Surgical instrument

Abstract

The present application provides a surgical instrument, comprising: an actuator assembly, the actuator assembly comprising a first jaw and a second jaw for closing, clamping, and squeezing patient tissue; a staple cartridge assembly disposed between the first jaw and the second jaw, the staple cartridge assembly comprising a plurality of staples and a firing member for firing the plurality of staples and / or cutting the patient tissue; a drive system comprising a drive source and a transmission mechanism, the drive source being used for providing a driving force to drive, by means of the transmission mechanism, the firing member to move so as to fire the plurality of staples and / or cut the patient tissue; and a controller used for determining a firing speed of the firing member at least on the basis of time parameters of a closing process of the first jaw and the second jaw, the firing speed being a moving speed at which the staples are fired and / or the patient tissue is cut. By means of the described surgical instrument, tissue can be effectively protected, and a successful stapling rate can be increased.

Description

A surgical instrument Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a surgical instrument. Background Technology

[0002] Currently, minimally invasive surgery occupies an important position in surgical procedures, and the stapler is a commonly used surgical instrument in minimally invasive surgery. The working principle of the stapler is to clamp the jaws of the distal actuator at a specific position near the lesion, cut the tissue with the cutting blade of the distal actuator, and simultaneously suture through the staple cartridge assembly of the distal actuator.

[0003] The stapler uses a firing mechanism to eject the suture staples for tissue suturing. Chinese patent application CN117257380A uses tissue compression-related time parameters as the basis for speed control when firing the suture staples, achieving good tissue cutting / suturing results. However, in some cases, introducing more parameters as the firing mechanism can better handle various situations, further improving the staple yield and protecting tissue. Summary of the Invention

[0004] On one hand, some embodiments provide a surgical instrument, including:

[0005] An actuator assembly, the actuator assembly including a first jaw and a second jaw for closing and gripping patient tissue;

[0006] A staple cartridge assembly disposed between a first jaw and a second jaw, the staple cartridge assembly including a plurality of staples and a firing mechanism for firing the plurality of staples and / or cutting the patient tissue;

[0007] A drive system, comprising a drive source and a transmission mechanism; the drive source provides driving force to drive the firing element to move via the transmission mechanism to fire the plurality of suture staples and / or cut the patient tissue;

[0008] A controller is configured to determine the firing speed of the firing element based at least on time parameters of the closing processes of the first jaw and the second jaw, the firing speed being the moving speed when firing the suture staple and / or cutting the patient tissue.

[0009] On the other hand, some embodiments provide a surgical instrument, including:

[0010] An actuator assembly, the actuator assembly including a first jaw and a second jaw for gripping and squeezing tissue;

[0011] A staple cartridge assembly disposed between a first jaw and a second jaw, the staple cartridge assembly including a plurality of staples and a firing mechanism for firing the plurality of staples and / or cutting the patient tissue;

[0012] A drive system, comprising a drive source and a transmission mechanism; the drive source provides driving force to drive the firing element to move via the transmission mechanism to fire the plurality of suture staples and / or cut the patient tissue;

[0013] A controller configured to determine, at least based on the closing speed and / or clamping force of the first jaw and the second jaw during their closing processes, the firing speed of the firing element when firing the stitch.

[0014] According to the surgical instruments of the above embodiments, the moving speed of the firing element during firing the suture staple and / or cutting is determined based on at least one of the time parameters, closing speed, and clamping force during the closing process of the first and second jaws. By using the time parameters, closing speed, clamping force, etc. during the closing process, the thickness and type of tissue, as well as the firing strategy desired by the doctor, can be determined, thereby achieving a better staple yield and suturing effect. Attached Figure Description

[0015] Figure 1 is a schematic diagram of the structure of a surgical instrument according to an embodiment;

[0016] Figure 2 is a schematic diagram of the structure of an actuator assembly according to an embodiment;

[0017] Figure 3 is a schematic diagram of the staple cartridge assembly according to one embodiment;

[0018] Figure 4 is a schematic diagram of the staple cartridge assembly according to one embodiment; 100, transmission mechanism; 200, actuator assembly; 210, first jaw; 220, second jaw; 300, staple cartridge assembly; 310, mounting base; 312, tissue mating surface; 313, movable cavity; 314, support part; 315, limiting part; 320, firing element; 330, cutting blade; 400, handle assembly; 410, fixed handle; 420, movable trigger; 500, barrel assembly. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0020] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0021] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0022] The inventors discovered that using time parameters related to tissue compression as the basis for determining the firing pin's movement speed effectively improves the nail yield when processing many tissues, especially thick tissues. However, relying solely on this parameter has limitations when dealing with certain special tissues. Specifically, when handling tissues such as the pancreas, cirrhotic liver, or lung lobes, which are relatively brittle or hard, doctors need to handle them with special care to prevent damage during the closure process. When special care is required, to minimize damage during closure, the jaws close slowly at a lower speed, and the compression time is typically extended after a certain closure point, allowing the tissue to flow slowly without damage. Simultaneously, the firing speed must be controlled to prevent tissue injury. When dealing with these tissues, considering the time after the initial clamping (i.e., the compression time) as a whole or only considering the time after the tissue is clamped to a specific position is insufficient. If the firing speed of the aforementioned tissues is adjusted solely based on the squeezing time, they might be identified as thin tissues requiring a faster firing speed. However, this is not the case in reality. For these tissues that require special care, doctors need to use a slower firing speed. Therefore, this application proposes determining the tissue type based on the closure process and further combining this with the squeezing time. The firing speed can be adjusted based on these parameters to more comprehensively consider various scenarios and determine a more accurate firing speed.

[0023] In this application, "distal" refers to the end furthest from the operator when operating a surgical instrument, and "proximal" refers to the end closest to the operator when operating a surgical instrument. In this application, "axial" refers to the direction of the line connecting the center of the distal end and the center of the proximal end, and "radial" refers to the direction perpendicular to the axial direction.

[0024] Please refer to the embodiments shown in Figures 1 to 4, which provide a surgical instrument including a transmission mechanism 100, an actuator assembly 200, a stapler cartridge assembly 300, a drive source, and a controller (the drive source and controller are not shown in the figures). For example, the surgical instrument may be a stapler.

[0025] In some embodiments, the device may further include a handle assembly 400 and a barrel assembly 500. The handle assembly 400 includes a fixed handle 410 and at least one movable trigger 420 for gripping and operation by an operator. The proximal end of the barrel assembly 100 is connected to the handle assembly 400, and the distal end of the barrel assembly 500 is connected to the actuator assembly 200. The barrel assembly 500 includes a closing drive chain and a firing drive chain. When operating the surgical instrument, the operator can grip the fixed handle 410 and insert the actuator assembly 200 into the lesion site within the body through the elongated barrel assembly 500. The closing drive chain is then triggered by the movable trigger 420 to close the jaws of the actuator assembly 200 and clamp it near the lesion site. The firing drive chain is then triggered by the firing button (not shown) to cause the cutting blade 330 within the actuator assembly 200 to cut the tissue, and simultaneously suture the tissue using the staples in the staple cartridge assembly 300.

[0026] In some embodiments, the surgical instrument may not include the handle assembly 400. In this case, the proximal end of the barrel assembly 500 may be connected to other components such as the robotic arm or robotic hand of the surgical robot, so that the actuator assembly 200 can be inserted into the lesion site in the human body through the barrel assembly 500, and then the jaw closure and tissue cutting and suturing can be completed through the mechanical / electric triggering closure transmission chain and the firing transmission chain.

[0027] In some embodiments, the firing drive chain includes a drive mechanism 100, which is used to fire the stitching staples under the action of a drive source, and / or to cut the cutting blade 330.

[0028] The actuator assembly 200 includes a first jaw 210 and a second jaw 220 for gripping tissue. The first jaw 210 and the second jaw 220 are movably connected and can move relative to each other to achieve closing and opening. A mounting cavity is formed between the first jaw 210 and the second jaw 220, and the staple cartridge assembly 300 is disposed in the mounting cavity. The distal end of the transmission mechanism 100 extends into the mounting cavity. The squeezing process involves the first jaw 210 and the second jaw 220 applying a certain force to the tissue to compress it. During the closing process, the jaws also apply a certain force to the tissue. In this application, the squeezing stage after closing is mainly referred to as squeezing.

[0029] In some embodiments, the tissue gradually deforms over time under the squeezing force of the clamps until it reaches equilibrium, which is the tissue creep characteristic. When the external force is removed, the tissue tends to return to its original state, so the longer the squeezing time, the lower the internal stress of the tissue and the greater the deformation of the tissue.

[0030] Referring to Figures 3 and 4, the staple cartridge assembly 300 includes a mounting base 310, a firing element 320, and a cutting blade 330. The mounting base 310 has multiple mounting positions for mounting staples and a tissue-contacting surface 312 for contacting tissue. The firing element 320 is movably mounted on the mounting base 310, and the cutting blade 330 is movably connected to the mounting base 310. The firing element 320 and the cutting blade 330 are movable between the proximal and distal ends of the mounting base 310. The transmission mechanism 100 can drive the firing element 320 and the cutting blade 330 to move between the proximal and distal ends of the mounting base 310. It should be noted that the tissue-contacting surface 312 of the mounting base 310 refers to the side of the mounting base 310 that contacts the tissue being held when it is clamped. Understandably, during tissue suturing, the suture staple is pushed out from the tissue-attaching surface 312 of the mounting base 310 to achieve tissue suturing; the pushing out of the suture staple is equivalent to being fired by the firing element 320. In some embodiments, the cutting blade 330 is part of the firing element 320, so the firing element 320 can cut patient tissue through the cutting blade 330.

[0031] In some embodiments, the mounting base 310 has a movable cavity 313 disposed along its axial direction, within which the firing element 320 and the cutting blade 330 are movably disposed. The movable cavity 313 defines the direction of movement of the firing element 320 and the cutting blade 330, thereby ensuring that the firing element 320 and the cutting blade 330 can move between the proximal and distal ends of the mounting base 310 along its axial direction.

[0032] In some embodiments, the mounting base 310 has a support portion 314 located on the side of the movable cavity 313 opposite to the mounting position, for supporting the firing element 320 and the cutting blade 330. The support portion 314 prevents the firing element 320 and the cutting blade 330 from disengaging from the side of the mounting base 310 opposite to the mounting position from the movable cavity 313.

[0033] In some embodiments, the proximal end of the mounting base 310 has a limiting portion 315 for preventing the firing element 320 and the cutting blade 330 from disengaging from the proximal end of the mounting base 310 into the movable cavity 313. The limiting portion 315 prevents the firing element 320 and the cutting blade 330 from disengaging from the proximal end of the mounting base 310 into the movable cavity 313.

[0034] In some embodiments, the staple cartridge assembly 300 can be considered as part of the actuator assembly 200. For example, the staple cartridge assembly 300 can be fixedly connected to the first jaw 210 or the second jaw 220 or form an integral structure. The staple cartridge assembly 300 can also be considered as a component independent of the actuator assembly 200. For example, the staple cartridge assembly 300 can be detachably mounted to the first jaw 210 or the second jaw 220, thereby allowing the staple cartridge assembly 300 to be considered as a consumable used in the actuator assembly 200.

[0035] The drive source can drive the firing element 320 to move via the transmission mechanism 100. Specifically, the drive source can apply a force in the axial direction of the transmission mechanism 100 to move the transmission mechanism 100 distally, causing the transmission mechanism 100 to push the firing element 320 to move. During this movement, the firing element 320 fires one or more suture staples to suture the tissue. It can be understood that when the drive source drives the transmission mechanism 100 with different drive parameters, the speed of the transmission mechanism 100 will be different, which in turn will cause the moving speed of the firing element 320 and the firing speed of the suture staples to differ. In some embodiments, the drive source is a motor, and the speed of the transmission mechanism 100 can be controlled by setting parameters such as the motor's current and speed.

[0036] In this embodiment, a starting position and an ending position can be defined during the travel of the firing element 320 from the proximal end to the distal end. The period between the starting position and the ending position is defined as the firing process, and the speed at which the firing element moves from the starting position to the ending position represents the firing speed. In some embodiments, the starting position refers to the position where the firing element 320 begins firing the suture staples during its movement, and the ending position refers to the position of the firing element 320 when the tissue suturing is completed. In other embodiments, the position where the firing element 320 has fired some or all of the suture staples in the mounting base 310 is defined as the ending position. In other embodiments, the ending position is defined by distance, with a preset distance between the ending position and the starting position. It is understood that the faster the firing element 320 moves from the starting position to the ending position, the faster the firing process ends, the faster the firing speed of the entire process, and the faster the tissue suturing speed. Conversely, the slower the firing element 320 moves from the starting position to the ending position, the slower the firing process ends, the slower the firing speed of the entire process, and the slower the tissue suturing speed. The most crucial concept in this embodiment lies in how to control the moving speed of the firing element 320 from the starting position to the ending position. This can be understood as equivalent to how to control the firing speed of the suture staple, or how to control the driving parameters of the driving source, or how to control the suturing speed of the tissue.

[0037] The controller is used to determine the firing speed of the firing element 320 based at least on the time parameters of the closing process of the first jaw 210 and the second jaw 220, the firing speed being the moving speed when firing the suture staple and / or cutting the patient tissue. It is understood that the controller controls the moving speed of the transmission mechanism 100 by controlling the drive parameters of the drive source, thereby controlling the moving speed of the firing element 320. In some embodiments, the controller can also determine the moving speed of the firing element 320 when firing the suture staple based on the time parameters of the closing of the first jaw 210 and the second jaw 220, that is, the firing speed of the firing element when firing the suture staple is determined comprehensively based on the time parameters of the closing process and the post-closing tissue compression process. In this embodiment, the controller controls the movement speed of the firing element 320 in two aspects according to the time parameter. The first aspect of the movement speed is the firing speed of the firing element 320 at the start of firing, which is the initial movement speed of the firing element 320 at the starting position. The second aspect of the movement speed is the movement speed of the firing element 320 during the firing of the stitching nail. For example, the controller can continuously adjust the movement speed of the firing element 320 from the starting position to the ending position. The embodiments of these two dimensions will be described below.

[0038] In some embodiments, the surgical instrument further includes a timing device for determining time parameters of the first jaw 210 and the second jaw 220 during the closure process and time parameters of the tissue compression process after closure. The timing device may be part of a controller or an external component of the controller. In some embodiments, the time parameters of the closure process include the closure time determined by the controller based on the first jaw 210 and the second jaw 220 being in a first relative position and a second relative position, such as the closure time elapsed from the first relative position to the second relative position. The timing device may start timing when the first jaw 210 and the second jaw 220 are in the first relative position and record the closure time when they are in the second relative position. The timer may pause timing after the closure time is recorded. The first relative position and the second relative position may be user-defined relative positions as needed, or they may be relative positions that meet preset conditions. In some embodiments, the time parameters during the closing process include the time from the start of closing of the first jaw 210 and the second jaw 220 to the locking state. Locking refers to the state where the relative positions of the first jaw 210 and the second jaw 220 are locked, restricting the movement of the transmission mechanism in the direction of opening the first jaw 310 and the second jaw 320, thus keeping the first and second jaws closed. In the example, the movable trigger 420 can be a closing trigger for closing the jaws. When the closing trigger is fully operated, the jaws automatically lock after closing, protecting the jaws in the closed state. In some embodiments, in the locked state, the user can unlock the jaws by pressing a button to reopen them.

[0039] Chinese patent application CN202310577378.7 describes a stapler with a closure detection and closure locking release structure. The closure detection and closure locking release scheme in the embodiments of this application can adopt the scheme mentioned in the patent application.

[0040] The first relative position includes, but is not limited to, the following situations:

[0041] 1) The position where the first jaw 210 and the second jaw 220 begin to clamp the tissue. For example, both the first jaw 210 and the second jaw 220 are equipped with pressure sensors. When both pressure sensors register a certain value, it indicates that both the first jaw 210 and the second jaw 220 are in contact with the tissue. The timing device then obtains the time parameter by timing. It is understood that other methods can also be used to determine whether the first jaw 210 and the second jaw 220 have begun to clamp the tissue.

[0042] 2) The first jaw 210 and the second jaw 220 are closed to a preset distance, or the first jaw 210 and the second jaw 220 are closed to a preset angle. For example, a distance sensor is provided between the first jaw 210 and the second jaw 220. When the two are closed to a preset distance, the timing device obtains the time parameter by timing. Another example is that an angle measuring device is provided at the movable connection of the first jaw 210 and the second jaw 220. When the first jaw 210 and the second jaw 220 are closed to a preset angle, the timing device obtains the time parameter by timing.

[0043] 3) The first jaw 210 and the second jaw 220 simultaneously satisfy the conditions of starting to clamp tissue and closing to a position at a preset distance / preset angle. For example, the distance sensor / preset angle sensor detects that the first jaw 210 and the second jaw 220 have closed to a preset distance / preset angle, and both pressure sensors show a certain value.

[0044] The second relative position includes, but is not limited to, the following situations:

[0045] 1) The first jaw 210 and the second jaw 220 clamp the tissue to a specific position. For example, both the first jaw 210 and the second jaw 220 are equipped with pressure sensors. When the pressure sensor reading exceeds a preset pressure threshold, it indicates that the first jaw 210 and the second jaw 220 have clamped the tissue to a second relative position. The timing device then obtains the time parameter by timing. It is understood that other methods can also be used to determine whether the first jaw 210 and the second jaw 220 have clamped the tissue to the second relative position.

[0046] 2) The first jaw 210 and the second jaw 220 are closed to a preset distance apart, or the first jaw 210 and the second jaw 220 are closed to a preset angle.

[0047] 3) The first jaw 210 and the second jaw 220 simultaneously satisfy the functions of clamping the tissue to a specific position and closing it to a position at a preset distance / preset angle.

[0048] It should be noted that timing begins when the first jaw 210 and the second jaw 220 are in the first relative position, and the closing time is recorded when they are in the second relative position. This means that timing is based on whether the first jaw and the second jaw are in the first or second relative position, and does not mean that timing must begin immediately upon reaching either position. That is, timing can be recorded after a period T of time has elapsed between the first and second relative positions. Alternatively, timing can begin after a closing-related operation is performed while the jaws are in the first or second relative position, such as after locking the jaws after they reach the second relative position.

[0049] To illustrate the meaning and effect of the first relative position to the second relative position, several examples are provided. For instance, when the first relative position is the position where the first jaw 210 and the second jaw 220 begin to clamp the tissue, and the second relative position is when the first jaw 210 and the second jaw 220 clamp the tissue to a specific position, the timing begins from the start of clamping the tissue and continues until the tissue is clamped to the specific position. The closing time is recorded, for example, when the pressure sensor measurement shows a certain value or exceeds a preset pressure threshold. When handling tissues requiring special care, the closing speed after contact is usually slower to prevent damage during the closing process, resulting in a longer closing time. Conversely, when dealing with tissues that do not require special care, the closing can usually be done quickly, followed by compression to prevent damage from firing. Therefore, the controller can use the length of the closing time as a basis for adjusting the subsequent firing speed. By detecting the relative position of the start or end of the closing, the closing time can be accurately determined.

[0050] For example, the first relative position is when the first jaw 210 and the second jaw 220 are closed to a first preset angle, and the second relative position is when the first jaw 210 and the second jaw 220 are closed to a second preset angle. Timing starts from the first preset angle and records the closure time until the second preset angle. The first preset angle can be set according to the situation; for example, the first preset angle can be the average angle at which the jaws contact the tissue. In some cases, to further prevent damage to the tissue during closure, or to ensure the jaws are gripped in the correct position on the tissue, the doctor may open the jaws after closing to a certain extent and repeat this process multiple times. During the opening process, the jaws may detach from the tissue. By starting timing from a preset starting closure angle, the problem of re-timing due to the jaws detaching from the tissue can be prevented. When the jaws are closed to the second preset angle, it can be considered that closure has been completed at that closure angle; or the time taken to close to that closure angle is sufficient as a basis for judgment. The example of the first jaw 210 and the second jaw 220 closing to a preset distance is similar to the example of closing to a preset angle.

[0051] For example, the first relative position is when the first jaw 210 and the second jaw 220 simultaneously satisfy the conditions of starting to clamp tissue and closing to a preset angle; the second relative position is when the first jaw 210 and the second jaw 220 simultaneously satisfy the conditions of clamping to a specific position and closing to a preset angle. At this time, the angle sensor detects that the first jaw 210 and the second jaw 220 have closed to the preset angle, and both pressure sensors show corresponding values. For another example, the first relative position is the position where the first jaw 210 and the second jaw 220 begin to clamp tissue, and the second position is the position where the first jaw 210 and the second jaw 220 close to a preset angle. Many details have been described in the above examples to make the closing time of the first and second relative positions easier to understand, not to require that these descriptions be strictly followed, nor to imply that only the above examples exist. In some embodiments, a third relative position or more relative positions are also included to obtain more parameters to assist in controlling the firing of the suture staple by the firing element, such as setting the initial closing position, the half-closed position, and the fully closed position.

[0052] The controller can determine the type of tissue being closed by measuring the closing time based on the first relative position and the second relative position of the first jaw 210 and the second jaw 220. In some embodiments, to prevent tissue damage during the closing process, the closure is typically slowed, resulting in a longer closing time, and the firing speed of the firing element 320 is reduced to protect the tissue. Therefore, a longer closing time indicates a greater need for tissue protection, while a lower firing speed of the firing element 320 results in a negative correlation between the firing speed of the firing element 320 and the closing time, as specified in this embodiment. This negative correlation is limited to a certain range, such as within a preset speed range.

[0053] In some embodiments, a preset time limit can be set as a comparison basis for tissue type determination. For example, when the closing time is less than a first preset time, the tissue being operated on is treated as a normal tissue; when the closing time is greater than the first preset time, the tissue being operated on is treated as a tissue that needs to be protected during closure. For example, when the closing time is less than the first preset time, the negative correlation between the closing time and the firing speed of the firing element 320 is minimized; when the closing time is greater than the first preset time, by reasonably setting at least one of the following: the range of the initial speed at which the firing element 320 starts firing the suture and / or cutting the patient tissue; the negative correlation between the closing time and the initial speed; the range of the moving speed of the firing element 320 during the firing of the suture and / or cutting of the patient tissue; and the negative correlation between the moving speed of the firing element 320 during the firing of the suture and the closing time, tissue damage caused by excessively rapid firing can be prevented. The range of initial speed or moving speed during firing can include a maximum and a minimum value. Setting a maximum value prevents tissue damage, while setting a minimum value reduces unnecessary waiting time. When the maximum and minimum values ​​are equal, it is equivalent to setting the speed to a constant value. The negative correlation refers to the rate of change of speed as the closing time changes. In the example, there is a relationship curve between the closing time and the firing speed of the firing element 320, and the slope of each point on this curve can represent the rate of change of speed. For example, more preset times can be set to make the firing element 320 firing the suture nail more suitable for various situations. For instance, the speed range of the firing element 320 firing the suture nail and / or cutting the patient tissue is different under different preset times, or the speed of the firing element 320 firing the suture nail and / or cutting the patient tissue is constant under a certain preset time.

[0054] In some embodiments, a first preset time is first set, and the tissue type is determined by whether the closing time is greater than the first preset time. Then, the firing speed of the firing element 320 is controlled by combining the compression-related time. That is, the controller determines the closing time based on the first jaw 210 and the second jaw 220 when they are in the first relative position and the second relative position. By checking whether the closing time is greater than the first preset time, it determines whether the current tissue needs special care. Furthermore, based on the compression-related time parameters of the first jaw 210 and the second jaw 220 after they are in the second relative position, such as the pre-compression time from when the first jaw 210 and the second jaw 220 close to the second relative position to when the firing element 320 starts firing the suture staple, the firing speed of the firing element 320 is comprehensively controlled. When the closure time is greater than a first preset time, the controller controls the firing element 320 to begin firing the suture staple and / or cutting the patient tissue at an initial speed negatively correlated with the sum of the closure time and the pre-compression time, thus keeping the initial speed low to protect the tissue. Simultaneously, the controller controls the speed of the firing element 320 during the firing of the suture staple and / or cutting of the patient tissue, for example, by setting a speed range or specific value. When the closure time is less than the first preset time, the closure time is negatively correlated with the initial speed, while the pre-compression time is positively correlated with the initial speed, thus preventing excessive firing time from being spent on tissue that does not require protection. The time parameters related to compression after the second relative position can include the compression time during which the firing element 320 continues to hold the tissue while firing the suture staple. The movement speed of the firing element 320 during the firing of the suture staple and / or cutting of the patient tissue is determined by the closing time, and the movement speed is adjusted in conjunction with the compression time. For example, a controller can be set to control the speed of the firing element 320 during the firing of the suture staple and / or cutting of the patient tissue to be negatively correlated with the sum of the closing time and the compression time. Alternatively, the speed of the firing element 320 during the firing of the suture staple can be kept constant after the compression time is sufficient to ensure adequate tissue protection. It should be noted that the compression time is a dynamically changing parameter, which can also be regarded as the sum of the pre-compression time and the firing time.

[0055] In addition to the closing time, the closing speed of the first jaw 210 and the second jaw 220 during the closing process can also be obtained. For example, a distance sensor is provided between the first jaw 210 and the second jaw 220, and the controller calculates the closing speed based on the data collected by the two distance sensors during the closing time. Alternatively, an angle measuring device is provided at the movable connection of the first jaw 210 and the second jaw 220, and the controller obtains the closing speed based on the data collected by the angle measuring device during the closing time. When dealing with tissues requiring special care, the closing speed is usually slower. Changes in the closing speed can also be used to determine the type of tissue, thereby controlling the firing speed of the firing element 320. In some embodiments, the obtained closing speed is continuous; in other embodiments, the closing speed can be obtained at intervals during the closing process, i.e., the obtained closing speed is discrete.

[0056] In some embodiments, the controller controls the firing speed of the firing pin by the firing mechanism based on the rate of change of the closing velocity during the closing time. For example, a relationship curve of the closing velocity versus time is generated based on continuous or discrete closing velocities. The slope of this relationship curve can indicate the rate of change of the closing velocity. The firing speed of the firing element 320 is then determined based on this relationship curve. In some embodiments, statistical values ​​of the closing velocity during the closing time can also be obtained, and the firing speed of the firing element 320 can be determined based on these statistical values. The statistical values ​​of the closing velocity include, but are not limited to, average values ​​and maximum values.

[0057] In some embodiments, the clamping force of the first jaw 210 and the second jaw 220 during the closing process can also be acquired. For example, both the first jaw 210 and the second jaw 220 are equipped with pressure sensors. The controller acquires the pressure values ​​collected by the two pressure sensors during the closing time as the clamping force. Of course, pressure sensors can also be installed only in the first jaw 210 or the second jaw 220. When dealing with tissues that require special care, a smaller force is usually needed for closing to prevent damage to the tissue from a larger clamping force. Therefore, the clamping force during the closing process can be used to determine the tissue type, thereby controlling the firing speed of the firing element 320. In some embodiments, the acquired clamping force is continuous. In other embodiments, the clamping force can be acquired at intervals during the closing process, i.e., the acquired clamping force is discrete.

[0058] In some embodiments, the controller determines the firing speed of the firing element 320 based on the rate of change of the clamping force during the closed-circuit time. For example, a relationship curve of the clamping force versus time is generated based on continuous or discrete clamping forces. The slope of this relationship curve can indicate the rate of change of the clamping force. After obtaining this relationship curve, the firing speed of the firing element 320 is determined based on the relationship curve. In some embodiments, statistical values ​​of the clamping force during the closed-circuit time can also be obtained, and the firing speed of the firing element 320 can be determined based on these statistical values. The statistical values ​​of the clamping force include, but are not limited to, average value and maximum value.

[0059] While the principles herein have been illustrated in various embodiments, numerous modifications to the structure, arrangement, proportions, elements, materials, and components, particularly suited to specific environmental and operational requirements, may be used without departing from the principles and scope of this disclosure. These modifications and other alterations or alterations will be included within the scope of this document.

[0060] The foregoing specific descriptions have been described with reference to various embodiments. However, those skilled in the art will recognize that various modifications and changes can be made without departing from the scope of this disclosure. Therefore, considerations for this disclosure are to be illustrative rather than restrictive, and all such modifications are to be included within its scope. Similarly, advantages, other advantages, and solutions to problems with respect to various embodiments have been described above. However, benefits, advantages, solutions to problems, and any elements that produce these, or make them more explicit, should not be construed as critical, essential, or necessary. The term “comprising” and any other variations thereof as used herein are non-exclusive inclusion, meaning that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed or not part of the process, method, system, article, or apparatus. Furthermore, the term “coupled” and any other variations thereof as used herein refer to physical connections, electrical connections, magnetic connections, optical connections, communication connections, functional connections, and / or any other connections.

Claims

1. A surgical instrument, characterized in that, include: An actuator assembly, the actuator assembly including a first jaw and a second jaw for closing and gripping patient tissue; A staple cartridge assembly disposed between a first jaw and a second jaw, the staple cartridge assembly including a plurality of staples and a firing mechanism for firing the plurality of staples and / or cutting the patient tissue; A drive system, comprising a drive source and a transmission mechanism; the drive source provides driving force to drive the firing element to move via the transmission mechanism to fire the plurality of suture staples and / or cut the patient tissue; A controller is configured to determine the firing speed of the firing element based at least on time parameters of the closing processes of the first jaw and the second jaw, the firing speed being the moving speed when firing the suture staple and / or cutting the patient tissue.

2. The surgical instrument as described in claim 1, characterized in that, The firing speed includes the initial speed at which the firing element begins to fire the suture and / or cut the patient tissue. and / or The firing mechanism controls the speed of movement during the firing of the suture staple and / or the cutting of the patient tissue.

3. The surgical instrument as described in claim 2, characterized in that, The time parameters of the closing process include the closing time determined by the controller based on the first jaw and the second jaw being in a first relative position and a second relative position, and the controller is used to determine the firing speed based at least on the closing time.

4. The surgical instrument as described in claim 3, characterized in that, The controller determines the closing time based on the first jaw and the second jaw being in a first relative position and a second relative position, including: The closing time taken for the first jaw and the second jaw to close from the first relative position to the second relative position.

5. The surgical instrument as described in claim 3, characterized in that, The controller is used to control the firing speed of the firing element when firing the suture nail, which is negatively correlated with the closing time.

6. The surgical instrument as described in claim 3, characterized in that, The first jaw and the second jaw are also used to compress the patient's tissue. The controller is used to determine that when the closing time is greater than a first preset time, the initial speed at which the firing element starts firing the suture staple and / or cutting the patient's tissue is negatively correlated with the sum of the closing time and the pre-compression time. The pre-compression time is the time elapsed from when the first jaw and the second jaw close to the second relative position to when the firing element starts firing the suture staple.

7. The surgical instrument as described in claim 3, characterized in that, The controller is used to determine the firing velocity at least based on the closing time, including: The controller is used to obtain the closing speed of the first jaw and the second jaw during the closing process; The firing speed is determined based on the closing time and the closing speed during the closing process.

8. The surgical instrument as described in claim 7, characterized in that, Determining the firing speed based on the closing time and the closing speed during the closing process includes any one of the following methods: Obtain the rate of change of the closing velocity within the closing time, and determine the firing velocity based on the rate of change; Obtain statistical values ​​of the closing speed during the closing process, and determine the firing speed based on the statistical values.

9. The surgical instrument as described in claim 3, characterized in that, The controller is used to determine the firing velocity at least based on the closing time, including: The controller is used to acquire the clamping force of the first jaw and the second jaw during the closing process; The firing speed is determined based on the closing time and the clamping force during the closing process.

10. The surgical instrument as described in claim 9, characterized in that, Determining the moving speed of the firing element when firing the suture nail based on the closing time and the clamping force during the closing process includes any one of the following methods: Obtain the rate of change of the clamping force during the closed time, and determine the firing speed based on the rate of change; Obtain statistical values ​​of the clamping force during the closing process, and determine the firing speed based on the statistical values.

11. The surgical instrument as described in claim 2, characterized in that, The time parameters of the closing process include the closing time of the first jaw and the second jaw from the start of closing to the locking.

12. A surgical instrument, characterized in that, include: An actuator assembly, the actuator assembly including a first jaw and a second jaw for closing and gripping tissue; A staple cartridge assembly disposed between a first jaw and a second jaw, the staple cartridge assembly including a plurality of staples and a firing mechanism for firing the plurality of staples and / or cutting the patient tissue; A drive system, comprising a drive source and a transmission mechanism; the drive source provides driving force to drive the firing element to move via the transmission mechanism, thereby firing the plurality of suture staples and / or cutting the patient tissue; A controller for determining, at least based on the closing speed and / or clamping force during the closing of the first and second jaws, the firing speed of the firing element when firing the suture staple and / or cutting the patient tissue.

Images