End effector, stapler and staple cartridge identification method therefor, and surgical robot system

Abstract

Provided are an end effector (200), a stapler (100) and a staple cartridge identification method therefor, and a surgical robot system. The end effector (200) comprises: a staple cartridge assembly (250) comprising a first end and a second end that extend along a length direction thereof; a knife member (256) movably arranged in the staple cartridge assembly (250); and a driving assembly (230), wherein the driving assembly (230) is capable of being releasably connected to the knife member (256), and the driving assembly (230) is capable of driving the knife member (256) to move from the first end to the second end and driving the knife member (256) to move from the second end to the first end. When the knife member (256) moves from the second end to the first end, the knife member (256) is limited to the staple cartridge assembly (250), and the driving assembly (230) is separated from the knife member (256). The knife member (256) is prevented from being reused, so that the surgical quality can be ensured.

Description

End effector, stapler and its staple cartridge recognition method, surgical robot system Cross-references to related applications

[0001] This application is based on and claims priority to Chinese patent applications No. 202510125378.2, filed on January 26, 2025, and No. 202512026379.4, filed on December 29, 2025, the entire contents of which are hereby incorporated herein by reference. Technical Field

[0002] This application relates to the technical field of medical devices, specifically to an end effector, a stapler and its staple cartridge recognition method, and a surgical robot system. Background Technology

[0003] Currently, staplers, as a medical device, can perform operations such as tissue severing, closing, and suturing, and are widely used in various laparoscopic and open surgeries. A stapler typically consists of an end effector that closes to clamp the tissue, ejects metal staples from the staple cartridge to suture the tissue together, and then uses a built-in cutter to cut and separate the tissue.

[0004] The end effector of a stapler typically includes a drive member movable between the proximal and distal ends, and an anvil assembly that can be opened or closed by relative pivoting motion. The anvil assembly includes a staple cartridge seat and an anvil seat, wherein the staple cartridge seat can hold the staple cartridge assembly.

[0005] In related technologies, the cutting blade built into the end effector is reusable. Reusable blade components are prone to wear, making it difficult to ensure the smoothness of the tissue cut surface, increasing the risk of bleeding at the tissue cut surface, and reducing the quality of surgery. Summary of the Invention

[0006] This application is made to address the aforementioned problems. According to one aspect of this application, an end effector is provided, comprising: a staple cartridge assembly including a first end and a second end extending along its length; a blade member movably disposed within the staple cartridge assembly; and a drive assembly releasably connected to the blade member, the drive assembly being capable of driving the blade member to move from the first end toward the second end, and the drive assembly being capable of driving the blade member to move from the second end toward the first end. When the blade member moves from the second end to the first end, the blade member is confined within the staple cartridge assembly, and the drive assembly is separated from the blade member.

[0007] According to one aspect of this application, a stapler is provided, the stapler including a drive module, a connecting shaft, and an end effector as provided in any embodiment of this application, the connecting shaft being connected to the end effector, and the drive module being used to drive the drive assembly.

[0008] According to another aspect of this application, a stapler cartridge identification method is provided, applied to a surgical robot system, wherein the surgical robot system is detachably equipped with the stapler as described in claim 19, and the surgical robot system is provided with an instrument driver for transmitting power to the drive module to drive the drive assembly, the method comprising: controlling the drive assembly to move from an initial position to an engagement position or from an engagement position to an initial position based on control parameters; and, in response to a change in the control parameters, confirming whether the stapler cartridge assembly is loaded in the stapler or the usage status of the stapler cartridge assembly.

[0009] According to another aspect of this application, a surgical robot system is provided, comprising: an instrument driver; a stapler as provided in any embodiment of this application, wherein a drive module of the stapler is connected to the instrument driver, enabling the instrument driver to transmit power to the drive module to drive the drive component in the drive module; and a control system communicating with the instrument driver, the control system being configured to perform the method as provided in any embodiment of this application.

[0010] The end effector in this application drives the blade component via a drive assembly, causing the blade component to move between the first and second ends of the staple cartridge assembly for cutting operations. The blade component has a first position and a second position in the staple cartridge assembly. The drive assembly can drive the blade component at the first position. After the drive assembly drives the blade component to complete one cut, it will stop at the second position. At the second position, the blade component and the drive assembly are separated, so that the blade component and the staple cartridge assembly are for single use, ensuring the sharpness of the blade component during the operation and effectively improving the quality and safety of the operation. Attached Figure Description

[0011] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain the application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0012] Figure 1 shows a schematic diagram of a surgical robot in the related technology.

[0013] Figure 2 shows a schematic diagram of a robotic arm in the related technology.

[0014] Figure 3 shows a schematic diagram of the main structure of the end effector in an embodiment of this application.

[0015] Figure 4 shows an exploded view of the end effector in an embodiment of this application.

[0016] Figure 5 shows a partial schematic diagram of the staple cartridge body in an embodiment of this application.

[0017] Figure 6 shows a partial schematic diagram of the anvil in an embodiment of this application.

[0018] Figure 7 shows a schematic diagram of the driving component in an embodiment of this application.

[0019] Figure 8 shows an exploded view of the staple cartridge assembly in an embodiment of this application.

[0020] Figure 9 shows a schematic diagram of the blade component in an embodiment of this application.

[0021] Figure 10 shows a schematic diagram of the elastic connector in an embodiment of this application.

[0022] Figure 11 shows a schematic diagram of the connection between the blade component and the drive assembly in an embodiment of this application.

[0023] Figure 12 shows a schematic diagram of the driving member and the second feature in an embodiment of this application.

[0024] Figure 13 shows a schematic diagram of the connection between the elastic connector and the drive component in an embodiment of this application.

[0025] Figure 14 shows a schematic diagram of the locking component in an embodiment of this application.

[0026] Figure 15 shows a schematic diagram of the first end of the staple cartridge assembly in an embodiment of this application.

[0027] Figure 16a shows a schematic diagram of the blade component in the first position in an embodiment of this application.

[0028] Figure 16b shows a schematic diagram of the blade component in the second position in an embodiment of this application.

[0029] Figure 17 shows a schematic diagram of the movement of the blade component at the first and second ends of the staple cartridge assembly in an embodiment of this application.

[0030] Figure 18 shows a schematic diagram of the staple cartridge assembly and the drive assembly when the blade component is in the first position according to an embodiment of this application.

[0031] Figure 19 shows a top view of the cartridge assembly and drive assembly when the blade component is in the first position according to an embodiment of this application.

[0032] Figure 20 shows a schematic diagram of the drive assembly passing through the stop surface when the blade component is in the first position in an embodiment of this application.

[0033] Figure 21 shows a schematic diagram of the staple cartridge assembly and drive assembly when the blade component is in the second position in an embodiment of this application.

[0034] Figure 22 shows a top view of the staple cartridge assembly and drive assembly when the blade component is in the second position according to an embodiment of this application.

[0035] Figure 23 shows a schematic diagram of the drive assembly remaining at the stop surface when the blade component is in the first position in an embodiment of this application.

[0036] Figure 24 shows a schematic diagram of the first locking part and the second locking part in an embodiment of this application.

[0037] Figure 25 shows a schematic diagram of the cooperation between the first locking part and the second locking part in an embodiment of this application.

[0038] Figure 26 shows a schematic diagram of the stapler in an embodiment of this application.

[0039] Figure 27 shows a schematic diagram of the blade component in another embodiment of this application.

[0040] Figure 28 shows a schematic diagram of the elastic connection portion in another embodiment of this application.

[0041] Figure 29 shows a top view of the blade component in another embodiment of this application.

[0042] Figure 30 shows a cross-sectional view of the blade member in another embodiment of this application.

[0043] Figure 31 shows a flowchart of the control method in an embodiment of this application.

[0044] Figure 32a shows a schematic diagram of one type of staple cartridge assembly in an embodiment of this application.

[0045] Figure 32b shows a schematic diagram of another type of staple cartridge assembly in an embodiment of this application.

[0046] Figure 32c shows a schematic diagram of another type of staple cartridge assembly in an embodiment of this application.

[0047] Figure 32d shows a schematic diagram of another type of staple cartridge component in an embodiment of this application.

[0048] Figure 32e shows a schematic diagram of another type of staple cartridge component in an embodiment of this application.

[0049] Figure 33a shows a diagram of the variation of engagement parameters for one type of staple cartridge assembly in an embodiment of this application.

[0050] Figure 33b shows a diagram of the variation of engagement parameters for another type of staple cartridge assembly in an embodiment of this application.

[0051] Figure 33c shows a diagram of the variation of engagement parameters for another type of staple cartridge assembly in an embodiment of this application.

[0052] Figure 33d shows a diagram of the variation of engagement parameters for another type of staple cartridge assembly in an embodiment of this application.

[0053] Figure 33e shows a diagram of the variation of engagement parameters for another type of staple cartridge assembly in an embodiment of this application.

[0054] Figure 34 is a structural schematic diagram of an elastic connection part provided in an embodiment of this application.

[0055] Figure 35 is a flowchart of a pin spool identification method provided in an embodiment of this application.

[0056] Figure 36 is a flowchart of another pin spool identification method provided in an embodiment of this application.

[0057] Figure 37 is a flowchart of a pin spool identification method provided in another embodiment of this application.

[0058] Figure 38 is a flowchart of a pin spool identification method provided in another embodiment of this application.

[0059] Figure 39 is a schematic diagram of the mechanical equivalent of the pinning device identification method provided in the embodiments of this application.

[0060] Figure 40a is a force diagram of a pin spool identification method provided in an embodiment of this application.

[0061] Figure 40b is another force diagram of the pin pod identification method provided in the embodiments of this application.

[0062] Figure 41 is a structural schematic diagram of the process by which the driving component crosses the convex hull according to an embodiment of this application.

[0063] Figure 42 is a schematic diagram showing the time and distance of the process of the driving component crossing the convex hull provided in the embodiment of this application.

[0064] Figure 43 is a flowchart of a pin spool identification method provided in another embodiment of this application.

[0065] Figure 44 is a flowchart of a pin spool identification method provided in another embodiment of this application.

[0066] Figure 45 is a current waveform diagram provided in an embodiment of this application.

[0067] Figure 46 is a current waveform diagram provided in another embodiment of this application.

[0068] Figure 47 is a current waveform diagram provided in another embodiment of this application.

[0069] Figure 48 is a current waveform diagram provided in another embodiment of this application.

[0070] Figure 49 is a flowchart of a staple cartridge recognition method provided in a specific embodiment of this application. Reference numerals: 10, surgical robot; 11, control system; 12, imaging system; 13, robotic arm system; 131, adjusting arm; 132, operating arm; 133, holding arm; 134, column; 135, handle; 136, base; 100, stapler; 101, drive module; 102, connecting shaft; 200, end effector; 200, staple cartridge holder; 210, staple cartridge holder; 220, staple abutment; 230, drive assembly; 240, locking member; 250, staple cartridge assembly; 260, pivot shaft; 270, spring; 211, first guide rail; 212, stop surface; 221, second guide rail; 231, drive... Moving component; 232, drive rod; 2311, first connecting member; 2312, second connecting member; 2313, second feature part; 241, elastic support leg; 251, staple cartridge body; 252, cover plate; 253, slider; 254, pusher block; 255, staple; 256, blade component; 2501, cam; 2560, elastic connecting part; 2561, blade; 2562, elastic connecting member; 2563, wing plate; 2564, slot; 25621, first feature part; 2511, first limiting part; 2512, second limiting part; 2513, receiving cartridge; 2531, first locking part; 2532, second locking part. Detailed Implementation

[0071] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0072] To fully understand this application, a detailed description will be provided below. It is obvious that the implementation of embodiments of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, other embodiments may also be available in addition to these detailed descriptions.

[0073] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0074] Ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0075] It should be noted that the terms “up,” “down,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used in this article are for illustrative purposes only and are not intended to be restrictive.

[0076] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0077] With technological advancements, robot-assisted surgical systems are increasingly used with various surgical instruments. Movable instrument actuators are mounted on the end effector (or instrument-holding arm) of the robotic arm; these actuators are the core components at the end effector, driving the movements of the surgical instruments. The instrument actuators transmit power to the instrument's end effector via a drive disc coupled to the instrument's wrist joint and the application end (such as grippers or electric hooks). This drive disc maps to the remote operation of the surgeon's console manual controller, driving the movements of the end effector and wrist joint. The rear end of the surgical instrument connects to a sterile tool adapter, enabling installation on the surgical arm next to the patient.

[0078] As shown in Figures 1 and 2, this application provides a surgical robot 10 for remotely controlled surgery. The surgical robot 10 may include a control system 11, an imaging system 12, and a robotic arm system 13, which can communicate with each other. The control system 11 is also called a doctor's console. The control system 11 has a display unit for displaying surgical instruments or the endoscopic environment, a control mechanism for the doctor to operate, and handrails. The display unit has an observation window for the doctor to observe. The control mechanism is configured to perform various actions corresponding to the movements of surgical instruments or the endoscope. The handrails are for supporting the doctor's arms. In addition, the doctor's console also has other control switches that are conveniently touched or pressed by hand or foot for performing various functional operations and completing human-machine interaction.

[0079] The imaging system 12 includes a display screen, endoscope controller, system electronics, image processor, etc. This allows the operator to see the patient's internal organs more clearly.

[0080] The robotic arm system 13 is positioned next to the patient, with surgical instruments or an endoscope mounted at its distal end for performing various surgical procedures. The robotic arm system 13 may include at least one robotic arm. Each robotic arm has several connecting arms, adjacent connecting arms being connected by joints and moving relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm to achieve multiple degrees of freedom of movement. An instrument support frame is mounted at the end effector of the robotic arm, and surgical instruments are detachably mounted on the instrument support frame. An instrument actuator is mounted on the instrument support frame to drive the surgical instruments to perform actions such as insertion, clamping, hooking, scissing, and scraping.

[0081] In some cases, referring to Figure 2, a single robotic arm may include an adjusting arm 131, an operating arm 132, and a holding arm 133. The holding arm 133 is the aforementioned instrument support frame, to which surgical instruments or endoscopes are detachably mounted. During surgery, a portion of the main circuitry and wrist mechanism of the surgical instruments passes through tissues such as the chest and abdominal wall, replacing the human hand in the surgical procedure. Adjacent links in the adjusting arm 131 are pivotally connected via a rotary joint. Furthermore, a rotary joint is also provided between the adjusting arm 131 and the operating arm 132 for pivotal connection. Before operating the robotic arm system 13 for surgery, the adjusting arm 131 must be operated to bring the holding arm 133 to the designated position, and then the rotary joint of the adjusting arm 131 is locked. During surgery, the operating arm 132 is remotely controlled to perform the surgical procedure, while the locking of the rotary joint of the adjusting arm 131 prevents relative rotation between the links of the adjusting arm 131 during the procedure.

[0082] In one example, referring to Figure 2, the robotic arm system 13 includes a base 136. A column 134 and a handle 135 are mounted on the base 136. The column 134 includes at least one set of lifting mechanisms (not shown), for example, four sets of lifting mechanisms, each corresponding to one robotic arm. The operator can assist in moving the base 136 using the handle 135. A stapler 100 is operably mounted on the robotic arm 133, which is used for tissue cutting and suturing during surgery. Referring to Figure 26, the stapler 100 includes a drive module 101, a connecting shaft 102, and an end effector 200. The connecting shaft 102 connects the drive module 101 and the end effector 200, and a transmission component (such as a transmission line or rod) is provided within the connecting shaft 102 to transmit power from the drive module 101 to the end effector 200. The drive module 101 is connected to the instrument driver of the holding arm 133, and the control system can drive the drive component 230 by controlling the instrument driver.

[0083] In related technologies, the cutting blade built into the end effector is reusable. Reusable blade components are prone to wear, making it difficult to ensure the smoothness of the tissue cut surface, increasing the risk of bleeding at the tissue cut surface, and reducing the quality of surgery.

[0084] As shown in Figures 3 and 4, in order to solve the above-mentioned problems, according to one aspect of this application, an end effector 200 is provided, including a staple cartridge assembly 250, a blade component 256 and a drive assembly 230.

[0085] The staple cartridge assembly 250 includes a first end and a second end extending along its length. A blade member 256 is movably disposed within the staple cartridge assembly 250, and the blade member 256 includes a first position and a second position.

[0086] When the staple cartridge assembly 250 is installed into the stapler 100, the first end of the staple cartridge assembly 250 is the proximal end, and the second end is the distal end. It should be noted that "distal" and "proximal" are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during surgery, while "proximal" refers to the end closest to the operator. In remotely controlled surgical robot systems, the "operator" refers to the patient-side robot or robotic arm that holds and actuates the surgical instruments.

[0087] The drive assembly 230 is releasably connected to the blade member 256. In the staple cartridge assembly 250, the drive assembly 230 can drive the blade member 256, located in a first position, to move from a first end to a second end, and the drive assembly 230 can also move the blade member 256 from the second end to the first end. When the blade member 256 moves from the second end to the first end, the blade member 256 is confined within the staple cartridge assembly 250, and the drive assembly 230 disengages from the blade member 256.

[0088] For example, the blade member 256 has a first position and a second position within the range of motion of the staple cartridge assembly 250. The first position is the initial position of the blade member 256 in the staple cartridge assembly 250, and the first position is further away from the second end of the staple cartridge assembly 250 than the second position. When the drive assembly 230 drives the blade member 256 to move from the second end toward the first end to the second position, the blade member 256 is confined in the staple cartridge assembly 250, and the drive assembly 230 is separated from the blade member 256.

[0089] As shown in Figures 4-7, the end effector 200 in this embodiment of the application also includes a staple cartridge seat 210. The staple cartridge assembly 250 is detachably installed in the staple cartridge seat 210. The drive assembly 230 is slidably connected to the staple cartridge seat 210. When the drive assembly 230 is working, it moves between the proximal end and the distal end of the staple cartridge seat 210, thereby driving the tool assembly 256.

[0090] For example, the staple cartridge holder 210 is provided with a first guide rail 211, and the drive assembly 230 includes a drive member 231, a first engagement member 2311 disposed on the drive member 231, and a drive rod 232 connected to the drive member 231. The first engagement member 2311 is slidably connected to the first guide rail 211. The first engagement member 2311 on the drive member 231 cooperates with the first guide rail 211 to define the movement direction of the entire drive assembly 230. The drive rod 232 is connected to the drive member 231. When the drive rod 232 moves, it drives the drive member 231, causing it to move along the first guide rail 211 between the proximal and distal ends of the staple cartridge holder 210.

[0091] The end effector 200 also includes an anvil 220, which is pivotally connected to the staple cartridge seat 210. The drive assembly 230 further includes a second engaging member 2312 disposed on the drive member 231. A second guide rail 221 is disposed on the anvil 220, and the second engaging member 2312 is slidably connected to the second guide rail 221. The drive rod 232 is used to drive the drive member 231 to move along the first guide rail 211 and the second guide rail 221. In some embodiments, the second guide rail 221 may be disposed at the bottom of the anvil 220, and its extending direction is the same as the length direction of the anvil 220. When the first engaging member 2311 and the first guide rail 211 are engaged, and the second engaging member 2312 and the second guide rail 221 are engaged, the drive assembly 230 is limited and guided, so that the drive assembly 230 moves in a predetermined direction. In some embodiments, the second guide rail 221 may also be a strip-shaped guide rail disposed at the bottom of the abutment seat 220, which can also serve to limit and guide the drive member 231.

[0092] Please refer to Figure 4. The end effector 200 also includes a spring 270 and a pivot shaft 260. The pin seat 220 and the staple cartridge seat 210 are pivotally connected through the pivot shaft 260. The spring 270 is disposed between the pin seat 220 and the staple cartridge seat 210. The spring 270 acts on the staple cartridge seat 210 to form an interval angle between the pin seat 220 and the staple cartridge seat 210.

[0093] Referring to Figure 8, exemplarily, the staple cartridge assembly 250 includes a staple cartridge body 251 and a cover plate 252 disposed on the staple cartridge body 251. The staple cartridge assembly 250 also includes a slider 253 movably disposed within the staple cartridge body 251. The blade member 256 pushes the slider 253 to move the slider 253 toward the second end of the staple cartridge assembly 250. The staple cartridge assembly 250 also includes a plurality of staple pushers 254 disposed within the staple cartridge body 251. The staple cartridge body 251 contains staples 255. The staple pushers 254 contact the staples 255. The slider 253 acts on the staple pushers 254 to push the staples 255, and the staples 255 are pressed and closed, thereby completing the suturing of the tissue.

[0094] When the drive assembly 230 does not drive the blade member 256, the slider 253 is stopped at the staple cartridge body 251. When the drive assembly 230 drives the blade member 256 to move toward the second end, the blade member 256 pushes the slider 253 to move, so that the slider 253 pushes the staple pusher block 254 in the staple cartridge body 251 toward the second end.

[0095] When the blade component 256 moves, it acts on the slider 253, causing the slider 253 to move from the first end to the second end of the staple cartridge assembly 250 (the slider 253 moves in one direction). The slider 253 and the staple pusher block 254 are in contact with each other. When the slider 253 moves, it acts on the staple pusher block 254, thereby squeezing the staples 255 below the staple pusher block 254, causing the staples 255 to be dislodged from the staple cartridge assembly 250 for surgical suturing and other operations.

[0096] The end effector 200 in this application drives the blade component 256 via a drive assembly 230, causing the blade component 256 to move between the first and second ends of the staple cartridge assembly 250, thereby completing the anastomosis cutting action and the blade retraction action. The blade component 256 has a first position and a second position within the staple cartridge assembly 250. The drive assembly 230 can drive the blade component 256 at the first position. After the drive assembly 230 drives the blade component 256 to complete one cut, the drive assembly moves the blade component 256 from the second end towards the first end. When the blade component 256 moves to the second position, it is stopped, thus separating the blade component 256 from the drive assembly 230. This allows the blade component 256 and the staple cartridge assembly 250 to be used only once, ensuring the sharpness of the blade component 256 during surgery and effectively improving surgical quality and safety.

[0097] For example, as shown in FIG9, the blade component 256 includes a cutting edge 2561, a wing plate 2563, and a cam 2501 disposed on the wing plate 2563. The blade component 256 is also provided with an elastic connecting part 2560. The drive assembly 230 is releasably connected to the blade component 256 through the elastic connecting part 2560. When the drive assembly 230 drives the blade component 256 to move from the second end to the first end to the second position, the drive assembly 231 and the elastic connecting part 2560 separate.

[0098] The elastic connection part 2560 includes an elastic connection part body and an elastic connector 2562. The elastic connection part body has an interface on the side close to the drive member 231, and the elastic connector 2562 is disposed in the interface.

[0099] For example, slots 2564 are provided on both sides of the interface, and the elastic connector 2562 is detachably connected to the main body of the elastic connector through the interface and the slots 2564. The elastic connector 2562 can be made of metal or resin and has good elasticity. The elastic connector 2562 is embedded in the interface to achieve a snap-fit ​​connection with the blade component 256. Because the elastic connector 2562 itself is elastic, its deformation can also achieve separation from the blade component 256.

[0100] As shown in Figures 10-13, exemplarily, the elastic connector 2562 is provided with a first feature portion 25621 protruding towards its center, and the driving member 231 is provided with a second feature portion 2313 that cooperates with the first feature portion 25621. The driving member 231 is detachably connected to the elastic connector 2562 through the second feature portion 2313 and the first feature portion. In some embodiments, the second feature portion 2313 is a protruding structure, and the first feature portion 25621 is a mechanically coupled portion adapted to the protruding structure.

[0101] Because the driving member 231 has a second feature portion 2313, when the driving member 231 and the elastic connector 2562 make smooth contact, the second feature portion 2313 on the driving member 231 will gradually squeeze the elastic connector 2562 until the second feature portion 2313 engages with the first feature portion 25621, thereby completing the connection between the driving member 231 and the elastic connector 2562. Since the elastic connector 2562 is installed on the blade member 256, a detachable connection between the blade member 256 and the driving member 231 is achieved. Furthermore, because the elastic connector 2562 itself is elastic, when the driving member 231 and the blade member 256 move in opposite directions under the action of external force, the second feature portion 2313 will squeeze the first feature portion 25621 and disengage from the first feature portion 25621, thereby completing the separation between the elastic connector 2562 and the driving member 231, and thus achieving the separation between the blade member 256 and the driving member 231.

[0102] For example, the elastic connector 2562 is provided with at least one first feature portion 25621, each first feature portion 25621 including two symmetrically arranged mechanical engagement portions for connecting the drive member 231. In some embodiments, the elastic connector 2562 includes a plurality of first feature portions 25621, and the drive member 231 presses the first feature portions 25621 multiple times when moving toward the blade member 256. In some embodiments, different types of blade members 256 are provided with different numbers of first feature portions 25621, so the type of blade member 256 can be inferred from the number of first feature portions 25621.

[0103] As shown in Figures 4 and 12-14, the end effector 200 also includes a locking member 240 disposed on the drive member 231. The locking member 240 includes an unlocked state and a locked state. When the slider 253 is stopped at the first end of the staple cartridge body 251 and the blade member 256 is in the first position, the drive assembly 230 moves from the first end to the second end and connects to the blade member 256. The locking member 240 is in the unlocked state so that the drive assembly 230 can drive the blade member 256 to move from the first end to the second end. When the slider 253 is not stopped at the first end of the staple cartridge body 251, the drive assembly 230 moves from the first end to the second end, and the locking member 240 is in the locked state to restrict the drive assembly 230 from continuing to move towards the second end.

[0104] The locking member 240 has a contact surface on the side near the blade member 256. A stop surface 212 (see Figure 5) is formed on the staple cartridge seat 210. The stop surface 212 is located between the first position and the second position, and acts on the contact surface of the locking member 240 to restrict the drive assembly 230 from moving to the second position. When the drive assembly 230 moves from the second end to the first end, the stop surface 212 limits the locking member 240.

[0105] The structure of the stop surface 212 and the locking member 240 can restrict the drive assembly 230. After the blade member 256 and the drive assembly 230 are separated, if the drive assembly 230 moves to the second end again, the stop surface 212 will block the locking member 240, so that the entire drive assembly 230 cannot continue to move. This prevents the drive assembly 230 from repeatedly driving the blade member 256, avoiding secondary firing. Furthermore, the blade member 256 and the staple cartridge assembly 250 can be used for single purposes, improving the quality and safety of the surgery.

[0106] Exemplarily, the locking member 240 includes a bent portion disposed on the driving member 231 and two elastic legs 241 disposed on the bent portion. The two elastic legs 241 are symmetrically disposed on both sides of the driving member 231, and the contact surface is located at the end of the elastic legs 241 near the blade member 256. The bent portion on the locking member 240 is used to connect with the driving member 231. The bent portion can be sleeved on the driving member 231 and abut against the driving member 231, thereby realizing the installation of the locking member 240. Alternatively, the bent portion can also be glued or welded to the driving member 231. Therefore, the movement of the locking member 240 and the driving member 231 is synchronized. In some embodiments, the locking member 240 can be made of materials such as metal or resin, which have better structural strength and elasticity. The elastic legs 241 are in an open state in their natural state, and the ends of the open elastic legs 241 can abut against the stop surface 212.

[0107] As shown in Figures 15, 16a, and 16b, the cam 2501 on the blade member 256 is used to press the locking member 240 and misalign the contact surface of the locking member 240 with the stop surface 212, so that the drive assembly 230 passes through the stop surface 212. When the slider 253 is stopped at the first end of the staple cartridge body 251 and the blade member 256 is in the first position, the drive assembly 230 moves from the first end to the second end and connects to the blade member 256. The locking member 240 is at least partially located within the cam 2501, so that the locking member 240 avoids the stop surface 212 and moves with the drive assembly 230 towards the second end.

[0108] In some embodiments, the blade member 256 is provided with two symmetrically arranged cams 2501. Each cam 2501 has a pressing surface inclined towards the elastic support leg 241 to press and deform the elastic support leg 241. After deformation, the locking member 240 can move from a locked state to an unlocked state. Therefore, when the blade member 256 is in the first position, its cam 2501 structure and the locking member 240 interact, causing the locking member 240 to deform and enter the unlocked state, thereby enabling the drive member 231 to move from the first end to the second end of the staple cartridge assembly 250.

[0109] For example, the staple cartridge body 251 is provided with a limiting part. When the blade member 256 moves from the second end to the first end, the limiting part limits the blade member 256 so that the blade member 256 is limited to the second position. When the drive assembly 230 continues to move towards the first end, the blade member 256 and the drive assembly 230 are separated.

[0110] The limiting portion includes a first limiting portion 2511 and a second limiting portion 2512, which are sequentially disposed on the staple cartridge assembly 250 along its length. The first limiting portion 2511 is located at the first end of the staple cartridge body 251, and the blade member 256 in the first position contacts the first limiting portion 2511 to restrict the blade member 256 from disengaging from the staple cartridge assembly 250. The second limiting portion 2512 is located between the first position and the second position, and the blade member 256 in the second position contacts the second limiting portion 2512 to restrict the blade member 256 from moving from the second position to the first position.

[0111] Therefore, when the drive assembly 230 does not drive the blade member 256 to move, the first limiting part 2511 limits the blade member 256 to a first position. When the drive assembly 230 drives the blade member 256 to move from the first end to the second end, the blade member 256 passes through the second limiting part 2512. When the drive assembly 230 drives the blade member 256 to move from the second end to the first end, the second limiting part 2512 limits the blade member 256 to a second position. Therefore, whether the staple cartridge assembly 250 is loaded or not loaded in the staple cartridge holder 210, the cam 2501 is not in the initial position at the first end, and the locking member 240 cannot be unlocked. The stop surface 212 limits the locking member 240 to restrict the drive assembly 230 from moving towards the second end.

[0112] As shown in Figure 16a, the blade member 256 abuts against the first limiting part 2511, limiting the blade member 256 and preventing it from dislodging from the staple cartridge assembly 250. As shown in Figure 16b, the blade member 256 cooperates with the second limiting part 2512 to restrict the blade member 256 from moving from the second position to the first position (i.e., restricting the blade member 256 from moving towards the first limiting part 2511). Since the limiting parts are unidirectional, the two limiting parts restrict the blade member 256 in opposite directions. When the driving member 231 drives the blade member 256 to move from the first position to the second end, the second limiting part 2512 will not limit the blade member 256. For example, the first limiting part 2511 and the second limiting part 2512 can be convex surfaces provided on the staple cartridge body 251, wherein the convex surface can be a hemispherical surface, an arc surface, etc.

[0113] For example, the staple cartridge assembly 250 is further provided with a receiving chamber 2513, which is located at the first end (i.e., the proximal end) of the staple cartridge body 251. Both the first position and the second position are located in the receiving chamber 2513. The receiving chamber 2513 can be a receiving space formed by extending downward from the bottom of the staple cartridge body 251. When the blade component 256 is in the first position and the second position, the receiving chamber 2513 can provide a certain degree of protection for the blade component 256.

[0114] Please refer to Figure 17 for the movement process of the blade component 256, the driving component 231, and the slider 253 in this embodiment. After a connection is established between the driving component 231 and the blade component 256 at the first position, the driving component 231 drives the blade component 256 to move along the staple cartridge body 251 from the first end to the second end. As the blade component 256 moves, it drives the slider 253 to move together towards the second end. When it reaches the second end of the staple cartridge body 251, the driving component 231 drives the blade component 256 to move towards the first end. Because there is no connection between the slider 253 and the blade component 256, the slider 253 will remain at the second end. The blade component 256 moves towards the first end under the action of the driving component 231 until it reaches the second position. Figure 17 shows, from top to bottom, the blade component 256 at the first position, the blade component 256 moving to the second end, and the blade component 256 returning to the first end and remaining at the second position.

[0115] Please refer to Figures 18-23, which are schematic diagrams of the blade component 256 between the first and second positions in the embodiments of this application.

[0116] Referring first to Figure 18, the cutting member 256 is in the first position. When the driving assembly 230 and the locking member 240 move towards the cutting member 256, the elastic support 241 on the locking member 240 will also approach the cam 2501 on the cutting member 256. Referring next to Figure 19, it can be seen that the cam 2501 is located between the driving assembly 230 and the stop surface 212, and can be used to compress the locking member 240. As shown in Figure 20, the cam 2501 on the cutting member 256 is now in contact with the locking member 240, and the locking member 240 will deform under the action of the cam 2501. After the deformation is completed, the locking member 240 will enter a retracted state, facilitating its continued movement to pass through the stop surface 212.

[0117] Referring to Figure 21, the cutting member 256 is in the second position at this time, and the cam 2501 on the cutting member 256 (see Figure 20) is not located between the stop surface 212 and the drive assembly 230. Therefore, there is no cam 2501 to press the locking member 240, and the locking member 240 is always in the open state. As shown in Figure 22, when the drive assembly 231 continues to move towards the second end, it will gradually approach the stop surface 212, and the locking member 240 will always be in the open state. As shown in Figure 23, the locking member 240 contacts the stop surface 212 and cannot continue to move forward. The cutting member 256 in the second position will not establish a connection with the drive assembly 230. Therefore, the drive assembly 230 cannot repeatedly drive the cutting member 256, avoiding secondary firing.

[0118] Therefore, the cutting component 256 in this application can only establish a connection with the driving component 230 when it is in the first position. After the cutting component 256 has completed one use, it is restricted to the second position, and the driving component 230 cannot establish a connection with the cutting component 256 in the second position, which fundamentally avoids the situation of the cutting component 256 being reused.

[0119] As shown in Figures 24-25, a first locking part 2531 is provided inside the staple cartridge body 251, and a second locking part 2532 adapted to the first locking part 2531 is provided on the slider 253. The first locking part 2531 and the second locking part 2532 limit the slider 253 and the blade member 256 so that when the drive assembly 230 does not drive the blade member 256, the slider 253 is stopped at the first end of the staple cartridge body 251. In addition, the first locking part 2531 and the second locking part 2532 can also connect the drive assembly 230 with the blade member 256 at the first position. Because the blade member 256 moves (from the first end to the second end) and drives the slider 253 to move together, the first locking part 2531 and the second locking part 2532 restrict the movement of the blade member 256 when they come into contact with each other. When the slider 253 is pushed away from the first end of the staple cartridge body 251, it needs to overcome the constraint of the first locking part 2531. At this time, the drive assembly 230 acts on the elastic connector 2562, thereby establishing a connection between the drive assembly 230 and the elastic connector 2562 to achieve the connection between the drive assembly 230 and the blade member 256, and also facilitating the cam 2501 to press the locking member 240. Subsequently, as the drive assembly 230 continues to act, a misalignment will occur between the first locking part 2531 and the second locking part 2532, allowing the blade member 256 to continue moving towards the second end under the action of the drive assembly 230. For example, the first locking part 2531 and the second locking part 2532 can be protrusions respectively provided in the staple cartridge body 251 and on the slider 253. These protrusions can be arc-shaped protrusions. Through the action of the first locking part 2531 and the second locking part 2532, the blade member 256 is subject to a certain degree of controllable obstruction, so that the connection between the blade member 256 and the drive assembly 230 can be smoothly established.

[0120] In summary, the stapler and end effector 200 in this application drive the blade component 256 via the drive assembly 230, causing the blade component 256 to move between the first and second ends of the staple cartridge assembly 250, thereby performing the anastomosis cutting action and the blade retraction action. The blade component 256 has a first position and a second position within the staple cartridge assembly 250. The drive assembly 230 can drive the blade component 256 at the first position. After the drive assembly 230 completes a cut, it drives the blade component 256 to perform a blade retraction action. When the blade component 256 moves to the second position, it separates from the drive assembly 230, making both the blade component 256 and the staple cartridge assembly 250 disposable, thus avoiding the reuse of the blade component 256 and ensuring surgical quality and safety.

[0121] In some embodiments, as shown in Figures 27-30, the blade member 256 can be constructed by integrating the elastic connecting part body and the elastic connecting member 2562 to form the elastic connecting part 2560. One end of the elastic connecting part 2560 is connected to the blade member 256, and the other end extends toward the driving member 231. The elastic connecting member 2562 is provided with a first feature portion 25621 protruding toward its center. Each first feature portion 25621 includes two symmetrically arranged mechanical coupling portions for connecting to the driving member 231. The number of first feature portions 25621 on the elastic connecting member 2562 is not limited and can be selected according to actual conditions. Different types of blade members 256 may have different numbers and arrangements of first feature portions 25621 to distinguish their types. The blade member 256's wing plate 2563 is provided with two cams 2501 for unlocking the locking member 240. The specific process of the cams 2501 unlocking the locking member 240 is as described in the previous embodiments and will not be repeated here. The end of the blade member 256 2563 facing the first end is a guide ramp. By setting the structure of the guide ramp, the blade member 256 can avoid being blocked by the pusher block 254 when moving towards the near end, so that the return process of the blade member 256 is smoother.

[0122] The elastic connection portion 2560 in this embodiment is an integral structure, which has stronger structural strength.

[0123] As shown in Figure 31, this application embodiment also provides a control method for a stapler, applied to the above-mentioned stapler, the method including the following steps:

[0124] S110. Obtain the initial position of the driver component.

[0125] S120. Set the position where the drive component and the unused staple cartridge component are fully engaged and record it as the engagement position.

[0126] S130. The control system controls the drive component to move between the initial position and the engagement position based on the control parameters. The control parameters change with the change of the operating environment of the drive component. During the movement of the drive component, the control system detects and identifies the changes in the control parameters to obtain the engagement parameters.

[0127] S140. Based on the changes in the engagement parameters, confirm whether the stapler is loaded with the stapler cartridge assembly or the usage status of the stapler cartridge assembly; wherein the usage status of the stapler cartridge assembly includes at least: the stapler cartridge assembly is used or not used.

[0128] The control method of the stapler in this embodiment can determine the state of the staple cartridge assembly based on the parameter changes when the drive assembly moves between the first position and the engagement position, so as to confirm whether the staple cartridge assembly has been used, thereby avoiding the reuse of the blade component in the staple cartridge assembly and ensuring surgical safety.

[0129] The connection parameters include the original data of the control parameters, or the data obtained after processing the original data of the control parameters. The data processing methods include at least one of the following: filtering, differentiation, and integration.

[0130] For example, in step S140, the usage status of the stapler cartridge assembly is confirmed based on changes in the engagement parameters, including:

[0131] If the engagement parameters change abruptly during the movement of the drive component between the initial position and the engagement position, the stapler cartridge component is confirmed to be in an unused state. If the engagement parameters do not change abruptly during the movement of the drive component between the initial position and the engagement position, the stapler cartridge component is confirmed to be in a used state or that no stapler cartridge component is loaded in the stapler. A change in engagement parameters exceeding a preset value indicates a sudden change in engagement parameters.

[0132] For example, the engagement position represents the position where the blade component in the drive assembly and the stapler cartridge assembly are fully engaged. If the parameters do not change abruptly when moving to the engagement position, it indicates that the blade component in the stapler cartridge assembly is not engaged with the blade component, thus indicating that the stapler cartridge assembly is either already used or the stapler cartridge assembly is not loaded. Used blade components are restrained upon return and therefore cannot engage with the drive assembly again. Therefore, if the engagement parameters do not change abruptly, it indicates that the stapler cartridge assembly is in a used state.

[0133] For example, engagement parameters include parameters characterizing the power input to the drive module, such as the torque of the drive module, the voltage of the instrument driver, the current of the instrument driver, etc.

[0134] As mentioned above, a blade component is movably disposed within the staple cartridge assembly. The blade component is connected to a drive assembly via an elastic connector. The elastic connector has at least one first feature portion, each first feature portion including two symmetrically arranged mechanical engagement portions. Different types of staple cartridge assemblies have elastic connectors with different arrangements of the first feature portions corresponding to the blade component. The arrangement of engagement parameters where abrupt changes occur is determined by at least one of the displacement, peak value, and peak spacing at the point of abrupt change in engagement parameters.

[0135] Based on this, by sensing the engagement parameters, the number of the current first feature can be confirmed, thereby determining the type of the stapling cartridge assembly.

[0136] For example, the type of stapler cartridge assembly in the stapler is identified based on changes in engagement parameters, including:

[0137] During the movement of the drive component between the initial position and the engagement position, the arrangement of engagement parameters that abruptly changes is detected.

[0138] The arrangement of the first feature portion is determined based on the arrangement of the engagement parameters where abrupt changes occur, and the type of the staple cartridge assembly is determined based on the arrangement of the first feature portion. Abrupt changes in the engagement parameters are indicated by a change in the engagement parameters exceeding a preset value within a preset unit.

[0139] Please refer to Figures 32a-32e, which are schematic diagrams of different types of staple cartridge components in the embodiments of this application.

[0140] As shown in Figures 32a and 32b, a blade component 256 is disposed within the staple cartridge body 251, and the blade component 256 is connected to an elastic connector 2562, wherein the elastic connector 2562 is provided with a first feature portion 25621. A second feature portion 2313 on the drive component 231 is used to establish a connection with the elastic connector 2562. In the staple cartridge assembly 250 in Figure 32b, the first feature portion 25621 is closer to the drive component 231, therefore, when recording parameters, the parameter abrupt change will occur earlier. The relationship between its engagement parameters and the displacement of the drive component 231 can be seen in Figures 33a and 33b. It can be seen from the figures that the abrupt change process of the engagement parameters in the second type of staple cartridge assembly 250 occurs earlier.

[0141] As shown in Figures 32c and 32d, the elastic connector 2562 in the staple cartridge assembly 250 type three and type four has two first feature portions 25621. Therefore, when the drive member 231 and the blade member 256 cooperate, their engagement parameters should exhibit two abrupt changes. Furthermore, in the staple cartridge assembly 250 type four, the first feature portion 25621 is closer to the drive member 231, so the change in engagement parameters occurs earlier. In addition, the distance between the two first feature portions 25621 in the staple cartridge assembly 250 type four is greater, thus the interval between the two engagement parameter abrupt changes is larger. The relationship between its engagement parameters and the displacement of the drive member 231 can be seen in Figures 33c and 33d. It can be seen from the figures that the abrupt change process of the engagement parameters occurs earlier in the staple cartridge assembly 250 type four, and the interval between the engagement parameter abrupt changes is larger.

[0142] As shown in Figure 32e, the elastic connector 2562 in the staple cartridge assembly 250 type five has three first feature portions 25621. Therefore, when the drive member 231 and the blade member 256 cooperate, their engagement parameters should exhibit three abrupt changes. The relationship between their engagement parameters and the displacement of the drive member 231 can be seen in Figure 33e. It can be seen from the figure that the abrupt changes in the engagement parameters in the staple cartridge assembly 250 type five occur three times, which is the same as the number of first feature portions 25621.

[0143] The method in this embodiment of the application, which determines the type of the stapler cartridge assembly based on changes in the engagement parameters, further includes:

[0144] During the movement of the drive component between the initial position and the engagement position, the interval distance between two adjacent abrupt changes in engagement parameters is detected, and the type of the staple cartridge component is determined based on the interval distance.

[0145] The stapler control method in this embodiment can determine the state of the staple cartridge assembly by analyzing parameter changes as the drive assembly moves between the initial position and the engagement position. This confirms whether the staple cartridge assembly has been used, thereby preventing the blade component in the staple cartridge assembly from being reused and ensuring surgical quality. Furthermore, it can determine the type of the staple cartridge assembly based on changes in engagement parameters, guiding the smooth progress of the surgery.

[0146] Anastomosing devices can be used with various types of staple cartridges to achieve tissue anastomosis and cutting. Different surgical scenarios and sites require different staple cartridges. Robot-assisted surgical systems need to set different control parameters according to different types of stapler cartridges to handle tissues of different thicknesses and types, because parameters such as the anastomosis force and staple height (forming height) of the stapler must be matched with the tissue thickness and type to ensure anastomosis effectiveness and safety. For example, thin-walled tissues (such as blood vessels) require staple cartridges with low staple height, while thicker tissues (such as the gastrointestinal tract) require staple cartridges with high staple height. Therefore, it is desirable to design a scheme that can reliably identify the type of staple cartridge.

[0147] The staple cartridge identification method provided in this application embodiment is used for an anastomosis instrument. The anastomosis instrument includes a staple cartridge identification component. The staple cartridge identification component includes a driving member having a second feature portion and an elastic connecting portion having an elastic connector. The elastic connecting portion has an interface that faces and can accommodate the second feature portion. The elastic connector is disposed within the interface, so that the second feature portion and the elastic connector are releasably connected during the forward and backward movement of the staple cartridge. The staple cartridge identification method includes: moving the second feature portion to a target position of the interface, and releasably connecting the second feature portion and the elastic connector during the movement of the second feature portion; acquiring feature parameters generated by the connection between the second feature portion and the elastic connector, and including specific feature parameters corresponding to the feature portion in the feature parameter set; determining the type of the elastic connector based on the feature parameter set generated by the connection; and determining the type of the staple cartridge (i.e., the simplified expression of the aforementioned "staple cartridge component", hereinafter the same) based on the type of the elastic connector.

[0148] This application embodiment incorporates specific feature parameters corresponding to the feature portion from the feature parameters generated during the releasable connection between the second feature portion and the elastic connector during its movement to the target position into a feature parameter set. This determines the type of the elastic connector and further determines the type of the staple cartridge. By identifying obvious changes in the physical positional or connection relationship such as the releasable connection between the second feature portion and the elastic connector, the obtained feature set parameter data is relatively stable, thus confirming a more accurate type of elastic connector and consequently, an accurate identification of the staple cartridge type. Furthermore, by filtering the feature parameters corresponding to the feature portion, interfering parameters are eliminated, resulting in a more accurate feature parameter set and improved identification accuracy.

[0149] The end effector 200 in this embodiment drives the elastic connector 2560 (described in detail below) via the drive assembly 230, causing the blade component 256 to move between the first and second ends of the staple cartridge assembly 250, thereby completing the anastomosis cutting action and the blade retraction action. The blade component 256 has a first position and a second position within the staple cartridge assembly 250. The drive assembly 230 can drive the blade component 256 located in the first position to the second position for cutting. After the drive assembly 230 drives the blade component 256 to complete one cut, the drive assembly 230 moves the blade component 256 located in the second position from the second end towards the first end back to the first position. When the blade component 256 moves to the first position, it is restricted, allowing the blade component 256 and the drive assembly 230 to separate in the first position. This allows the blade component 256 and the staple cartridge assembly 250 to be used only once, effectively improving surgical quality and safety.

[0150] As shown in Figures 27, 34, 13, and 29, the blade component 256 may include a cutting edge 2561 and a wing plate 2563 connected to the cutting edge 2561. The blade component 256 also has an elastic connecting portion 2560, which can be an elastic element. Because the elastic connecting portion 2560 is elastic, when the drive assembly 230 drives the blade component 256 from the first end to the second end to the first position, the drive component 231 and the elastic connecting portion 2560 engage; that is, the drive component 231 advances towards the elastic connecting portion 2560 and engages with it. When the drive assembly 230 drives the blade component 256 from the second end to the first end to the second position, the drive component 231 and the elastic connecting portion 2560 separate; that is, the drive component 231 retracts relative to the elastic connecting portion 2560 and disengages from it.

[0151] In this embodiment, the drive member 231 and the blade member 256 can be configured as a staple cartridge identification assembly. The drive member 231 may have a second feature portion 2313, and the elastic connection portion 2560 may have an elastic connector 2562. The elastic connection portion 2560 has an interface facing and accommodating the second feature portion 2313, and the elastic connector 2562 may be disposed within the interface. During the forward and backward movement of the staple cartridge, the second feature portion 2313 of the drive member 231 and the elastic connector 2562 of the elastic connection portion 2560 are releasably connected. During the connection process, the second feature portion 2313 and the elastic connector 2562 may come into contact, and at least one of the second feature portion 2313 and the elastic connector 2562 may generate a contact-related feature signal (feature parameter) based on the contact.

[0152] It should be noted that the connection between the second feature portion 2313 and the elastic connector 2562 can be either mechanical or inductive. For example, mechanical contact can refer to direct contact between the second feature portion 2313 and the elastic connector 2562. Direct contact may cause a change in the shape of at least one of the second feature portion 2313 and the elastic connector 2562, and this change in shape can be reflected by an electrical signal from the instrument driver, which can be a feature signal. The instrument driver can be electrically connected to the recognition module, so that the recognition module can acquire the feature signal generated by the change in the drive current or drive voltage of the instrument driver.

[0153] Inductive contact refers to a situation where the second feature portion 2313 and the elastic connector 2562 do not make direct contact, but rather achieve inductive contact based on capacitive or magnetic induction when they are close together. For example, both the second feature portion 2313 and the elastic connector 2562 may include capacitive sensors or magnetic sensors. When they are close together, the capacitance or magnetic field will change, and this change can be reflected by an electrical signal, which can be a characteristic signal (characteristic parameter). The capacitive sensor or magnetic sensor can be electrically connected to the identification module, so that the identification module can collect the characteristic signal generated by the capacitance change of the capacitive sensor or the magnetic field change of the magnetic sensor.

[0154] In some embodiments, as shown in Figures 27, 34, and 13 to 29, the second feature 2313 may be formed as a protrusion, and the elastic connector 2562 may be provided with a bulge (i.e., the aforementioned first feature 25621). The protrusion and bulge facilitate contact between the two in a releasable connection. Here, a protrusion and a bulge refer to structures that protrude in a direction that facilitates contact between the second feature 2313 and the elastic connector 2562. This application does not limit the shape and material of the protrusion and bulge, as long as the second feature 2313 and the elastic connector 2562 can achieve contact.

[0155] In embodiments of this application, the elastic connector 2562 may include one or more protrusions. Furthermore, the number and / or arrangement of protrusions of different types of elastic connectors 2560 may be different. Different types of elastic connectors 2560 can be used to correspond one-to-one with different types of staple cartridges; thus, the type of the corresponding staple cartridge can be obtained by obtaining the type of the elastic connector 2560. The mapping relationship between the type of elastic connector 2560 and the type of staple cartridge can be pre-stored in the control system 11.

[0156] In some embodiments, the so-called different arrangement of convex hulls can refer to the different positions of individual convex hulls, or to different spacing settings of the same number of convex hulls in embodiments with multiple convex hulls, or to different arrangements of the same number of convex hulls. For example, the elastic connector 2562 may have three feature portions. In an embodiment with one convex hull, the convex hull may be located at any one of the three feature portions. In an embodiment with two convex hulls, the two convex hulls may be located at any two of the three feature portions. In some embodiments, the spacing between the three feature portions may also be different in different types of elastic connectors 2562. Figures 27 and 29 show examples of elastic connectors 2562 having three feature portions, each of which has a convex hull; Figures 34 and 13 show examples of elastic connectors 2562 having one feature portion, which has a convex hull.

[0157] In embodiments of this application, the driving component 230 provides a driving force to the driving member 231 to move the driving member 231 toward a target position. In embodiments of this application, the target position can be defined based on the movement of the driving member 231, and may include a first target position and a second target position. As shown in FIG13, when the driving member 231 moves toward the elastic connecting portion 2560 and engages with the elastic connecting portion 2560, the position of the driving member 231 is the first target position. When the driving member 231 is separated from the elastic connecting portion 2560, the position of the driving member 231 can be the second target position.

[0158] As shown in Figure 35, this application embodiment provides a method for identifying nail hoppers, which may include the following steps:

[0159] S11: Move the second feature to the target position of the groove, during which the second feature is releasably connected to the elastic connector.

[0160] The groove is an interface provided on the side of the main body of the elastic connection that is close to the driving member, and the target position is the aforementioned engagement position.

[0161] The control device can control the drive module 101 to move the drive member 231. As mentioned above, the target position may include a first target position and a second target position, corresponding to the engaged and disengaged states of the drive member 231 and the elastic connecting part 2560, respectively. Regardless of whether it moves to the first target position or the second target position, contact can be generated between the second feature and the elastic connecting part.

[0162] S12: Obtain the feature parameters generated by the connection between the second feature part and the elastic connector, and include the specific feature parameters corresponding to the feature part in the feature parameter set.

[0163] In some embodiments, the characteristic parameters generated by the connection between the second feature portion and the elastic connector are the characteristic parameters generated by the connection between the second feature portion and the elastic connector during the movement of the drive assembly between the initial position and the engagement position.

[0164] S13: Determine the type of elastic connector based on the set of characteristic parameters.

[0165] As previously described, at least one of the second feature and the elastic connector can transmit the feature signal generated by the connection between the two to the identification module. Since the movement of the first structural feature toward the target position will continue for a certain period of time, the identification module will collect the feature signal (i.e., feature parameters) during that time period.

[0166] The identification module can further filter based on the correspondence between the collected feature signals and feature parts within the time period. For example, it can filter based on the arrangement relationship between multiple feature parts. As shown in Figures 32a, 32c, 32d, and 32e, the elastic connector 2562 includes several feature parts arranged sequentially from the distal end to the proximal end. For example, when the second feature part 2313 moves to the first target position, and the second feature part 2313 passes through three feature parts in time sequence, the acquired feature signals can be filtered according to the time sequence.

[0167] For example, multiple experiments can be conducted beforehand to obtain the characteristic signals acquired by the second feature portion in combination with different types of elastic connectors, thus determining the time range within which the second feature portion passes through each feature portion. During the recognition process, the recognition module can compare this time range with a pre-set time range to obtain the time range within which the second feature portion passes through each feature portion, and further acquire the characteristic signals (specific characteristic parameters) within that time range. Incorporating these characteristic signals (specific characteristic parameters) into the characteristic parameter set ensures the accuracy of the recognition.

[0168] In some embodiments, the time range for the second feature to pass through each feature can be calculated by the moving speed and time of the second feature, thereby determining the feature parameter set.

[0169] During the process of the second feature section combining with different types of elastic connectors, the second feature section sequentially passes through multiple feature sections. The electrical signals generated by the releasable connection between the two are not limited to a pattern with an event range, but can also exhibit other patterns. For example, during the releasable connection with different types of elastic connectors, the spacing, amplitude of abrupt changes, and fluctuation patterns of the generated electrical signals all exhibit certain patterns. The patterns of the second feature section passing through different types of elastic connectors can be obtained in advance through multiple experiments. These patterns can then be used to select characteristic parameters corresponding to the feature section, i.e., to select specific characteristic parameters.

[0170] The filtered feature signals can be combined into a feature parameter set. The identification module can more accurately determine the type of the elastic connector based on this feature parameter set. By obtaining specific feature parameters corresponding to the feature portion, interference signals generated by other structures of the elastic connector can be reduced. For example, during the releasable connection of the second feature portion to the elastic connector, the contact between the second feature portion and the first feature portion can generate an A signal. Simultaneously, the contact between the second feature portion and non-feature portions or other feature portions can also generate an A signal. Including this second A signal in the feature parameter set would obviously lead to identification errors or failures. According to the method provided in this application, by including specific feature parameters corresponding to the feature portion in the feature parameter set, the second A signal is filtered out. Therefore, the method provided in this application can improve the accuracy of staple cartridge identification.

[0171] In some embodiments of this application, the identification module can be located in the driving module 101 or in the control device. The control device can be implemented by a computer, microcomputer, etc., and there is no particular limitation thereto.

[0172] S14: Determine the type of staple cartridge based on the type of elastic connector.

[0173] The elastic connection portion 2560, which has different types of elastic connectors 2562, can be connected to different types of staple cartridges. Thus, the type of staple cartridge can be determined by determining the elastic connector.

[0174] As shown in Figure 36, this application embodiment further provides a method for identifying nail storage devices, which may include the following steps:

[0175] S21: Move the second feature to the target position of the groove, and during the movement of the second feature, the second feature is releasably connected to the elastic connector.

[0176] S22: Obtain the electrical signal generated when the second feature part is connected to the elastic connector, and include the electrical signal that corresponds to the feature part and meets the preset standard as a specific feature parameter in the feature signal parameter set.

[0177] S23: Determine the type of elastic connector based on the set of characteristic parameters.

[0178] As mentioned earlier, the identification module can receive multiple electrical signals from the second feature during its movement period. These signals typically include interference signals, such as those unrelated to the connection between the second feature and the elastic connector. The identification module can filter out these interference signals by setting a threshold range. For example, this can be achieved using the filter's cutoff frequency or a threshold value for the current velocity pulse.

[0179] In some embodiments, electrical signals that exceed a predetermined range can be filtered out as abnormal data or interference signals by setting a predetermined range.

[0180] S24: Determine the type of staple cartridge based on the type of elastic connector.

[0181] As shown in Figure 37, this application embodiment further provides a method for identifying nail storage devices, which may include the following steps:

[0182] S31: Move the second feature to the target position of the groove, during which the second feature is releasably connected to the elastic connector.

[0183] S32: Obtain the electrical signal generated when the second feature part is connected to the elastic connector, and include the electrical signal that corresponds to the feature part and conforms to the preset standard as a specific feature parameter in the feature signal parameter set.

[0184] S33: Determine the type of elastic connector based on the number of feature parameters in the feature parameter set.

[0185] After filtering out interference signals, the type of elastic connector can be determined based on specific characteristic parameters in the characteristic signal parameter set. For example, the type of elastic connector can be determined based on the number of specific characteristic parameters.

[0186] S34: Determine the type of staple cartridge based on the type of elastic connector.

[0187] In some embodiments, the resilient connector includes a plurality of features, and a second feature is releasably connected to the plurality of features during movement and generates feature parameters.

[0188] As shown in Figure 38, this application embodiment further provides a method for identifying nail storage devices, which may include the following steps:

[0189] S41: Move the second feature to the target position of the groove, during which the second feature is releasably connected to the elastic connector.

[0190] S42: Obtain the electrical signal generated when the second feature part is connected to the elastic connector, and include the electrical signal that corresponds to the feature part and conforms to the preset standard as a specific feature parameter in the feature signal parameter set.

[0191] S43: Determine the number of the first feature parts and / or the arrangement of the first feature parts according to the specific feature parameters in the feature parameter set.

[0192] After filtering out interference signals, the type of elastic connector can be determined based on specific characteristic parameters in the characteristic signal parameter set. For example, the type of elastic connector can be determined based on the number of specific characteristic parameters.

[0193] S44: Determine the type of elastic connector based on the number and / or arrangement of the first features.

[0194] S45: Determine the type of staple cartridge based on the type of elastic connector.

[0195] The following details the analysis of the pinning device identification method of this application and specific embodiments for filtering out interference signals.

[0196] In embodiments of this application, the elastic connector includes a groove and a convex fossa. The convex fossa is disposed in the groove, and in a direction perpendicular to the traveling direction of the driving member, the convex fossa are arranged in pairs. As mentioned above, the number of first feature portions can refer to a pair of convex fossa arranged in pairs, two first feature portions can refer to two pairs of convex fossa arranged in pairs, and multiple first feature portions can refer to multiple pairs of convex fossa arranged in pairs.

[0197] Because the gap between the paired convex hulls is small, the second feature will encounter resistance as it passes over the paired convex hulls, causing the current to gradually increase. Once the second feature has passed the convex hulls, the resistance disappears, and the current gradually decreases. "Passing over" refers to the process along the travel direction of the driving member, from approaching the convex hulls to contacting them and then moving away from them.

[0198] The pin cartridge identification method in this application can determine whether the second feature portion crosses the convex hull based on current changes. The following is a theoretical analysis of the process of determining whether the second feature portion crosses the convex hull.

[0199] Part 1: Conditional Assumptions

[0200] Assumption 1: The rack is equivalent to a mass block 1, and the driving component is equivalent to a mass block 2.

[0201] Assumption 2: The flexible shaft is equivalent to a massless spring, connecting the drive device and the drive component. During the forward (firing) motion over the convex hull stage, the flexible shaft first bends to store energy and then straightens to release it, which can be equivalent to a spring. During the backward (retracting) motion over the convex hull stage, the flexible shaft first stretches and deforms before returning to its original length to release energy. Furthermore, the tool component also undergoes elastic deformation, which is uniformly equivalent to a massless spring.

[0202] Assumption 3: Since the rack movement speed is relatively slow during the staple cartridge recognition process, it can be assumed that the rack movement speed is equal to zero. This assumption is frequently used in controller validation. In actual testing, the rack movement speed is 1 mm / s. Here, the rack and gears form a transmission component, and the driving force of the drive unit is transmitted to the drive component through this transmission component.

[0203] Part Two: Variable Definition.

[0204] m1 and m2 represent the masses of mass blocks 1 and 2, respectively.

[0205] d represents the distance of mass block 1 from the meshing point of the gear and rack.

[0206] l represents the original length of the flexible shaft.

[0207] x represents the amount of elastic deformation of the flexible shaft.

[0208] k represents the stiffness coefficient of the flexible shaft.

[0209] F represents the traction force of the gear on the rack, F>0.

[0210] μ represents the coefficient of friction.

[0211] f(d,l,x) represents the axial resistance exerted by the tool connector on the flexible shaft during the retraction (tool retraction) motion. It is related to the position parameters d,l,x.

[0212] Part Three: Dynamic Modeling and Analysis.

[0213] Under assumptions 1 and 2, the dynamic model of the firing joint can be simplified to the mechanical equivalent diagram shown in Figure 39.

[0214] Force analysis: The force diagrams of the mass block during firing and retraction are shown in Figure 40a and Figure 40b, respectively.

[0215] Modeling:

[0216] From assumption 3, we can obtain: d = d = 0.

[0217] Substituting equation (2) into equation (1), we get:

[0218] As can be seen from equation (3), the traction force F is proportional to the elastic deformation x of the flexible shaft, i.e., F∝x.

[0219] Part Four: Identification Process Stage Division and Landing Point Analysis. As shown in Figure 41, the process stages and landing point analysis are described in detail below.

[0220] The motion process of the driving component includes Stage 1 (first stage) before crossing the convex hull and Stage 2 (second stage) after crossing the convex hull. The following analysis will focus on these two stages.

[0221] Since the beam members do not contact the convex hull during Stage 2, the resistance f(d,l,x) = 0. Therefore, according to equation (3), this process performs damped vibration.

[0222] Furthermore, since at the initial moment of Stage 2, the elastic deformation x of the flexible shaft is at its maximum / minimum position (maximum tension / maximum compression position) and tends to decrease / increase, this conforms to the extreme point characteristics of underdamped motion. Overdamped and critically damped motions do not exhibit this characteristic.

[0223] Since Stage 2 performs underdamped motion.

[0224] Also, since the current I ∝ F.

[0225] Therefore, I∝x, meaning that during Stage 2, the current-time variation characteristics conform to the underdamped motion curve.

[0226] Landing point analysis

[0227] As shown in Figure 41, if the landing point 1 falls within the area of ​​stage 2, it means that the beam member directly crosses the convex hull 1, and therefore the current cannot detect the convex hull 1. During the forward (firing) motion, the flexible shaft undergoes significant bending deformation, which may satisfy this condition.

[0228] If the landing point 1 is outside stage 2, it means that each convex hull can be detected by the current. Based on the underdamped characteristics of the elastic deformation x of the flexible rod, the changes of x and its rate of change x in stage 2 can be plotted, as shown in Figure 42.

[0229] The position of landing point 2 (or the spacing of stage 2) is mainly determined by the stiffness and structural parameters of the flexible shaft and the elastic connection.

[0230] When the spacing in stage 2 is greater than the flexible shaft compression amount x at the moment of crossing the convex hull - Or stretching amount x + During stage 2, x has at least one extreme value, and the first extreme value is either the maximum or minimum value of x during stage 2. Since I∝x during stage 2, the current velocity I also has a maximum or minimum value, which will be referred to as the current velocity pulse amplitude.

[0231] Because the flexible shaft performs slow stretching or compression energy storage during phase 1, the current velocity... It is relatively small, so it will not exceed the current velocity pulse amplitude during stage 2.

[0232] In other words, when the structural design satisfies the condition that the stage 2 spacing is greater than the flexible shaft compression amount x at the moment of crossing the convex hull. - Or stretching amount x + At that time, each convex feature of the knife connector can generate at least one current velocity pulse, and the maximum amplitude of the current velocity pulse is the maximum value of the entire process of stage 1 and stage 2.

[0233] Based on the above analysis, it can be determined whether the driving component has crossed the convex hull by detecting the maximum amplitude (also called the amplitude) of the current velocity pulse in stage 2. That is, if the second feature crosses the convex hull, the electrical signal will have a sudden change, and whether or not the convex hull has been crossed can be determined based on whether or not the sudden change occurs.

[0234] As mentioned earlier, for the set of electrical signals received during the movement time of the driving component, abnormal interference signals are first filtered out. For the set of electrical signals after filtering out interference signals, characteristic parameters can be selected by amplitude, thus obtaining a set of characteristic parameters.

[0235] In some embodiments, for the electrical signal set after filtering out interference signals, the cutoff frequency of the filter, the threshold of the current velocity pulse amplitude, and the upper and lower limits of the position of the convex hull current velocity pulse amplitude in the electrical signal are obtained, thereby deriving characteristic parameters.

[0236] In some embodiments, the identification module can further analyze the data in the feature parameter set, for example, it can obtain the number of feature parameters in the feature parameter set, thereby determining the type of the elastic connector. For example, as shown in FIG34, if the second feature type of the elastic connector connected to the first type of staple cartridge has a convex hull, the identification module can obtain a feature parameter (an electrical signal that has undergone a sudden change). Thus, based on the feature parameter obtained by the identification module, it can be concluded that the second feature type has a convex hull, and therefore the type of staple cartridge can be determined to be the first type. Similarly, if the identification module obtains other numbers of feature parameters, it can also determine other types of staple cartridges.

[0237] In some embodiments, for example, along a direction from distal to proximal end, the resilient connector may have three features. In an embodiment with a first feature (i.e., a pair of oppositely disposed convex hulls), the type of resilient connector can be determined based on the position of the first feature among the three features. As shown in FIG43, this application provides a staple cartridge identification method, which may include the following steps:

[0238] S51: Move the second feature to the target position of the groove, and during the movement of the second feature, the second feature is releasably connected to the elastic connector.

[0239] S52: Each of the multiple feature parts contains 0 or 1 first feature parts, and identifies whether each feature part in the multiple feature parts has a corresponding specific feature parameter.

[0240] S53: Determine the arrangement of the first feature among multiple feature components based on the recognition results.

[0241] S54: Determine the type of elastic connector based on the arrangement of the first feature parts.

[0242] S55: Determine the type of staple cartridge based on the type of elastic connector.

[0243] In some embodiments, as shown in Figures 32a, 32c, 32d to 32e, the resilient connector includes three features arranged sequentially from the distal end to the proximal end.

[0244] As shown in Figure 32a, the elastic connector includes one first feature part. The identification module can determine, based on the set of feature parameters acquired during the movement of the driving component to the first target position, that the first feature part has one feature parameter, while the second and third feature parts have zero feature parameters. It can be understood that the identification module can conclude that the first feature part possesses the first feature part, and the second and third feature parts do not, based on the fact that the first feature part has one feature parameter and the second and third feature parts have zero feature parameters. The arrangement of the feature parameters acquired by the identification module can be 1-0-0.

[0245] As shown in Figure 32c, the elastic connector includes two first feature parts. The identification module can determine, based on the feature parameter set acquired during the movement of the driving component to the first target position, that both the first and second feature parts have one feature parameter, and the third feature part has zero feature parameters. In other words, the identification module can conclude that the first and second feature parts both possess first feature parts, and the third feature part does not, based on the fact that both the first and second feature parts have one feature parameter and the third feature part has zero feature parameters. The arrangement of the feature parameters acquired by the identification module can be 1-1-0.

[0246] As shown in Figure 32d, the first feature part contains one first feature part, and the third feature part contains one first feature part. The recognition module can then deduce from the feature parameter set acquired during the movement of the driving component to the first target position that both the first and third feature parts have one feature parameter, and the second feature part has zero feature parameters. In other words, the recognition module can conclude that both the first and third feature parts possess first feature parts, and the second feature part does not, based on the fact that both the first and third feature parts have one feature parameter and the second feature part has zero feature parameters. The arrangement of the feature parameters acquired by the recognition module can be 1-0-1.

[0247] As shown in Figure 32e, the first, second, and third feature parts each contain one first feature part. Therefore, the recognition module can deduce from the feature parameter set acquired during the movement of the driving component to the first target position that the first, second, and third feature parts each have one feature parameter. It can be understood that the recognition module can deduce that the first, second, and third feature parts each have one first feature part based on the fact that they all have one feature parameter; that is, the arrangement of the feature parameters acquired by the recognition module can be 1-1-1.

[0248] The arrangement of the first feature shown in Figures 32a, 32c, and 32d to 32e is merely an example, and the embodiments of this application are not limited to the above examples. In specific embodiments, the number of feature parts can be more or less, and the arrangement of the first feature parts can also have more forms, as long as the type of elastic connector can be identified by the identification module, it is included within the scope of this application.

[0249] It should be noted that the foregoing embodiments illustrate the arrangement of feature parameters acquired by the identification module when the driving component moves to the first target position. If the driving component moves to the second target position, the identification module can acquire the same arrangement of feature parameters, which will not be repeated here.

[0250] The movement of the second feature portion continues for a period of time; therefore, the position of the first feature portion can be obtained by combining the temporal sequence of the feature parameters. As shown in Figure 44, this application provides a method for identifying stapled cartridges, which may include the following steps:

[0251] S61: The second feature moves at a constant speed within the groove to the target position, and during the movement of the second feature, the second feature is releasably connected to the elastic connector.

[0252] Setting the second feature section to move at a constant speed helps the identification module determine the arrangement of feature parameters based on the time when the feature parameters appear.

[0253] S62: Each of the multiple feature parts contains 0 or 1 first feature parts, and it is identified whether each feature part in the multiple feature parts has a corresponding feature parameter.

[0254] S63: Obtain the time information corresponding to the feature parameters.

[0255] That is, the time when the feature parameters appear can be obtained, and from this, the arrangement of the first feature part can be further obtained.

[0256] S64: Determine the arrangement of the first feature based on the feature parameters and the time information corresponding to the feature parameters.

[0257] It should be noted that, based on the characteristic parameters and corresponding time information, not only can the arrangement of the first characteristic part be determined, but it can also be used to filter out interference signals. For example, the spacing between multiple characteristic parts is known in advance. If the position of the characteristic parameter obtained by combining the characteristic parameters and time information is obviously outside the spacing range between multiple characteristic parts, then the characteristic parameter can be judged as abnormal and filtered out, or a prompt or alarm can be issued based on the abnormal parameter.

[0258] S65: Determine the type of elastic connector based on the arrangement of the first feature portion.

[0259] S66: Determine the type of staple cartridge based on the type of elastic connector.

[0260] In some embodiments, the characteristic parameters may include at least one of the following: current value, current pulse peak, first-order or higher-order current derivative, first-order or higher-order current derivative pulse, voltage value, current waveform, and voltage waveform.

[0261] Figures 45 to 48 illustrate embodiments of current waveforms as characteristic parameters. In the embodiments shown in Figures 45 to 48, the current waveforms obtained when the driving member moves to the first target position are shown.

[0262] Figure 45 shows the current waveform diagram of the type of elastic connector shown in Figure 32a, that is, the first feature of the elastic connector has a first feature, while the second and third feature sections do not have a first feature.

[0263] Figure 46 shows the current waveform diagram of the type of elastic connector shown in Figure 32c, that is, the first feature part and the second feature part of the elastic connector both have the first feature part, while the third feature part does not have the first feature part.

[0264] Figure 47 shows the current waveform diagram of the type of elastic connector shown in Figure 32d, that is, the first and third feature parts of the elastic connector both have the first feature part, while the second feature part does not have the first feature part.

[0265] Figure 48 shows the current waveform diagram of the type of elastic connector shown in Figure 32e, where the first, second, and third feature parts of the elastic connector all have convex hulls.

[0266] In the embodiments of this application, current waveform diagrams of multiple types of elastic connectors can be pre-stored in the storage unit of the control device. The identification module can determine the type of elastic connector by comparing the current waveform diagram obtained from the received electrical signal with the pre-stored current waveform diagram.

[0267] Based on the same or similar concept, embodiments of this application also provide an anastomosis device, including a staple cartridge holder, a drive member, an elastic connection portion, and an identification module; the drive member has a second feature portion; the elastic connection portion has an elastic connector, the elastic connection portion has a groove facing and accommodating the second feature portion, the elastic connector is disposed in the groove, such that the second feature portion and the elastic connector are releasably connected during the forward and backward movement of the staple cartridge, wherein the drive member enables the second feature portion to move to a target position in the groove, and the second feature portion and the elastic connector are releasably connected during the movement of the second feature portion; the identification module is configured to determine the type of the elastic connector based on a set of feature parameters generated according to the connection between the second feature portion and the elastic connector, and to determine the type of the staple cartridge based on the type of the elastic connector.

[0268] In some embodiments, the identification module is configured to determine the type of the elastic connector based on a set of feature parameters generated by the contact between the second feature portion and the elastic connector in the following manner: acquiring the electrical signal generated by the connection between the second feature portion and the elastic connector, and incorporating the electrical signal that conforms to a preset standard into the feature signal parameter set as a feature parameter.

[0269] In some embodiments, the identification module is configured to determine the type of the elastic connector based on a set of feature parameters generated according to the contact between the second feature portion and the elastic connector in such a way that the type of the elastic connector is determined according to the number of feature parameters in the feature parameter set.

[0270] In some embodiments, the elastic connector includes a plurality of first features, and second features are releasably connected to the plurality of first features during movement and generate feature parameters; the identification module is configured to determine the type of the elastic connector based on a set of feature parameters by: determining the number of first features based on specific feature parameters and / or determining the arrangement of the first features based on the feature parameters; and determining the type of the elastic connector based on the number of first features and / or the arrangement of the first features.

[0271] In some embodiments, the identification module is configured to determine the type of the elastic connector based on the arrangement of the first feature portion by: controlling the second feature portion to move at a constant speed within the groove; acquiring time information corresponding to the feature parameters; determining the arrangement of the first feature portion based on the specific feature parameters and the time information corresponding to the specific feature parameters; and determining the type of the elastic connector based on the arrangement of the first feature portion.

[0272] Based on the same or similar concepts, embodiments of this application also provide a surgical robot system, including: a control device configured to perform a staple cartridge identification method as described in any of the foregoing embodiments; or an anastomosis instrument as described in any of the foregoing embodiments. The surgical robot system of this application can determine the type of staple cartridge according to the method shown in FIG49, thereby controlling the firing force and timing of different types of staple cartridges.

[0273] In Figure 49, a minimum number of 1 indicates the presence of a convex hull, while a minimum number of 0 indicates the absence of a convex hull. The convex hull 0 can be the convex hull of any of the multiple feature parts. Figure 49 shows the case where the second feature part moves towards the first target position, and the convex hull 0 is the convex hull of the first feature part. In Figure 49, a threshold value (dl_threshold) is used to filter out interference signals to prevent low-frequency noise from causing interference at non-convex hull positions.

[0274] In some embodiments, the filtering of interference signals can be performed sequentially or multiple times. Furthermore, the same criteria or method can be used for multiple filtering attempts, or different criteria or methods can be used for each of the multiple filtering attempts.

[0275] The stapler identification method shown in Figure 49 may include the following steps:

[0276] S101: Move the second feature to the target position of the groove, and during the movement of the second feature, the second feature is releasably connected to the elastic connector.

[0277] S102: Obtain the current speed information generated when the second feature is connected to the elastic connector.

[0278] S103: Perform zero-phase low-pass filtering on the acquired current velocity information.

[0279] S104: Removes zero drift from the filtered current velocity information.

[0280] S105: Merge the current velocity information after zero drift removal to the nearest extreme points.

[0281] Merging adjacent extreme points can be done under the dl_threshold0 constraint, merging extreme points whose positional distance is less than 0.2mm. Specific merging rules can include: 1. Superimposing extreme points based on their magnitude. 2. Superimposing extreme points based on a proportional coefficient adjusted according to their positional magnitude.

[0282] S106: Under the dl_thresholdo constraint, take the first extreme point with the smallest position as the reference convex hull 0, and determine whether there is a convex hull in the range (0, L0). If there is, update the nearest extreme point as the new reference.

[0283] S107: If no convex hull 0 is detected, it is determined to be an empty staple cartridge or no staple cartridge installed; if convex hull 0 is detected, continue to detect the convex hulls of other features. Specifically, for the convex hulls of other features, under the dl_threshold constraint, determine the number of minimum values ​​contained within the upper and lower limits (L(i), L(i-1)) of the position of each current velocity pulse amplitude. If the number of detected minimum values ​​> 1, the convex hull detection of that feature fails; if the number of detected minimum values ​​≤ 1, the convex hull detection of that feature succeeds.

[0284] It should be noted that the limitation on the number of minimum values ​​is based on the example that each feature has 0 or 1 convex hulls. If each feature has 0 or more convex hulls, the number of minimum values ​​can be determined by the maximum number of convex hulls.

[0285] S108: If the convex hulls of all features are successfully detected, the type of elastic connector is determined based on the number of first features and / or the arrangement of the first features.

[0286] S109: Determine the type of staple cartridge based on the type of elastic connector.

[0287] Based on this, this application also provides a stapler cartridge identification method applied to a surgical robot system. The surgical robot system has a stapler detachably installed as described in any of the previous embodiments. The surgical robot system is provided with an instrument driver for transmitting power to a drive module to drive a drive assembly. The method includes: controlling the drive assembly to move from an initial position to an engagement position or from an engagement position to an initial position based on control parameters; and confirming whether a stapler cartridge assembly is loaded in the stapler or the usage status of the stapler cartridge assembly in response to changes in the control parameters.

[0288] In some examples, in response to changes in control parameters, it is confirmed whether the stapler is loaded with a stapler cartridge or the usage status of the stapler cartridge, including: in response to a sudden change in control parameters, confirming that the usage status of the stapler cartridge is unused; in response to no sudden change in control parameters, confirming that the usage status of the stapler cartridge is used or that the stapler cartridge is not loaded with a stapler cartridge; wherein a change in control parameters within a preset unit exceeding a preset value indicates a sudden change in control parameters.

[0289] In some examples, the elastic connection includes a plurality of sequentially arranged feature parts, the plurality of feature parts including at least one first feature part; the method includes: acquiring feature parameters generated when a second feature part connects to the elastic connection during a single movement of the drive component; incorporating specific feature parameters corresponding to the plurality of feature parts into a feature parameter set, wherein the single movement includes a movement from an initial position to an engagement position or a movement from an engagement position to an initial position; and determining the type of the staple cartridge component based on the feature parameter set.

[0290] In some examples, acquiring the feature parameters generated when the second feature part connects with the elastic connection part during a single movement of the drive component includes: acquiring the electrical signal of the instrument driver when the second feature part connects with the elastic connection part, and incorporating the electrical signal that corresponds to the feature part and conforms to a preset standard into the feature signal parameter set as a specific feature parameter.

[0291] In some examples, the type of the stapled cartridge component is determined based on a set of feature parameters, including determining the type of the stapled cartridge component based on the number of specific feature parameters in the feature parameter set.

[0292] In some examples, the first feature includes an elastic convex hull, and the second feature interferes with the elastic convex hull during movement, causing a change in the electrical signal; the type of the staple cartridge assembly is determined according to the feature parameter set, including: determining the number of the first feature and / or the arrangement of the first feature according to specific feature parameters; and determining the type of the staple cartridge assembly according to the number of the first feature and / or the arrangement of the first feature.

[0293] In some examples, each of the multiple feature parts contains 0 or 1 first feature parts. The arrangement of the first feature parts is determined according to a specific feature parameter, including: identifying whether each feature part in the multiple feature parts has a corresponding specific feature parameter; and determining the arrangement of the first feature parts in the multiple feature parts according to the identification result.

[0294] In some examples, determining the type of the staple cartridge assembly based on the arrangement of the first feature portion includes: controlling the second feature portion to move at a constant speed within the interface of the elastic connection portion; acquiring time information corresponding to a specific feature parameter; determining the arrangement of the first feature portion based on the specific feature parameter and the time information corresponding to the specific feature parameter; and determining the type of the staple cartridge assembly based on the arrangement of the first feature portion.

[0295] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of this application. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of this application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

[0296] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0297] Similarly, it should be understood that, in order to simplify this application and aid in understanding one or more aspects of the application, various features of this application may sometimes be grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of this application. However, this approach should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, the point of application is that the corresponding technical problem can be solved with fewer features than all of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0298] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0299] Furthermore, those skilled in the art will understand that although some embodiments herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0300] The above description is merely a specific embodiment of this application or an explanation of the specific embodiment. The scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. An end effector for a stapler, comprising: The staple cartridge assembly includes a first end and a second end extending along its length. A blade component, which is movably disposed within the staple cartridge assembly; A drive assembly is releasably connected to the blade member, the drive assembly is capable of driving the blade member to move from the first end to the second end, and the drive assembly is capable of driving the blade member to move from the second end to the first end. When the blade member moves from the second end to the first end, the blade member is confined within the staple cartridge assembly, and the drive assembly is separated from the blade member.

2. The end effector according to claim 1, wherein, The blade component has a first position and a second position within the range of motion of the staple cartridge assembly. The first position is the initial position of the blade component in the staple cartridge assembly, and the first position is further away from the second end of the staple cartridge assembly than the second position. When the drive assembly drives the blade component to move from the second end toward the first end to the second position, the blade component is confined in the staple cartridge assembly, and the drive assembly separates from the blade component.

3. The end effector according to claim 1 or 2, wherein, The blade component is provided with an elastic connection portion, and the driving assembly includes a driving member. The driving member is releasably connected to the elastic connection portion. When the driving assembly drives the blade component to move from the second end to the first end, the driving member and the elastic connection portion separate.

4. The end effector according to claim 3, wherein, The elastic connection portion includes: The main body of the elastic connection part has an interface on the side facing closer to the driving member; An elastic connector is disposed within the interface.

5. The end effector according to claim 3 or 4, wherein, The elastic connecting part is provided with a first feature part, and the driving member is provided with a second feature part that cooperates with the first feature part. The first feature part and the second feature part are releasably connected.

6. The end effector according to claim 5, wherein, The elastic connecting portion is provided with at least two of the first feature portions.

7. The end effector according to claim 2, characterized in that, The staple cartridge assembly is provided with a limiting part. When the blade component moves from the second end to the first end, the limiting part limits the blade component so that the blade component is limited to the first end and the blade component is separated from the drive assembly.

8. The end effector according to claim 7, wherein, The limiting portion includes a first limiting portion and a second limiting portion sequentially disposed along the length direction of the staple cartridge assembly, wherein the first limiting portion is closer to the first end than the second limiting portion; When the driving component does not drive the cutting member to move, the first limiting part limits the cutting member to the first position; When the driving component drives the blade member to move from the first end to the second end, the blade member can pass through the second limiting part under the action of the driving force; When the driving component drives the blade member to move from the second end toward the first end, the second limiting portion limits the blade member to the second position.

9. The end effector according to claim 7 or 8, wherein, The staple cartridge assembly includes a staple cartridge body and a cover plate disposed on the staple cartridge body.

10. The end effector according to claim 9, wherein, The staple cartridge assembly also includes a slider that is movably disposed within the staple cartridge body; When the drive assembly drives the blade member to move toward the second end, the blade member pushes the slider to move, so that the slider pushes the pusher block in the staple cartridge body to move in the direction of deploying the staples.

11. The end effector according to claim 10, wherein, The staple cartridge body is provided with a first locking part, and the slider is provided with a second locking part adapted to the first locking part, so that when the driving component does not drive the blade component, the slider is stopped at the first end of the staple cartridge body, and the slider needs to overcome the constraint of the first locking part when it is pushed away from the stop position at the first end of the staple cartridge body.

12. The end effector according to claim 2, wherein, It also includes a staple cartridge holder, the staple cartridge assembly being detachably disposed on the staple cartridge holder, and the drive assembly being slidably connected to the staple cartridge holder.

13. The end effector according to claim 12, wherein, The staple cartridge is provided with a first guide rail, and the drive assembly further includes a first coupling member disposed on the drive member and a drive rod connected to the drive member. The first coupling member is slidably connected to the first guide rail.

14. The end effector according to claim 13, wherein, It also includes an anvil, which is pivotally connected to the staple cartridge seat. The drive assembly further includes a second coupling member disposed on the drive member. The anvil is provided with a second guide rail. The second coupling member is slidably connected to the second guide rail. The drive rod is used to drive the drive member to move along the first guide rail and the second guide rail.

15. The end effector according to claim 10 or 11, wherein, The end effector further includes a locking member disposed on the drive member. The locking member includes an unlocked state and a locked state. When the slider is stopped at the first end of the staple cartridge body and the blade member is in the first position, the drive member moves from the first end to the second end and connects to the blade member, and the locking member is in the unlocked state to allow the drive member to continue moving towards the second end. When the slider is not stopped at the first end of the staple cartridge body, the lock member is in the locked state to restrict the drive member from continuing to move towards the second end.

16. The end effector according to claim 15, wherein, The staple cartridge holder is provided with a stop surface. When the staple cartridge holder is loaded with the used staple cartridge assembly or not loaded with the staple cartridge assembly, the stop surface limits the locking member to restrict the drive assembly from continuing to move toward the second end.

17. The end effector according to claim 16, wherein, The blade component includes a cam. When the slider is stopped at the first end of the staple cartridge body and the blade component is in the first position, the drive assembly moves from the first end toward the second end and is connected to the blade component. The locking member is at least partially located within the cam so that the locking member avoids the stop surface and moves toward the second end with the drive assembly.

18. The end effector according to claim 17, wherein, The locking component includes two elastic legs, which are symmetrically arranged on both sides of the driving component; the blade component includes two cams, which are provided with pressing surfaces inclined toward the two elastic legs for pressing the two elastic legs and deforming them.

19. A stapler comprising a drive module, a connecting shaft, and an end effector as claimed in any one of claims 1-18, the connecting shaft being connected to the end effector, and the drive module being used to drive the drive assembly.

20. A method for identifying a stapler cartridge, applied to a surgical robot system, wherein the surgical robot system has a stapler as described in claim 19 detachably mounted, and the surgical robot system is provided with an instrument driver for transmitting power to the drive module to drive the drive assembly, the method comprising: The drive component is controlled to move from the initial position to the engagement position or from the engagement position to the initial position based on the control parameters. In response to changes in the control parameters, it is confirmed whether the stapler assembly is loaded in the stapler or the usage status of the stapler assembly.

21. The method according to claim 20, wherein, In response to changes in the control parameters, confirming whether the stapler assembly is loaded in the stapler or the usage status of the stapler assembly includes: In response to a sudden change in the control parameters, the usage status of the staple cartridge component is confirmed to be unused. In response to the absence of a sudden change in the control parameters, the usage status of the staple cartridge assembly is confirmed as either used or the staple cartridge assembly is not loaded in the stapler. The change in the control parameter within a preset unit exceeding a preset value indicates a sudden change in the control parameter.

22. The method according to claim 20 or 21, wherein, The elastic connection portion includes a plurality of features arranged in sequence, and the plurality of features includes at least one first feature. The method includes: The feature parameters generated when the second feature portion connects with the elastic connection portion during a single movement of the drive component are obtained, and the specific feature parameters corresponding to the plurality of feature portions are included in the feature parameter set, wherein the single movement process includes a process of moving from the initial position to the engagement position or a process of moving from the engagement position to the initial position; The type of the staple cartridge component is determined based on the set of feature parameters.

23. The method according to claim 22, wherein, The acquisition of feature parameters generated when the second feature portion connects with the elastic connection portion during a single movement of the drive component includes: The electrical signal of the instrument driver when the second feature part is connected to the elastic connector is obtained, and the electrical signal that corresponds to the feature part and meets the preset standard is included in the feature signal parameter set as the specific feature parameter.

24. The method according to claim 23, wherein, Determining the type of the staple cartridge component based on the feature parameter set includes: The type of the staple cartridge component is determined based on the number of specific feature parameters in the feature parameter set.

25. The method according to claim 23 or 24, wherein, The first feature includes an elastic convex hull, and the second feature interferes with the elastic convex hull during movement, causing the electrical signal to change. Determining the type of the staple cartridge component based on the feature parameter set includes: The number of the first feature portions is determined according to the specific feature parameters and / or the arrangement of the first feature portions is determined according to the specific feature parameters; The type of the staple cartridge assembly is determined based on the number of the first feature portions and / or the arrangement of the first feature portions.

26. The method of claim 25, wherein, Each of the plurality of feature portions includes 0 or 1 of the first feature portions, and determining the arrangement of the first feature portions according to the specific feature parameter includes: Identify whether each of the plurality of feature parts has a corresponding specific feature parameter; The arrangement of the first feature among the plurality of feature parts is determined based on the recognition results.

27. The method according to claim 25 or 26, wherein, Determining the type of the staple cartridge assembly based on the arrangement of the first feature portion includes: The second feature is controlled to move at a constant speed within the interface of the elastic connection portion; Obtain the time information corresponding to the specific feature parameter; The arrangement of the first feature portion is determined based on the specific feature parameters and the time information corresponding to the specific feature parameters; The type of the staple cartridge assembly is determined based on the arrangement of the first feature portion.

28. The method according to any one of claims 22 to 27, wherein, The characteristic parameters include at least one of the following: current value, current pulse peak value, first-order or higher-order current derivative, first-order or higher-order current derivative pulse, voltage value, current waveform diagram, and voltage waveform diagram.

29. A surgical robot system, comprising: Instrument driver; The stapler as claimed in claim 19, wherein the drive module of the stapler is connected to the instrument driver, such that the instrument driver can transmit power to the drive module to drive the drive component in the drive module; A control system, in communication with the instrument driver, is configured to perform the method as described in any one of claims 20 to 28.

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