技术领域technical field
本发明涉及医疗器械领域，特别是涉及电动外科装订器械的控制方法与控制装置。The invention relates to the field of medical instruments, in particular to a control method and a control device for electric surgical binding instruments.
背景技术Background technique
缝钉类外科装订器械自从发明以来因为其使用方便、缝合效果好从而在手术中得到了大量的应用。吻合器是世界上第一种缝合器，用于胃肠吻合已近一个世纪，直到19世纪70年代管型吻合器才广泛用于胃肠手术。它是医学上使用的替代传统手工缝合的设备，由于现代科技的发展和制作技术的改进，目前临床上使用的吻合器质量可靠，使用方便，严密、松紧合适，尤其是其缝合快速、操作简便及很少有副作用和手术并发症等优点，有时还使得过去无法切除的肿瘤手术得以病灶切除，很受国内外临床外科医生的青睐和推崇，是一种消耗量非常大的常用手术器械。传统的外科装订器械，以手动作为控制器械的动力源，对医生的操作有较高的要求，针对不同的医生可能有不同的缝合效果，或者由于使用者用力不均匀或者力气不够大增加了缝合过程的不确定性，这是外科医生不能接受的，同时由于不能根据手术种类和手术部位的不同来调整器械，而导致器械的兼容性差，在临床上需要配备多种规格的部件(例如钉匣)，从而造成材料和人力的极大浪费。Staple surgical binding instruments have been widely used in surgery because of their convenient use and good suturing effect since they were invented. The stapler is the world's first stapler, which has been used for gastrointestinal anastomosis for nearly a century. It was not until the 1870s that the tubular stapler was widely used in gastrointestinal surgery. It is a device used in medicine to replace traditional manual suturing. Due to the development of modern technology and the improvement of production technology, the staplers currently used in clinical practice are reliable in quality, easy to use, tight, and suitable for tightness, especially their fast suturing and easy operation. It has the advantages of few side effects and surgical complications, and sometimes enables tumor resection that was unresectable in the past. It is very popular and respected by clinical surgeons at home and abroad. It is a commonly used surgical instrument with very large consumption. Traditional surgical stapling instruments use manual as the power source to control the instrument, which has high requirements on the doctor's operation. Different doctors may have different suturing effects, or due to uneven force or insufficient force of the user, the suture is increased. The uncertainty of the process is unacceptable to the surgeon. At the same time, because the instrument cannot be adjusted according to the type of operation and the operation site, the compatibility of the instrument is poor. ), resulting in a great waste of materials and manpower.
发明内容Contents of the invention
本发明旨在提供可更换末端执行器的电动外科装订器械的控制方法及控制装置。The present invention aims to provide a control method and a control device for an electric surgical stapling instrument with a replaceable end effector.
根据本发明的一个方面，电动外科装订器械的控制方法，电动外科装订器械包括可与不同外科装订器械末端执行器配合使用的通用手柄以及末端执行器，所述方法包括：自检步骤，在所述自检步骤中，进行部分钳口闭合操作与缝钉击发操作运行并退回初始位置；闭合步骤，在所述闭合步骤中，钳口闭合并将组织夹在钳口之间；击发步骤，在所述击发步骤中，击发缝钉；返回步骤，在所述返回步骤中，电动外科装订器械返回初始位置。According to one aspect of the present invention, the control method of an electric surgical stapling instrument, the electric surgical stapling instrument includes a universal handle and an end effector that can be used in cooperation with different surgical stapling instrument end effectors, the method includes: a self-checking step, in the In the self-inspection step, perform partial jaw closing operation and staple firing operation and return to the initial position; in the closing step, in the closing step, the jaws are closed and the tissue is clamped between the jaws; in the firing step, In the firing step, the staple is fired; in the returning step, the electric surgical stapling instrument returns to the initial position.
优选地，在所述自检步骤中，还检测末端执行器的类型。Preferably, in the self-checking step, the type of the end effector is also checked.
优选地，在自检步骤与闭合步骤之间还包括半闭合步骤，在所述半闭合步骤中，闭合距离完成设定距离的大部分，如果闭合位置不合适则退回初始位置，如果闭合位置合适则确认进入闭合步骤。Preferably, between the self-checking step and the closing step, a half-closing step is also included. In the half-closing step, the closing distance completes most of the set distance, and if the closing position is not suitable, it returns to the initial position. Then confirm to enter the closing step.
根据本发明的另一个方面，电动外科装订器械的控制装置，电动外科装订器械包括可与不同外科装订器械末端执行器配合使用的通用手柄以及末端执行器，所述控制装置包括处理器模块，所述处理器模块包括：自检子模块，在所述自检子模块中，进行部分钳口闭合操作与缝钉击发操作运行并退回初始位置；闭合子模块，在所述闭合子模块中，钳口闭合并将组织夹在钳口之间；击发子模块，在所述击发子模块中，击发缝钉；返回子模块，在所述返回子模块中，电动外科装订器械返回初始位置。According to another aspect of the present invention, the control device of an electric surgical stapling instrument includes a universal handle and an end effector that can be used in cooperation with end effectors of different surgical stapling instruments, the control device includes a processor module, the The processor module includes: a self-inspection submodule, in the self-inspection submodule, a partial jaw closing operation and a staple firing operation are performed and returned to the initial position; a closing submodule, in the closing submodule, the clamp The mouth is closed and the tissue is clamped between the jaws; the firing sub-module, in which the staples are fired; the return sub-module, in which the electric surgical stapling instrument returns to the initial position.
优选地，在所述自检子模块中，还检测末端执行器的类型。Preferably, in the self-inspection sub-module, the type of the end effector is also detected.
优选地，在自检子模块与闭合子模块之间还包括半闭合子模块，在所述半闭合子模块中，闭合距离完成设定距离的大部分，如果闭合位置不合适则退回初始位置，如果闭合位置合适则确认进入闭合子模块。Preferably, a semi-closed sub-module is also included between the self-checking sub-module and the closing sub-module, in the semi-closed sub-module, the closing distance completes most of the set distance, and if the closed position is not suitable, it returns to the initial position, If the closed position is appropriate then confirm to enter the closed sub-module.
优选地，所述控制装置还包括电机驱动模块，所述的电机驱动模块接受处理器模块给出的驱动信号，并将信号放大后送给驱动电机，使驱动电机按照处理器模块的要求完成速度与位置控制。Preferably, the control device further includes a motor drive module, the motor drive module receives the drive signal given by the processor module, amplifies the signal and sends it to the drive motor, so that the drive motor completes the speed according to the requirements of the processor module. with position control.
优选地，所述控制装置还包括流程显示模块，所述的流程显示模块采用信号灯显示的方式将当前流程显示出来。Preferably, the control device further includes a process display module, and the process display module displays the current process in the form of a signal light display.
优选地，所述控制装置还包括电压转换模块，所述的电压转换模块将电源电压转换为电动外科装订器械各部分的工作电压。Preferably, the control device further includes a voltage conversion module, and the voltage conversion module converts the power supply voltage into the working voltage of each part of the electric surgical stapling instrument.
优选地，所述控制装置还包括程序下载接口，所述的程序下载接口能够在电脑上位机软件的控制下对处理器模块进行读写操作，修改程序或者数据。Preferably, the control device further includes a program download interface, and the program download interface can perform read and write operations on the processor module and modify programs or data under the control of the PC software.
本发明的电动外科装订器械的控制方法与控制装置在闭合、击发前进行自检，可以在手术前发现问题，防止在手术中出现问题，提高了手术的安全性。The control method and control device of the electric surgical stapling instrument of the present invention perform self-inspection before closing and firing, so that problems can be found before the operation, preventing problems during the operation, and improving the safety of the operation.
附图说明Description of drawings
上述仅是本发明技术方案的概述，为了能够更清楚了解本发明，以下结合附图与具体实施方式对本发明作进一步的详细说明。The above is only an overview of the technical solution of the present invention. In order to understand the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
图1为末端执行器为直线缝合器末端的电动外科装订器械的示意图。FIG. 1 is a schematic diagram of an electric surgical stapling instrument whose end effector is the end of a linear stapler.
图2为末端执行器为圆形吻合器末端的电动外科装订器械的示意图。Fig. 2 is a schematic diagram of an electric surgical stapling instrument whose end effector is the end of a circular stapler.
图3为末端执行器为腔镜下切割缝合器末端的电动外科装订器械的示意图。Fig. 3 is a schematic diagram of an electric surgical stapling instrument whose end effector is the end of a laparoscopic cutter and stapler.
图4为根据本发明的一个实施例的电动外科装订器械的控制装置的结构框图。Fig. 4 is a structural block diagram of a control device of an electric surgical stapling instrument according to an embodiment of the present invention.
图5为根据本发明的一个实施例的电动外科装订器械的控制装置的流水灯示意图。Fig. 5 is a schematic diagram of the running lights of the control device of the electric surgical stapling instrument according to an embodiment of the present invention.
图6为根据本发明另一实施例的电动外科装订器械的控制方法的流程图。Fig. 6 is a flowchart of a control method of an electric surgical stapling instrument according to another embodiment of the present invention.
具体实施方式detailed description
图1为末端执行器为直线缝合器末端的电动外科装订器械的示意图。图2为末端执行器为圆形吻合器末端的电动外科装订器械的示意图。图3为末端执行器为腔镜下切割缝合器末端的电动外科装订器械的示意图。FIG. 1 is a schematic diagram of an electric surgical stapling instrument whose end effector is the end of a linear stapler. Fig. 2 is a schematic diagram of an electric surgical stapling instrument whose end effector is the end of a circular stapler. Fig. 3 is a schematic diagram of an electric surgical stapling instrument whose end effector is the end of a laparoscopic cutter and stapler.
如图1、2、3所示，电动外科装订器械的通用手柄是通用的，可以接不同的末端执行器-直线缝合器、圆形吻合器、腔镜下切割缝合器。除了图中所示的几种末端执行器以外，通用手柄还可以接带刀缝合器、其它吻合器。As shown in Figures 1, 2, and 3, the universal handle of the electric surgical stapling instrument is universal and can be connected to different end effectors-linear staplers, circular staplers, and endoscopic cutting staplers. In addition to the several end effectors shown in the figure, the universal handle can also be connected to a belt knife stapler and other staplers.
图4为根据本发明的一个实施例的电动外科装订器械的控制装置的结构框图。Fig. 4 is a structural block diagram of a control device of an electric surgical stapling instrument according to an embodiment of the present invention.
控制装置能够给电机驱动部分发送信号，从而使得驱动器驱动电机使得钉匣朝向钉砧移动至设定的闭合间隙，并且在促动缝钉击发后使缝钉达到设定的成型高度。The control device can send a signal to the motor driving part, so that the driver drives the motor to move the nail magazine toward the nail anvil to the set closing gap, and after the firing of the staples is activated, the staples reach the set forming height.
控制装置能够用于电动吻合器的控制与驱动以及传感器信号采集与反馈。所述的传感器包括电机码盘信号与压力传感器信号，分别完成闭合与击发距离的采集、组织挤压力的采集，提供给处理器保证处理器能够综合判断出合适的闭合距离，保证封顶效果和质量。The control device can be used for the control and drive of the electric stapler and the acquisition and feedback of sensor signals. The sensor includes the motor code disc signal and the pressure sensor signal, which respectively complete the collection of closing and firing distances and the collection of tissue extrusion force, and provide them to the processor to ensure that the processor can comprehensively judge the appropriate closing distance, ensuring the capping effect and quality.
如图4所示，控制装置带有一个处理器，所述的处理器能够完成码盘信号与组织压力信号采集功能，可以接受使用者控制命令并输出驱动命令给电机驱动器，以完成对电动外科装订器械进行速度和位置控制的功能。As shown in Figure 4, the control device has a processor, which can complete the acquisition function of code disc signals and tissue pressure signals, and can accept user control commands and output drive commands to the motor driver, so as to complete the operation of electric surgery. Binding instrument for speed and position control functions.
控制装置上集成有一个电机驱动模块，所述的电机驱动模块可以接受处理器给出的驱动信号，并将信号放大后送给驱动电机，则电机可以按照处理器的要求完成速度与位置控制。A motor drive module is integrated on the control device, and the motor drive module can receive the drive signal given by the processor, amplify the signal and send it to the drive motor, and then the motor can complete speed and position control according to the requirements of the processor.
控制装置上集成有流程显示模块，所述的流程显示模块采用信号灯显示的方式，信号流程分为4步：自检，闭合，击发，返回。因此有4个信号灯指示当前状态，被指示的当前状态为闪烁状态，已经完成的步骤显示为常亮状态，未完成的步骤指示为灭灯状态。本控制装置除了能够对传动步骤和操作动作进行精确、安全地控制，还能够将操作流程以及当前进程清楚地显示出来，便于医生了解手术的整个过程，并且具有“一键”操作功能，使得医生在正常情况下只需要一直根据信号提示按下确认键即可完成手术。A process display module is integrated on the control device, and the process display module adopts a signal light display mode, and the signal process is divided into 4 steps: self-check, close, fire, and return. Therefore, there are 4 signal lights to indicate the current state, the indicated current state is blinking, the completed steps are displayed as a constant light state, and the unfinished steps are indicated as a light-off state. The control device can not only accurately and safely control the transmission steps and operation actions, but also clearly display the operation process and the current process, which is convenient for doctors to understand the whole process of the operation, and has a "one-key" operation function, making doctors Under normal circumstances, you only need to press the confirmation key according to the signal prompt to complete the operation.
控制装置上集成有电压转换模块，能够从220V交流电取电首先转换为12V，将12V电供给电机驱动模块；12V电经过降压变为5V供给处理器以及其他用电接口。The control device is integrated with a voltage conversion module, which can convert the 220V AC power into 12V first, and supply the 12V power to the motor drive module; the 12V power is reduced to 5V for the processor and other power interfaces.
控制装置带有模式检测模块，能够自动检测安装在手柄上的不同规格的缝合器、切割缝合器、圆形吻合器、腔镜切割缝合器等末端执行器，从而针对的选择不同的执行程序，保证了医生操作的舒适和简易。The control device has a mode detection module, which can automatically detect end effectors of different specifications such as staplers, cutting staplers, circular staplers, endoscopic cutting staplers, etc. installed on the handle, so as to select different execution programs for each patient. It ensures the comfort and simplicity of the doctor's operation.
控制装置上集成有程序下载接口，所述的程序下载接口能够在电脑上位机软件的控制下对处理器进行读写操作，修改程序或者数据。The control device is integrated with a program download interface, and the program download interface can perform read and write operations on the processor and modify programs or data under the control of the PC software.
图5为根据本发明的一个实施例的电动外科装订器械的控制装置的流水灯示意图。Fig. 5 is a schematic diagram of the running lights of the control device of the electric surgical stapling instrument according to an embodiment of the present invention.
图5所述的流水灯，在医生安装好末端执行器的时候首先以一定的频率闪烁自检灯，提示医生进行自检，此时医生按下执行按键，器械进行机械与电气自检；自己完毕后自检灯常亮，闭合灯开始闪烁，提示医生自己已经完成可以进行闭合操作，医生按下执行按键则闭合开始进行，在闭合过程中医生随时可以按下暂停按键停止闭合操作，则系统自动恢复到自检结束；若医生在闭合过程中不进行其他操作，则程序自动根据设定的距离与压力传感器的测量值决定闭合间隙，保证最佳闭合效果；闭合结束后闭合灯与自检灯常亮，击发灯开始闪烁提示医生进行下一步击发操作，医生按下执行按键，工具自动进行击发操作，击发操作完成后延时数秒钟自动返回完成整个击发过程。The running water lamp described in Figure 5, when the doctor installs the end effector, first flashes the self-inspection light at a certain frequency to remind the doctor to perform a self-inspection. At this time, the doctor presses the execute button, and the instrument performs mechanical and electrical self-inspection; After the completion, the self-inspection light is always on, and the closing light starts to flash, indicating that the doctor has completed the closing operation. The doctor presses the execute button to start the closing operation. During the closing process, the doctor can press the pause button at any time to stop the closing operation, and the system Automatically restore to the end of the self-test; if the doctor does not perform other operations during the closing process, the program will automatically determine the closing gap according to the set distance and the measured value of the pressure sensor to ensure the best closing effect; after the closing is completed, turn off the light and self-test The light is always on, and the firing light starts to flash to remind the doctor to perform the next firing operation. The doctor presses the execution button, and the tool automatically performs the firing operation. After the firing operation is completed, it will automatically return to complete the entire firing process after a delay of several seconds.
图6为根据本发明另一实施例的电动外科装订器械的控制方法的流程图。Fig. 6 is a flowchart of a control method of an electric surgical stapling instrument according to another embodiment of the present invention.
如图6所示，首先医生取出吻合器手柄与末端执行器，检查外观无损坏后将末端执行器与吻合器手柄插接；接上电源后，控制器自动检测末端执行器类型检测无误后，并且控制器芯片内程序进行自我电气与机械检测，检测手段的形式是闭合操作与击发操作进行少许运行并退回初始位置，若电气或者机械出现问题导致自检失败，则程序无法继续进行，医生无法进行下一步操作；自检通过后，等待医生确认可以进行闭合操作后，进行闭合操作，首先进行半闭合操作，即将闭合距离完成设定距离的三分之二，观察闭合位置是否合适，若不合适则可以按键退回重新定位闭合位置，若闭合位置合适，可以按下确认键进行全闭合操作；全闭合操作后医生观察闭合效果，判定可以进行击发操作则按下确认按键进行闭合操作，若认为闭合不理想或者不适合进行击发操作则可以退回；击发确认后装置自动进行击发操作与退回，击发完成后系统自动延时一段时间保证手术效果；击发退回后，医生按下确认闭合退回，完成手术操作。As shown in Figure 6, firstly, the doctor takes out the handle of the stapler and the end effector, and then plugs the end effector into the handle of the stapler after checking that the appearance is not damaged; after the power is connected, the controller automatically detects the type of the end effector, and then In addition, the program in the controller chip conducts self-electrical and mechanical inspections. The detection method is in the form of closing operation and firing operation for a small amount of operation and returning to the initial position. If there is an electrical or mechanical problem that causes the self-test to fail, the program cannot continue, and the doctor cannot. Proceed to the next step; after passing the self-test, wait for the doctor to confirm that the closing operation can be performed, and then perform the closing operation. If it is suitable, you can press the button to return to reposition the closed position. If the closed position is suitable, you can press the confirmation key to perform the full closing operation; If the closure is unsatisfactory or not suitable for the firing operation, it can be returned; after the firing is confirmed, the device will automatically perform the firing operation and return. After the firing is completed, the system will automatically delay for a period of time to ensure the surgical effect; operate.
以上所述，仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，本领域技术人员利用上述揭示的技术内容做出些许简单修改、等同变化或修饰，均落在本发明的保护范围内。The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Those skilled in the art make some simple modifications, equivalent changes or modifications by using the technical content disclosed above, all of which fall within the scope of the present invention. within the scope of protection of the invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310032654.8ACN103110439B (en) | 2013-01-29 | 2013-01-29 | The control method of electric surgery binding instrument and control device |
| PCT/CN2013/000939WO2014117312A1 (en) | 2013-01-29 | 2013-08-09 | Control method and control device for electric surgical stapling instrument |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310032654.8ACN103110439B (en) | 2013-01-29 | 2013-01-29 | The control method of electric surgery binding instrument and control device |
| Publication Number | Publication Date |
|---|---|
| CN103110439A CN103110439A (en) | 2013-05-22 |
| CN103110439Btrue CN103110439B (en) | 2016-06-01 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310032654.8AActiveCN103110439B (en) | 2013-01-29 | 2013-01-29 | The control method of electric surgery binding instrument and control device |
| Country | Link |
|---|---|
| CN (1) | CN103110439B (en) |
| WO (1) | WO2014117312A1 (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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