herein in its entirety by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of electric surgical instruments, and in particular, to an electric surgical instrument. BACKGROUND

[0003] An electric anastomat is a medical instrument used for tissue cutting and suturing in surgery, commonly used in surgery of organs such as gastrointestinal and lung, wherein, when specifically controlled, first, the jaw assembly is closed by the motor drive to clamp and squeeze the tissue, and after the tissue is fully squeezed, the motor drives the staple cartridge assembly to staple the anastomotic tissue, and drives the cutting knife to fire and cut the tissue. SUMMARY

[0004] Embodiments of the present disclosure aim to provide an electric surgical instrument.

[0005] The present disclosure is implemented by the following technical solutions:

[0006] In a first aspect, the present disclosure provides an electric surgical instrument, comprising an electric module, a jaw assembly, and a motor, wherein the electric module comprises a motor drive module and a control module, the motor drive module is electrically connected with the control module; the control module controls the motor to drive the jaw assembly to perform a closing operation through the motor drive module, wherein the jaw assembly operatively clamps a target tissue;

[0007] The control module is configured to obtain a working mode of the jaw assembly, the working mode being used to represent a closing mode of the jaw assembly; and according to the working mode, determine a target detection algorithm from a detection algorithm family; the detection algorithm family at least comprises a motor working parameter detection algorithm and a jaw stroke detection algorithm;

[0008] The control module is further configured to obtain a clamping force of the jaw assembly during the closing operation of the jaw assembly according to the target detection algorithm.

[0009] For example, if the working mode of the jaw assembly obtained by the control module represents the closing mode of the jaw assembly as a continuous closing mode, the control module determines that the target detection algorithm is the motor working parameter detection algorithm;

[0010] If the working mode of the jaw assembly represented by the control module is intermittent closing mode, the control module determines that the target detection algorithm is the jaw stroke detection algorithm.

[0011] For example, the motorized surgical instrument further comprises a working parameter acquisition module configured to acquire a working parameter of the motor during the closing operation of the jaw assembly; and the control module is configured to determine the clamping force during the closing operation of the jaw assembly according to the working parameter of the motor and a first preset mapping table, wherein the first preset mapping table comprises a mapping relationship between the working parameter of the motor and the clamping force.

[0012] For example, the working parameter of the motor comprises a current parameter, or a voltage parameter, or a torque parameter, or a rotational speed parameter.

[0013] For example, the first preset mapping table comprises the following mapping relationship:

[0014] The first preset working parameter range corresponds to the first clamping force level;

[0015] The second preset working parameter range corresponds to the second clamping force level.

[0016] For example, the first preset mapping table further comprises the following mapping relationship:

[0017] The third preset working parameter range corresponds to the third clamping force level.

[0018] For example, the motorized surgical instrument further comprises a stroke parameter acquisition module configured to acquire a first stroke parameter of the motor during the closing operation of the jaw assembly;

[0019] The control module is configured to acquire a stroke difference between the first stroke parameter and a standard stroke parameter; and determine the clamping force during the closing operation of the jaw assembly according to the stroke difference and a third preset mapping table, wherein the third preset mapping table comprises a mapping relationship between the stroke difference and the clamping force.

[0020] For example, the third preset mapping table comprises the following mapping relationship:

[0021] The first preset stroke difference range corresponds to the first clamping force level;

[0022] The second preset stroke difference range corresponds to the second clamping force level.

[0023] For example, the third preset mapping table further comprises the following mapping relationship:

[0024] The third preset stroke difference range corresponds to the third clamping force level.

[0025] For example, the first stroke parameter comprises a movement stroke of the motor during the closing operation of the jaw assembly clamping the target tissue; the stroke parameter acquisition module comprises an encoder, or a Hall sensor and a magnetic element, or a photoelectric sensor and a grating.

[0026] For example, the standard stroke parameter comprises a movement stroke of the motor during the closing operation of the jaw assembly not clamping tissue; the stroke parameter acquisition module comprises an encoder, or a Hall sensor and a magnetic element, or a photoelectric sensor and a grating.

[0027] For example, the electric surgical instrument further comprises a time acquisition module configured to acquire a duration of a closing signal driving the jaw assembly to perform the closing operation; the control module is configured to determine the working mode of the jaw assembly according to the duration of the closing signal and a preset time threshold.

[0028] For example, if the duration of the closing signal is greater than or equal to the preset time threshold, the control module determines that the working mode of the jaw assembly is a continuous closing mode.

[0029] If the duration of the closing signal is less than the preset time threshold, the control module determines that the working mode of the jaw assembly is an intermittent closing mode.

[0030] For example, the closing signal is an input signal or a control signal of the control module, and the control signal is output by the control module according to the input signal; the motor driving module controls the motor to drive the jaw assembly to perform the closing operation according to the control signal.

[0031] For example, the electric surgical instrument further comprises a closing button configured to control the jaw assembly to perform the closing operation or stop the closing operation through the motor; the closing signal is a pressing signal output by the closing button.

[0032] For example, the electric surgical instrument further comprises a working parameter acquisition module configured to acquire a working parameter of the motor during the closing operation of the jaw assembly; the control module determines the working mode of the jaw assembly according to the working parameter of the motor.

[0033] For example, if the duration of the working parameter of the motor exceeding a preset working parameter value is greater than or equal to a preset duration, the control module determines that the working mode of the jaw assembly is a continuous closing mode.

[0034] If the duration that the working parameter of the motor exceeds the preset working parameter value is less than the preset duration, the control module determines that the working mode of the jaw assembly is the intermittent closing mode.

[0035] For example, the working parameter of the motor includes a current parameter, or a voltage parameter, or a torque parameter, or a rotating speed parameter.

[0036] For example, the working parameter of the motor is a current parameter, the control module obtains an average current value of the current parameter of the motor, and when the average current value is less than a preset current threshold, the control module determines that the working mode of the jaw assembly is the continuous closing mode; if the average current value is greater than or equal to the preset current threshold, the control module determines that the working mode of the jaw assembly is the intermittent closing mode.

[0037] For example, the working parameter of the motor is a torque parameter, the control module obtains an average torque value of the torque parameter of the motor, and when the average torque value is less than a preset torque threshold, the control module determines that the working mode of the jaw assembly is the continuous closing mode; if the average torque value is greater than or equal to the preset torque threshold, the control module determines that the working mode of the jaw assembly is the intermittent closing mode.

[0038] For example, the working parameter of the motor is a voltage parameter, the control module obtains an average voltage value of the voltage parameter of the motor, and when the average voltage value is greater than or equal to a preset voltage threshold, the control module determines that the working mode of the jaw assembly is the continuous closing mode; if the average voltage value is less than the preset voltage threshold, the control module determines that the working mode of the jaw assembly is the intermittent closing mode.

[0039] For example, the working parameter of the motor is a rotating speed parameter, the control module obtains an average rotating speed value of the rotating speed parameter of the motor, and when the average rotating speed value is greater than or equal to a preset rotating speed threshold, the control module determines that the working mode of the jaw assembly is the continuous closing mode; if the average rotating speed value is less than the preset rotating speed threshold, the control module determines that the working mode of the jaw assembly is the intermittent closing mode.

[0040] For example, the clamping force is represented as a clamping force level, wherein the clamping force level includes at least two levels, and the greater the clamping force, the higher the clamping force level corresponding to the clamping force.

[0041] For example, the electric surgical instrument further includes a display screen, and the control module is configured to control the display screen to display different clamping force levels in a differentiated manner. BRIEF DESCRIPTION OF DRAWINGS

[0042] FIG. 1 is a structural schematic diagram of an electric surgical instrument according to an embodiment of the present disclosure;

[0043] Fig. 2 is a structural schematic diagram of a motorized surgical instrument according to an embodiment of the present disclosure;

[0044] Fig. 3 is a structural schematic diagram of a motorized surgical instrument according to an embodiment of the present disclosure;

[0045] Fig. 4 is a structural schematic diagram of a motorized surgical instrument according to an embodiment of the present disclosure;

[0046] Fig. 5 is a structural schematic diagram of a motorized surgical instrument according to an embodiment of the present disclosure;

[0047] Fig. 6 is a structural schematic diagram of a motorized surgical instrument according to an embodiment of the present disclosure;

[0048] Fig. 7 is a structural schematic diagram of a motorized surgical instrument according to an embodiment of the present disclosure;

[0049] Fig. 8 is a structural schematic diagram of a motorized surgical instrument according to an embodiment of the present disclosure;

[0050] Fig. 9 is a functional module schematic diagram of a motorized surgical instrument according to an embodiment of the present disclosure;

[0051] Fig. 10 is a circuit structure diagram of a motorized surgical instrument according to an embodiment of the present disclosure;

[0052] Fig. 11 is a functional module schematic diagram of a motorized surgical instrument according to an embodiment of the present disclosure;

[0053] Fig. 12 is a display schematic diagram of a clamping force according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical scheme and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and not used to limit the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present disclosure.

[0055] In the present disclosure, unless specifically defined and limited otherwise, the terms "connected", "coupled", and the like, should be interpreted broadly, for example, as fixedly connected, as detachably connected, as movably connected, or as integrally formed; as directly connected, or as indirectly connected via an intermediate medium; as internal communication between two elements, or as interaction relationship between two elements such as abutment. For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. It should be noted that when the terms "connected" and "coupled" are limited by a modifier, the meanings thereof are limited by the modifier, and other possible meanings are excluded only in the case of obvious exclusion, and other possible meanings are not excluded. The electrical connection can be direct connection or indirect connection through an intermediate medium.

[0056] The electric surgical instrument provided by the embodiments of the present disclosure can provide a detection algorithm family for detection, and can select a suitable target detection algorithm for detection in different scenarios, so as to improve the detection accuracy of the clamping force and the applicability of the electric surgical instrument.

[0057] In the embodiments of the present disclosure, the electric surgical instrument can be an electric anastomat.

[0058] FIGS. 1 to 3 are structural schematic diagrams of an electric surgical instrument provided by the embodiments of the present disclosure. Referring to FIGS. 1 to 3, before introducing the present disclosure, the hardware structure of the electric surgical instrument to which the present disclosure is applied is first introduced briefly. The electric surgical instrument can include an electric module, a transmission mechanism, a jaw assembly 10, and a cutting knife assembly 30. The electric module includes a processor and a motor driving module in communication connection with the processor. The motor driving module is connected with a motor 16, and is used to control the motor 16 according to the control signal sent by the processor, so as to control the transmission assembly to perform a target operation. The transmission assembly is connected with the jaw assembly 10 and the cutting knife assembly 30 respectively, and is driven by the motor 16 to realize the opening and closing of the jaw assembly 10, or the feeding and retreating of the cutting knife assembly 30. When the control is performed specifically, the motor 16 can realize the opening and closing of the jaw assembly 10 by driving a closing driving gear 17, and the motor 16 can realize the feeding and retreating of the cutting knife assembly 30 by driving a firing driving gear 18.

[0059] The jaw assembly 10 includes a buttress seat 100 and a cartridge seat 101, the cartridge seat 101 is pivotally connected with the buttress seat 100, the cartridge seat 101 is used to operatively support a cartridge assembly (not shown in the figure) located therein, the buttress seat 100 is selectively movable between an open position and a closed position, thereby cooperating with the cartridge seat 101 and the cartridge assembly to loosen or clamp the tissue. For example, the cartridge seat 101 can be adapted to the cartridge assembly of various cartridge models, so that the jaw assembly 10 can be closed to the tissue anastomosis by the titanium staples in the cartridge assembly of any cartridge model.

[0060] In order to realize the movement of the jaw assembly 10, the sleeve 11 is slidably sleeved on the outside of the jaw assembly 10, so as to change the included angle between the buttress seat 100 and the cartridge seat 101 by moving the sleeve 11 forward and backward, thereby making the jaw assembly 10 open or close. 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.

[0061] In order to realize the driving of the sleeve 11 moving forward and backward, the transmission assembly is connected between the motor 16 and the sleeve 11, so that the motor 16 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 16 drives the transmission assembly to touch the travel switch 13, the jaw assembly 10 is closed to the bottom.

[0062] Specifically, referring to FIG. 4, the transmission assembly includes a slider and a connecting rod 15, the travel switch 13 is arranged on the front side of the slider, the slider is connected with the sleeve 11 and is configured to move forward and backward synchronously. The connecting rod 15 is rotatably connected with the slider, so as to convert the movement of the connecting rod 15 into the movement of the slider. The motor 16 can drive the connecting rod 15 to rotate to drive the slider to move forward and backward, so that the slider pushes the sleeve 11 to move forward and backward, thereby making the jaw assembly 10 open and close through the forward and backward movement of the sleeve 11.

[0063] By driving the connecting rod 15 to rotate through the motor 16, the connecting rod 15 pushes the slider to move forward, and in the process of moving forward, the slider pushes the sleeve 11 to move forward, so that the included angle between the buttress seat 100 and the cartridge seat 101 is reduced, thereby making the jaw assembly 10 gradually close. Wherein, the slider moves forward and gradually approaches the travel switch 13, until the travel switch 13 is touched, the jaw assembly 10 is closed to the bottom.

[0064] The travel switch 13 is electrically connected with the motor 16, when the travel switch 13 is triggered, the motor 16 stops, the current of the motor 16 is zero, the driving to the sleeve 11 is stopped, the jaw assembly 10 is closed to the bottom, and the squeezing to the tissue is realized. The jaw assembly 10 has an initial state of full closure, a fully open state and a closed-to-bottom state, the motor 16 can drive the jaw assembly 10 to open from the initial state, switch to the fully open state, and then drive the jaw assembly 10 to start closing from the fully open state, squeeze the tissue during the closing process, until the closed-to-bottom state is reached.

[0065] For example, the slider includes a slider body 140 and a triggering part 141, the triggering part 141 is connected to the side of the slider body 140, the travel switch 13 is arranged at the front side of the triggering part 141, so that the travel switch 13 is arranged in the face-to-face manner with the triggering part 141 when the jaw assembly 10 has not been closed to the bottom, and the travel switch 13 is in contact with the triggering part 141 when the jaw assembly 10 is closed to the bottom, so as to trigger the travel switch 13.

[0066] The jaw assembly 10 has an initial state of full closure, a fully open state and a closed-to-bottom state, the motor 16 can drive the jaw assembly 10 to open from the initial state, switch to the fully open state, and then drive the jaw assembly 10 to start closing from the fully open state, squeeze the tissue during the closing process, until the closed-to-bottom state is reached. Further, the electric surgical instrument can also be configured to be able to maintain the closed-to-bottom state for a certain length of time, so as to fully drain the tissue fluid and realize sufficient squeezing.

[0067] Therefore, the working process of the jaw assembly 10 is defined as gradually opening from the initial state to the fully open state, and then starting to close from the fully open state until the squeezing process is completed. The clamping force detection proposed in the present disclosure is used to detect the clamping force (squeezing force) during the squeezing process of the jaw assembly 10, wherein the squeezing process refers to the process from starting to close to stopping to close.

[0068] Referring to FIGS. 5 to 7, the transmission assembly further includes a closing drive gear 17, the motor 16 drives the connecting rod 15 to rotate by driving the closing drive gear 17, the connecting rod 15 pushes the slider 14 to move forward, the slider 14 pushes the sleeve 11 to move forward during the forward movement, so that the included angle between the nail seat 100 and the nail cartridge seat 101 is reduced, and then the jaw assembly 10 is gradually closed. Wherein the slider 14 moves forward and gradually approaches the travel switch 13, until the travel switch 13 is triggered, the jaw assembly 10 is closed to the bottom.

[0069] It should be noted that the travel switch 13 is used to be electrically connected with the motor 16 through the electric module, when the travel switch 13 is triggered, the travel switch 13 sends a signal to the processor, the processor controls the motor 16 to stop through the motor driving module, the current of the motor 16 is zero, the driving to the sleeve 11 is stopped, and the jaw assembly 10 is closed to the bottom.

[0070] As shown in FIG. 7, the transmission assembly further includes a firing drive gear 18 and a rack 19, the motor 16 drives the firing drive gear 18 to operate, and the firing drive gear 18 can drive the rack 19 to move.

[0071] As shown in FIG. 8, the sleeve 11 further includes a mandrel 20, and the electric anastomat further includes a cutting knife assembly, as shown in FIG. 6, the cutting knife assembly includes a knife rod 21 and a cutting knife 22, wherein the rack 19 is connected with the cutting knife 22 through the mandrel 20 and the knife rod 21, and the movement of the rack 19 can drive the movement of the cutting knife 22, so that the firing action can be performed.

[0072] In addition, it should be noted that the above-mentioned staple cartridge assembly is provided with a slot for the movement of the cutting knife assembly, and the cutting knife assembly cuts the tissue during the movement in the slot towards the distal side, and pushes the anastomosis staples accommodated in the staple cartridge assembly out of the staple to anastomose the tissue.

[0073] During the operation of the electric surgical instrument, the motor 16 drives the jaw assembly 10 to close to clamp the tissue through the transmission assembly, then the motor 16 drives the cutting knife assembly 30 to advance to cut and anastomose the tissue (i.e. the knife is advanced or fired) through the transmission assembly, then the motor 16 drives the cutting knife assembly 30 to retreat (i.e. the knife is retreated) through the transmission assembly, and finally the motor 16 drives the jaw assembly 10 to open to release the tissue through the transmission assembly, so as to realize the cutting and anastomosing function of the electric surgical instrument.

[0074] FIG. 9 is a functional module schematic diagram of an electric surgical instrument provided by an embodiment of the present disclosure, as shown in FIG. 9, the electric surgical instrument includes an electric module, a jaw assembly 10 and a motor 16, the electric module includes a motor driving module 23 and a control module 24 (i.e. a processor), the motor driving module 23 is electrically connected with the control module 24; the control module 24 controls the motor 16 to drive the jaw assembly 10 to perform a closing operation through the motor driving module 23, wherein the jaw assembly operably holds a target tissue; the control module 24 is configured to acquire a working mode of the jaw assembly, the working mode is used to represent a closing mode of the jaw assembly; and according to the working mode, a target detection algorithm is determined from a detection algorithm family; the detection algorithm family at least includes at least one of the following: a motor working parameter detection algorithm and a jaw stroke detection algorithm; the control module 24 is further configured to acquire a corresponding clamping force of the jaw assembly during the closing operation according to the target detection algorithm.

[0075] The working mode of the jaw assembly can be determined according to the manner in which the user of the electric surgical instrument acts on the closure button. The closure mode of the jaw assembly can include a continuous closure mode and an intermittent closure mode. The continuous closure mode refers to a relatively long (for example, greater than 5 seconds) continuous closure time corresponding to the closure process of the jaw assembly. The intermittent closure mode refers to a relatively short (for example, less than 5 seconds) continuous closure time corresponding to the closure process of the jaw assembly.

[0076] It can be understood that the jaw assembly can be closed from the fully open state to the closed bottom state in the continuous closure mode or in the intermittent closure mode.

[0077] The working mode of the jaw assembly has a certain correspondence with the target detection algorithm. For example, the corresponding target detection algorithm can be determined according to the working mode mapping table during specific determination. The working mode mapping table can include a detection algorithm corresponding to the continuous closure mode and a detection algorithm corresponding to the intermittent closure mode.

[0078] According to different working modes of the jaw assembly, a target detection algorithm that matches the working mode can be determined in the detection algorithm family to detect the clamping force corresponding to the closure operation of the jaw assembly. Compared with the prior art detection scheme using a single detection method, the application of the present disclosure can improve the detection accuracy of the clamping force and the applicability of the electric surgical instrument by selecting a more matched target detection algorithm for detection.

[0079] For example, the clamping force corresponding to the closure operation of the jaw assembly can be represented by a specific clamping force value, or can be represented by a clamping force level, which is not limited herein.

[0080] In summary, the present disclosure provides an electric surgical instrument, which includes an electric module, a jaw assembly, and a motor. The electric module includes a motor drive module and a control module, and the motor drive module is electrically connected to the control module. The control module controls the motor to drive the jaw assembly to perform a closure operation through the motor drive module, wherein the jaw assembly clamps a target tissue. The control module is configured to obtain a working mode of the jaw assembly, the working mode being used to represent a closure mode of the jaw assembly, and determine a target detection algorithm in a detection algorithm family according to the working mode. The detection algorithm family includes at least one of a motor working parameter detection algorithm and a jaw stroke detection algorithm. The control module is further configured to obtain a clamping force corresponding to the closure operation of the jaw assembly according to the target detection algorithm. The application of the present disclosure can select a more matched target detection algorithm in the detection algorithm family for detection, which can improve the detection accuracy of the clamping force and the applicability of the electric surgical instrument.

[0081] In an embodiment, if the working mode of the jaw assembly obtained by the control module 24 indicates that the closing mode of the jaw assembly is the continuous closing mode, the control module 24 determines that the target detection algorithm is the motor working parameter detection algorithm; if the working mode of the jaw assembly obtained by the control module 24 indicates that the closing mode of the jaw assembly is the intermittent closing mode, the control module 24 determines that the target detection algorithm is the jaw stroke detection algorithm.

[0082] In an embodiment, the motor working parameter detection algorithm is used to indicate that the clamping force needs to be determined based on the working parameters (such as current, voltage, torque) of the motor; the jaw stroke detection algorithm is used to indicate that the clamping force needs to be determined based on the running stroke of the motor, wherein the running stroke of the motor can indicate the closing degree of the jaw assembly.

[0083] It can be understood that if the working mode of the jaw assembly indicates the intermittent closing mode, and the motor working parameter detection algorithm is used for detection, since the running time of the motor is short at this time, the working parameters of the motor cannot be accurately collected, and therefore, the detection accuracy will be low if the working parameters of the motor are used for detection; if the jaw stroke detection algorithm is used for detection, since the collected jaw stroke is a fixed value, the detection accuracy can be improved when the jaw stroke is used to determine the clamping force.

[0084] In addition, if the working mode of the jaw assembly indicates the continuous closing mode, if the jaw stroke detection algorithm is used for detection, since the jaw assembly may be deformed after multiple clamping operations (such as full-load clamping), and since the collected jaw stroke is a fixed value, the detection accuracy will be low when the running stroke of the motor is used to determine the clamping force; if the motor working parameter detection algorithm is used for detection, since the motor working parameters fluctuate relatively smoothly at this time, the detection accuracy can be improved when the motor working parameters are used to determine the clamping force; in addition, the motor working parameter detection algorithm can be used for detection without relying on position feedback clamping force, that is, without the need to set a motor encoder, and in addition, the detection accuracy can still be ensured when the jaw assembly performs multiple clamping operations.

[0085] In summary, it can be seen that the embodiments of the present disclosure can select a suitable target detection algorithm according to the closing mode indicated by the working mode of the jaw assembly to determine the corresponding clamping force during the closing operation of the jaw assembly, which can improve the accuracy of the detection result and the applicability of the electric surgical instrument.

[0086] For example, the electric surgical instrument further comprises a working parameter acquisition module, which is electrically connected with the control module 24. The working parameter acquisition module is configured to acquire the working parameter of the motor during the closing operation of the jaw assembly and send the working parameter to the control module 24. The control module 24 is configured to determine the corresponding clamping force during the closing operation of the jaw assembly according to the working parameter of the motor and the first preset mapping table.

[0087] For example, the first preset mapping table comprises a mapping relationship between the working parameter of the motor and the clamping force. For example, the corresponding clamping force during the closing operation of the jaw assembly can be determined according to the working parameter of the motor during the closing operation of the jaw assembly.

[0088] For example, the working parameter of the motor comprises a current parameter, a voltage parameter, a torque parameter, or a rotating speed parameter.

[0089] For example, the working parameter of the motor can be continuously acquired during the closing operation of the jaw assembly.

[0090] For example, the current of the motor can be acquired by a current sampling circuit connected in series in a motor loop. For example, in some embodiments, the current sampling circuit can comprise a sampling resistor and an amplification circuit, wherein the sampling resistor is connected in series in a loop where the motor is located; and the amplification circuit is configured to amplify the current collected by the sampling resistor and transmit the amplified current to a processor in the electric surgical instrument.

[0091] FIG. 10 is a circuit structure diagram of an electric surgical instrument according to an embodiment of the present disclosure. In an optional implementation, as shown in FIG. 10, the current sampling circuit comprises a sampling resistor and an amplification circuit, which are connected in series with the motor; and the amplification circuit is configured to amplify the current collected by the sampling resistor and transmit the amplified current to a processor in the electric surgical instrument.

[0092] For example, the amplification circuit in the current detection unit can be a general amplification circuit, which can comprise various types of electronic components, or can be an operational amplifier, which is not limited herein and can be different according to actual application scenarios. In order to better understand the present disclosure, the following embodiments are described by taking the amplification circuit as an operational amplifier.

[0093] As shown in FIG. 10, the electric surgical instrument can comprise a processor 210 (i.e., the control module 24), a current detection unit, a motor driving chip 107, and a motor 16, wherein the current detection unit comprises a sampling resistor 1061 and an amplification circuit.

[0094] The processor 210 includes a first output control end P1, a second output control end P2 and a data acquisition end P3, and the motor driving chip 107 includes a chip power supply pin (VCC2), a chip ground pin (GND2), a first input control end BI, a second input control end FI, a first driving end BO and a second driving end FO.

[0095] The first output control end P1 and the second output control end P2 of the processor 210 are electrically connected with the first input control end BI and the second input control end FI of the motor driving chip 107 respectively, for outputting control signals to the motor driving chip 107 to control the motor to rotate forward or reverse; the first driving end BO and the second driving end FO of the motor driving chip 107 are electrically connected with the control end of the motor 108 respectively, for outputting control signals of forward rotation or reverse rotation to the motor.

[0096] For example, the amplification circuit includes an operational amplifier 1062, and further, the chip ground pin (GND2) of the motor driving chip 107 is electrically connected with one end of a sampling resistor R1 and a non-inverting input end of the operational amplifier 1062 respectively, the other end of the sampling resistor R1 is grounded GND1 and is electrically connected with an inverting input end of the operational amplifier 1062, and an output end of the operational amplifier 1062 is electrically connected with the data acquisition end P3 of the processor 210.

[0097] It should be noted that the specific connection mode of the operational amplifier is not limited to this, and can be flexibly adjusted according to the specific type of the operational amplifier. Based on the above circuit diagram, it can be seen that the current parameter of the motor 16 can be acquired through the sampling resistor R1, and transmitted to the processor 210 in the motor-driven surgical instrument after being amplified by the operational amplifier 1062.

[0098] In addition, it should be noted that the current of the motor, the voltage of the motor and the torque of the motor have a certain relationship. The voltage of the motor can be calculated according to the current of the motor and the resistance value of the sampling resistor; the torque of the motor can be calculated by the following formula: T = 9.5493 * 〖10〗^(-3) * K_V * I. Wherein, T represents the torque of the motor, K_V represents the voltage constant of the motor, and I represents the current of the motor. In addition, the corresponding relationship between the motor speed and the current of the motor can be determined by referring to the working principle of the motor, which will not be described here. Of course, it should be noted that the setting mode of the current sampling circuit is not limited to this, and can be flexibly set according to the actual application scene.

[0099] It should be noted that the driving mode of the motor is not limited to the setting of the driving chip, and according to the actual application scene, a preset motor driving circuit can also be used to replace the driving chip, which is not limited here. That is, the motor driving module can include a driving chip, and alternatively, it can also include a motor driving circuit.

[0100] For example, the clamping force can be represented by a clamping force level, and the clamping force level can include at least two, such as a first clamping force level, a second clamping force level, and a third clamping force level, wherein the clamping force corresponding to the first clamping force level is less than the clamping force corresponding to the second clamping force level, and the clamping force corresponding to the second clamping force level is less than the clamping force corresponding to the third clamping force level.

[0101] In some embodiments, the first preset mapping table can include a mapping relationship between the operating parameter of the motor and the clamping force level. For example, the first preset mapping table includes the following mapping relationship: the first preset operating parameter range corresponds to the first clamping force level; the second preset operating parameter range corresponds to the second clamping force level.

[0102] For example, the first preset mapping table further includes the following mapping relationship: the third preset operating parameter range corresponds to the third clamping force level.

[0103] For example, taking the current of the motor as an example, the first preset operating parameter range corresponds to the first preset current range, the second preset operating parameter range corresponds to the second preset current range, and the third preset operating parameter range corresponds to the third preset current range.

[0104] In some embodiments, the first preset current range is 0-1.0A; the second preset current range is 1-1.6A; and the third preset current range is greater than or equal to 1.6A. It should be noted that the current range is not limited to this, and can be flexibly set according to the actual application scenario.

[0105] Based on the above description, after obtaining the operating parameter of the motor, the preset operating parameter range to which the operating parameter of the motor falls can be determined based on the first preset mapping table, and the clamping force level corresponding to the preset operating parameter range to which the operating parameter falls is determined according to the clamping force level corresponding to the preset operating parameter range, so as to realize the detection of the clamping force during the closing operation of the jaw assembly.

[0106] For example, the operating parameter of the motor in a certain closing operation process is the current of the motor, and if the obtained current of the motor is 0.9A, it can be seen that it falls within the first preset current range, and therefore the clamping force level corresponding to this closing operation process is the first clamping force level.

[0107] For example, the working parameter of the motor includes: motor torque, the working parameter acquisition module is configured to acquire the motor voltage constant and the current parameter of the motor during the process that the jaw assembly performs the closing operation, and send to the control module 24; the control module 24 is configured to calculate the motor torque according to the motor voltage constant and the current parameter of the motor; determine the corresponding clamping force during the process that the jaw assembly performs the closing operation according to the motor torque and the second preset mapping table, and the second preset mapping table includes: the mapping relationship between the motor torque and the clamping force.

[0108] For example, the motor 16 in the electric surgical instrument can be a direct current brush motor.

[0109] Wherein, the motor voltage constant can represent the rotation speed value of the motor when 1 volt voltage is generated per minute rotation speed (RPM) under no load condition; the current parameter of the motor can represent the working current of the loop where the motor is located during the process that the jaw assembly performs the closing operation; the motor torque is the rotation force generated by the motor when rotating.

[0110] In some embodiments, the current parameter of the motor can be obtained by the above-mentioned detection. For example, the motor torque can be calculated by the following formula: T = 9.5493 * 〖10〗^(-3) * K_V * I. Wherein, T represents the motor torque, K_V represents the motor voltage constant, and I represents the current parameter of the motor.

[0111] For example, the second preset mapping table can include: the mapping relationship between the motor torque and the clamping force level. Wherein, the greater the motor torque, the greater the corresponding clamping force; the smaller the motor torque, the smaller the corresponding clamping force.

[0112] For example, the second preset mapping table includes the following mapping relationship: the first preset motor torque range corresponds to the first clamping force level; the second preset motor torque range corresponds to the second clamping force level; the third preset motor torque range corresponds to the third clamping force level.

[0113] Based on the above description, after obtaining the motor torque, the preset motor torque range to which the motor torque falls can be determined based on the second preset mapping table, and the corresponding clamping force level during the process that the jaw assembly performs the closing operation is determined according to the clamping force level corresponding to the preset motor torque range to which the motor torque falls, so as to realize the detection of the clamping force during the process that the jaw assembly performs the closing operation.

[0114] If the target detection algorithm is the jaw stroke detection algorithm, the electric surgical instrument further includes a stroke parameter acquisition module, and the stroke parameter acquisition module is connected with the control module 24.

[0115] The stroke parameter acquisition module is configured to acquire a first stroke parameter of the motor during the closing operation of the jaw assembly, and send the first stroke parameter to the control module 24; the control module 24 is configured to acquire a stroke difference between the first stroke parameter and a standard stroke parameter; and determine a clamping force during the closing operation of the jaw assembly according to the stroke difference and a third preset mapping table, wherein the third preset mapping table includes a mapping relationship between the stroke difference and the clamping force.

[0116] For example, the first stroke parameter includes a movement stroke of the motor during the closing operation of the jaw assembly, wherein the jaw assembly clamps the target tissue; the stroke parameter acquisition module includes an encoder, or includes a Hall sensor and a magnetic element, or includes a photoelectric sensor and a grating.

[0117] For example, during the closing operation of the jaw assembly, the stroke parameter acquisition module can collect the rotation number of the motor 16, and feed back the rotation number of the motor 16 to the control module 24; the control module 24 can receive the rotation number of the motor 16, and acquire the movement stroke of the motor 16 according to the rotation number.

[0118] For example, the standard stroke parameter includes a movement stroke of the motor during the closing operation of the jaw assembly, wherein the jaw assembly does not clamp the tissue; the stroke parameter acquisition module includes an encoder, or includes a Hall sensor and a magnetic element, or includes a photoelectric sensor and a grating.

[0119] For example, the first stroke parameter of the motor can be acquired by an encoder arranged in the electric surgical instrument, wherein the first stroke parameter collected by the encoder can represent the movement stroke of the motor during the closing operation of the jaw assembly, for example, the first stroke parameter can be represented by the number of encoder turns. Of course, the acquisition method of the first stroke parameter of the motor is not limited to this, and the sensor can be selected for acquisition according to the actual application scenario.

[0120] The standard stroke parameter can represent the movement stroke of the motor when the jaw moves from fully open to fully closed under no load (without clamping the tissue). For example, the standard stroke parameter can also be represented by the number of encoder turns.

[0121] For example, the rotation number of the motor can also be collected by a Hall sensor and a magnetic element in cooperation, specifically, one of the Hall sensor and the magnetic element is connected to the motor shaft, and the other is arranged on a component fixed relative to the motor shaft. For example, the rotation number of the motor can also be collected by a photoelectric sensor and a grating in cooperation, specifically, one of the photoelectric sensor and the grating is connected to the motor shaft, and the other is arranged on a component fixed relative to the motor shaft.

[0122] For example, based on the mechanical structure of the foregoing electric surgical instrument, wherein the motor in the anastomat is configured with an encoder, the encoder is electrically connected to a processor, the processor can detect the rotation of the motor in real time through the encoder, and record the driving stroke of the motor during the closing process of the jaw assembly. In addition, before the anastomat is shipped, the processor will store the standard driving stroke L1 of the motor when the jaw assembly is switched from the open state to the closed state under the no-load state of the jaw assembly; and if the jaw assembly squeezes thicker tissue to cause the deformation of the jaw driving mechanism, and if the motor movement still corresponds to the standard stroke parameter L1, the jaw assembly cannot be closed to the bottom, and therefore, the motor needs to run an additional stroke AX (L2-L1=AX) to compensate, so that the jaw assembly is closed to the bottom, wherein the first stroke parameter corresponding to the motor at this time is L2, and AX is the current stroke difference.

[0123] Based on the foregoing description, it can be understood that the current stroke difference calculated at this time can represent the size of the current clamping force, wherein the larger the current stroke difference, the greater the corresponding current clamping force; the smaller the current stroke difference, the smaller the corresponding current clamping force.

[0124] For example, the third preset mapping table includes the following mapping relationship: the first preset stroke difference range corresponds to the first clamping force level; the second preset stroke difference range corresponds to the second clamping force level; for example, the third preset mapping table also includes the following mapping relationship: the third preset stroke difference range corresponds to the third clamping force level.

[0125] Based on the foregoing description, after the current stroke difference is obtained, the current clamping force level corresponding to the current stroke difference can be obtained by table lookup based on the third preset mapping table, so as to represent the size of the clamping force during the closing operation of the jaw assembly.

[0126] FIG. 11 is a functional module schematic diagram of an electric surgical instrument provided by an embodiment of the present disclosure. In an optional implementation, as shown in FIG. 11, the electric surgical instrument can further include a closing button 27 and a display screen 26, the closing button 27 and the display screen 26 are respectively electrically connected to the control module 24, and the closing button 27 is configured to control the jaw assembly to perform a closing operation or stop the closing operation through the motor 16.

[0127] For example, the electric surgical instrument further includes a time acquisition module (not shown in the figure), and the time acquisition module is electrically connected to the control module. The time acquisition module is configured to acquire the duration of a closing signal for driving the jaw assembly to perform a closing operation; and the control module 24 is configured to determine the working mode of the jaw assembly according to the duration of the closing signal and a preset time threshold.

[0128] For example, the closing signal is an input signal of the control module 24, or a control signal output by the control module according to the input signal; the motor driving module controls the motor to drive the jaw assembly to perform the closing operation according to the control signal. For example, the user operates the closing button 27 to drive the jaw assembly to close, and the input signal is the output signal of the closing button 27, and the control module 24 outputs the control signal to the motor driving module 23 to control the motor to drive the jaw assembly to move based on the input signal. For another example, the electric surgical instrument further comprises a touch screen, and the user drives the jaw assembly to close by operating the touch screen, and the input signal is the output signal of the touch screen, and the control module 24 outputs the control signal to the motor driving module 23 to control the motor to drive the jaw assembly to move based on the input signal. It can be understood that the input signal of the control module can also be in other forms, as long as the control module 24 can control the motor to drive the jaw assembly to perform the closing operation based on the input signal, which is not limited herein.

[0129] For another example, the electric surgical instrument further comprises the closing button 27, and the closing button is configured to control the motor to drive the jaw assembly to perform the closing operation or stop the closing operation; and the closing signal is a pressing signal output by the closing button.

[0130] For example, if the duration of the closing signal is greater than or equal to a preset time threshold, the control module 24 determines that the working mode of the jaw assembly is the continuous closing mode; and if the duration of the closing signal is less than the preset time threshold, the control module 24 determines that the working mode of the jaw assembly is the intermittent closing mode. For example, according to the use habit of the user, the user can press the closing button 27 for a long time (for a long pressing time) or for a short time (for a short pressing time) to generate the closing signal or the pause closing signal and send it to the control module 24.

[0131] For example, if the duration of the pressing signal corresponding to the closing button 27 is greater than or equal to a preset time threshold, the working mode of the jaw assembly is determined to be the continuous closing mode; and if the duration of the pressing signal corresponding to the closing button 27 is less than the preset time threshold, the working mode of the jaw assembly is determined to be the intermittent closing mode. When determining the working mode of the jaw assembly, the relationship between the duration of the pressing signal corresponding to the closing button 27 and the preset time threshold can be compared to determine the working mode of the jaw assembly.

[0132] For example, the closing button 27 in the pressing state can correspond to a high level for controlling the jaw assembly to perform the closing operation, and the closing button 27 in the non-pressing state can correspond to a low level for controlling the jaw assembly to pause the closing operation.

[0133] In some embodiments, a preset level (e.g., high level) corresponding to pressing the closure button 27 can be taken as a pressing signal, and the duration of the preset level (e.g., high level) and the preset time threshold are judged. If the duration of the preset level is greater than or equal to the preset time threshold, it is determined that the working mode of the jaw assembly is the continuous closing mode, otherwise, it is determined that the working mode of the jaw assembly is the intermittent closing mode.

[0134] For example, the preset time threshold can be 2 seconds, 3 seconds, etc., which is not limited here and can be flexibly set according to the actual application scenario.

[0135] According to the embodiments of the present disclosure, the working mode of the jaw assembly can be quickly determined by the button mode. For example, the electric surgical instrument further includes a working parameter acquisition module configured to acquire the working parameter of the motor during the closing operation of the jaw assembly; and the control module 24 determines the working mode of the jaw assembly according to the working parameter of the motor.

[0136] Based on the above description, it can be understood that if the long press mode is used to act on the closure button to generate the closing signal, the fluctuation of the working parameter of the motor is relatively stable; and if the point press mode is used to act on the closure button to generate the closing signal, the fluctuation of the working parameter of the motor is more, so the working mode of the jaw assembly can be determined according to the change of the working parameter of the motor during the closing operation of the jaw assembly.

[0137] According to the embodiments of the present disclosure, the working mode of the jaw assembly can be determined based on the working parameter of the motor, which can make full use of the motor related parameters, improve the applicability of the method of the present disclosure, and improve the flexibility of the working mode detection.

[0138] For example, the working parameter of the motor includes a current parameter, or a voltage parameter, or a torque parameter, or a rotational speed parameter.

[0139] For example, the working parameter of the motor is a current parameter or a torque parameter, the control module 24 acquires an average current value of the current parameter or an average torque value of the torque parameter, and when the average current value is less than a preset current threshold or the average torque value is less than a preset torque threshold, the control module 24 determines that the working mode of the jaw assembly is the continuous closing mode; and if the average current value is greater than or equal to the preset current threshold or the average torque value is greater than or equal to the preset torque threshold, it is determined that the working mode of the jaw assembly is the intermittent closing mode.

[0140] For example, the working parameter of the motor is a current parameter, when judging the fluctuation of the working parameter of the motor, the average current value of the current parameter in the closed state can be calculated, if the average current value is greater than or equal to a preset current threshold value, it can be considered that the fluctuation of the working parameter of the motor is more, and the closing mode indicated by the working mode of the corresponding jaw assembly is the intermittent closing mode, otherwise it is the continuous closing mode.

[0141] Alternatively, the working parameter of the motor is a torque parameter, when judging the fluctuation of the working parameter of the motor, the average torque value of the torque parameter in the closed state can be calculated, if the average torque value is greater than or equal to a preset torque threshold value, it can be considered that the fluctuation of the working parameter of the motor is more, and the closing mode indicated by the working mode of the corresponding jaw assembly is the intermittent closing mode, otherwise it is the continuous closing mode.

[0142] Of course, it should be noted that the specific determination method is not limited thereto, and can be different according to actual application scenarios.

[0143] For example, the working parameter of the motor is a current parameter, when judging the fluctuation of the working parameter of the motor, if the duration of the current parameter of the motor exceeding the preset current is greater than or equal to a preset duration, it is determined that the working mode of the jaw assembly is the continuous closing mode; if the duration of the current parameter of the motor exceeding the preset current is less than the preset duration, it is determined that the working mode of the jaw assembly is the intermittent closing mode.

[0144] For example, the working parameter of the motor is a voltage parameter or a speed parameter, the control module 24 obtains the average voltage value of the voltage parameter or the average speed value of the speed parameter of the motor, and when the average voltage value is greater than or equal to a preset voltage threshold value or the average speed value is equal to a preset speed threshold value, the control module 24 determines that the working mode of the jaw assembly is the continuous closing mode; if the average voltage value is less than the preset voltage threshold value or the average speed value is less than the preset speed threshold value, it is determined that the working mode of the jaw assembly is the intermittent closing mode.

[0145] For example, the working parameter of the motor is a voltage parameter, when judging the fluctuation of the working parameter of the motor, the average voltage value of the voltage parameter in the closed state can be calculated, if the average voltage value is less than a preset voltage threshold value, it can be considered that the fluctuation of the working parameter of the motor is more, and the closing mode indicated by the working mode of the corresponding jaw assembly is the intermittent closing mode, otherwise it is the continuous closing mode.

[0146] Alternatively, the working parameter of the motor is a rotating speed parameter, when judging the fluctuation of the working parameter of the motor, the average rotating speed value of the rotating speed parameter in the closed state can be calculated, if the average rotating speed value is less than a preset rotating speed threshold, it can be considered that the fluctuation of the working parameter of the motor is more, and the working mode of the corresponding jaw assembly is indicated as the intermittent closing mode, otherwise, as the continuous closing mode.

[0147] Of course, it should be noted that the specific determination method is not limited thereto, and can be different according to the actual application scenario.

[0148] For example, the clamping force is a current clamping force level, wherein the clamping force level includes at least two levels, and the greater the clamping force, the higher the clamping force level corresponding to the clamping force.

[0149] For example, the clamping force level can include three levels, such as including: a first clamping force level, a second clamping force level, and a third clamping force level.

[0150] Among them, the clamping force corresponding to the first clamping force level is less than the clamping force corresponding to the second clamping force level, and the clamping force corresponding to the second clamping force level is less than the clamping force corresponding to the third clamping force level. Of course, the specific setting method is not limited thereto, and can be flexibly set according to the actual application scenario.

[0151] Based on the above description, after determining the target detection algorithm matched with the working mode of the jaw assembly, the target detection algorithm can be further used to determine the corresponding current clamping force level, wherein the current clamping force level can be any level in the preset clamping force level, such as the first clamping force level, which is not limited herein.

[0152] For example, the electric surgical instrument further includes a display screen 26, the display screen 26 is electrically connected with the control module, and the control module 24 is configured to control the display screen 26 to display different clamping force levels.

[0153] For example, different clamping force levels can be set to correspond to different level icons, or different clamping force levels can be set to be displayed in different display formats, such as through display color, display font, etc. to distinguish, so that the user can quickly determine the clamping force level according to different display methods, and improve the applicability of the method of the present disclosure.

[0154] For example, if the first clamping force level is set, the display screen 26 uses the first color (such as green) to identify; if the second clamping force level is set, the display screen 26 uses the second color (such as yellow) to identify, and if the third clamping force level is set, the display screen 26 uses the third color (such as red) to identify.

[0155] Of course, the specific display manner is not limited thereto, and can be flexibly set according to an actual application scenario.

[0156] According to the embodiment of the present disclosure, the current clamping force level during the closing operation of the jaw assembly can be intuitively observed through the display screen 26, so as to be adjusted in time, and the applicability of the method of the present disclosure can be improved.

[0157] FIG. 12 is a display diagram of the clamping force provided by an embodiment of the present disclosure. In an optional implementation, as shown in FIG. 12, the clamping force display area in the display screen 26 includes a plurality of display boxes, and the number of the display boxes filled is determined according to the clamping force level.

[0158] The clamping force display area in the display screen 26 can be arranged at an upper position, a lower position, a middle position, etc. of the display screen 26, which is not limited herein, and can be flexibly set according to an actual application scenario.

[0159] For example, the clamping force display area can include a plurality of display boxes, and the number of the display boxes filled will be different when the clamping force levels are different.

[0160] Referring to FIG. 12, the clamping force levels include a first clamping force level, a second clamping force level and a third clamping force level in order of increasing clamping force, for example, the third clamping force level, the second clamping force level and the first clamping force level can correspond to the display manners shown in FIG. 12(a), FIG. 12(b) and FIG. 12(c) respectively. The number of the display boxes filled corresponding to the third clamping force level, the second clamping force level and the first clamping force level is 3, 2 and 1 respectively.

[0161] Based on the above, it should be noted that the specific display manner is not limited thereto, and can be flexibly set according to an actual application scenario.

[0162] According to the embodiment of the present disclosure, the current clamping force level during the closing operation of the jaw assembly can be intuitively observed through the display screen, so as to be adjusted in time, and the applicability of the method of the present disclosure can be improved.

[0163] The above modules can be one or more integrated circuits configured to implement the above methods, for example, one or more application specific integrated circuits (ASICs), or one or more microprocessors, or one or more field programmable gate arrays (FPGAs), etc. For another example, when a certain module above is implemented in the form of a processing element scheduling code, the processing element can be a general purpose processor, such as a central processing unit (CPU) or other processor capable of invoking program code. For another example, the modules can be integrated together to implement in the form of a system on a chip (SOC).

[0164] It should be understood that, although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the present specification is described in this way only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

[0165] The above series of detailed descriptions are only specific descriptions of the feasible embodiments of the present disclosure, and are not intended to limit the protection scope of the present disclosure, and any equivalent embodiments or changes made without departing from the spirit of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A powered surgical instrument, comprising a power module, a jaw assembly, and a motor, the power module comprising a motor drive module and a control module, the motor drive module being electrically connected with the control module; the control module controlling the motor drive module to control the motor to drive the jaw assembly to perform a closing operation, wherein, The jaw assembly is operable to clamp a target tissue; The control module is configured to acquire a working mode of the jaw assembly, the working mode being indicative of a closing manner of the jaw assembly; and determine a target detection algorithm from a detection algorithm family according to the working mode; The detection algorithm family at least includes a motor working parameter detection algorithm and a jaw stroke detection algorithm; The control module is further configured to acquire a clamping force of the jaw assembly during a closing operation according to the target detection algorithm.

2. The electric surgical instrument according to claim 1, wherein, if the working mode of the jaw assembly acquired by the control module is indicative of a continuous closing manner of the jaw assembly, the control module determines that the target detection algorithm is the motor working parameter detection algorithm; if the working mode of the jaw assembly acquired by the control module is indicative of an intermittent closing manner of the jaw assembly, the control module determines that the target detection algorithm is the jaw stroke detection algorithm.

3. The motorized surgical instrument of claim 2, wherein, The electric surgical instrument further includes a working parameter acquisition module configured to acquire a working parameter of the motor during the closing operation of the jaw assembly; and the control module is configured to determine the clamping force of the jaw assembly during the closing operation according to the working parameter of the motor and a first preset mapping table, wherein the first preset mapping table includes a mapping relationship between the working parameter of the motor and the clamping force.

4. The motorized surgical instrument of claim 3, wherein, The working parameter of the motor includes a current parameter, or a voltage parameter, or a torque parameter, or a rotating speed parameter.

5. The motorized surgical instrument of claim 3, wherein, The first preset mapping table includes the following mapping relationship: a first preset working parameter range corresponds to a first clamping force level; a second preset working parameter range corresponds to a second clamping force level.

6. The motorized surgical instrument of claim 5, wherein, The first preset mapping table further includes the following mapping relationship: a third preset working parameter range corresponds to a third clamping force level.

7. The motorized surgical implement of any of claims 2-6, wherein, The electric surgical instrument further includes a stroke parameter acquisition module configured to acquire a first stroke parameter of the motor during the closing operation of the jaw assembly; the control module is configured to acquire a stroke difference between the first stroke parameter and a standard stroke parameter; and determine the clamping force of the jaw assembly during the closing operation according to the stroke difference and a third preset mapping table, wherein the third preset mapping table includes a mapping relationship between the stroke difference and the clamping force. The third preset mapping table includes the following mapping relationship:

8. The motorized surgical instrument of claim 7, wherein, a first preset stroke difference range corresponds to a first clamping force level; a second preset stroke difference range corresponds to a second clamping force level. The third preset mapping table further includes the following mapping relationship:

9. The motorized surgical implement of claim 8, wherein, a third preset stroke difference range corresponds to a third clamping force level. The first stroke parameter includes a movement stroke of the motor during the closing operation of the jaw assembly, wherein the jaw assembly clamps a target tissue; 10. The motorized surgical implement of claim 7, wherein, The stroke parameter acquisition module includes an encoder, or includes a Hall sensor and a magnetic element, or includes a photoelectric sensor and a grating. ​ 11. The motorized surgical implement of claim 7, wherein, The standard stroke parameter comprises a movement stroke of the motor during the closing operation of the jaw assembly without clamping tissue; The stroke parameter acquisition module comprises an encoder, or a Hall sensor and a magnetic element, or an optical sensor and an optical grating.

12. The motorized surgical implement of any of claims 1-11, wherein, The electric surgical instrument further comprises a time acquisition module configured to acquire a duration of a closing signal for driving the jaw assembly to perform the closing operation; The control module is configured to determine the working mode of the jaw assembly according to the duration of the closing signal and a preset time threshold.

13. The electric surgical instrument according to claim 12, wherein, if the duration of the closing signal is greater than or equal to the preset time threshold, the control module determines that the working mode of the jaw assembly is the continuous closing mode; if the duration of the closing signal is less than the preset time threshold, the control module determines that the working mode of the jaw assembly is the intermittent closing mode.

14. The motorized surgical implement of claim 12, wherein, The closing signal is an input signal or a control signal of the control module, and the control signal is output by the control module according to the input signal; The motor driving module controls the motor to drive the jaw assembly to perform the closing operation according to the control signal.

15. The motorized surgical implement of claim 12, wherein, The electric surgical instrument further comprises a closing button configured to control the jaw assembly to perform or stop the closing operation through the motor; and the closing signal is a pressing signal output by the closing button.

16. The motorized surgical implement of any of claims 1-15, wherein, The electric surgical instrument further comprises a working parameter acquisition module configured to acquire a working parameter of the motor during the closing operation of the jaw assembly; and the control module determines the working mode of the jaw assembly according to the working parameter of the motor.

17. The motorized surgical implement of claim 16, wherein, if the duration of the working parameter of the motor exceeding a preset working parameter value is greater than or equal to a preset duration, the control module determines that the working mode of the jaw assembly is the continuous closing mode; if the duration of the working parameter of the motor exceeding the preset working parameter value is less than the preset duration, the control module determines that the working mode of the jaw assembly is the intermittent closing mode.

18. The motorized surgical implement of claim 16 or 17, wherein, The working parameter of the motor comprises a current parameter, or a voltage parameter, or a torque parameter, or a rotating speed parameter.

19. The motorized surgical implement of claim 16, wherein, The working parameter of the motor is a current parameter, The control module acquires an average current value of the current parameter of the motor, and when the average current value is less than a preset current threshold, the control module determines that the working mode of the jaw assembly is the continuous closing mode; and when the average current value is greater than or equal to the preset current threshold, the control module determines that the working mode of the jaw assembly is the intermittent closing mode.

20. The motorized surgical implement of claim 16, wherein, The working parameter of the motor is a torque parameter, The control module acquires an average torque value of the torque parameter of the motor, and when the average torque value is less than a preset torque threshold, the control module determines that the working mode of the jaw assembly is the continuous closing mode; and when the average torque value is greater than or equal to the preset torque threshold, the control module determines that the working mode of the jaw assembly is the intermittent closing mode.

21. The motorized surgical implement of claim 16, wherein, The working parameter of the motor is a voltage parameter, The control module obtains an average voltage value of the voltage parameter of the motor, and when the average voltage value is greater than or equal to a preset voltage threshold, the control module determines that the working mode of the jaw assembly is a continuous closing mode; if the average voltage value is less than the preset voltage threshold, the control module determines that the working mode of the jaw assembly is an intermittent closing mode.

22. The motorized surgical implement of claim 16, wherein, The working parameter of the motor is a rotational speed parameter, The control module obtains an average rotational speed value of the rotational speed parameter of the motor, and when the average rotational speed value is greater than or equal to a preset rotational speed threshold, the control module determines that the working mode of the jaw assembly is a continuous closing mode; if the average rotational speed value is less than the preset rotational speed threshold, the control module determines that the working mode of the jaw assembly is an intermittent closing mode.

23. The motorized surgical implement of any of claims 1-22, wherein, The clamping force is characterized as a clamping force level, wherein the clamping force level includes at least two levels, and the greater the clamping force, the higher the clamping force level corresponding to the clamping force.

24. The motorized surgical implement of claim 23, wherein, The electric surgical instrument further comprises a display screen, and the control module is configured to control the display screen to display different clamping force levels in a differentiated manner.

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