CN111870317A - Control device, surgical instrument and control method thereof - Google Patents
Control device, surgical instrument and control method thereofDownload PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/32—Surgical cutting instruments
- A61B17/3209—Incision instruments
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00017—Electrical control of surgical instruments
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07271—Stapler heads characterised by its cartridge
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07278—Stapler heads characterised by its sled or its staple holder
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07285—Stapler heads characterised by its cutter
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及一种端部执行器的控制装置、切割刀组件的控制装置、外科器械的控制装置、外科器械、外科器械的控制方法。The invention relates to a control device of an end effector, a control device of a cutting blade assembly, a control device of a surgical instrument, a surgical instrument, and a control method of the surgical instrument.
背景技术Background technique
众所周知，腔内切割吻合器已经普遍应用于腹腔等腔内手术中。It is well known that intracavitary cutting staplers have been widely used in intracavitary surgery such as the abdominal cavity.
现有的腔内切割吻合器一般包括操作组件、切割刀组件、从操作组件纵向延伸的杆身组件及设置于杆身组件远侧端的端部执行器。吻合器还包括电机。端部执行器包括钉仓座和可枢转地连接于钉仓座的抵钉座，钉仓座用于可操作地支撑位于其中的钉仓，抵钉座可在打开位置和闭合位置之间选择性地运动，以实现端部执行器的开启和闭合。操作组件包括本体及安装于本体的传动机构。电机驱动传动机构工作，传动机构驱动端部执行器使其开启或闭合和驱动切割刀组件向前或向后移动。然而，现有技术中端部执行器和切割刀组件的控制装置均存在结构复杂的缺陷。现有的吻合器包括两个电机，一个电机驱动端部执行器，一个电机驱动切割刀组件，但两个电机会使得吻合器尺寸大、重量大，给吻合器的操作便利性带来不利影响。若将两个电机更改为一个电机，既驱动端部执行器又驱动切割刀组件，并且需要以相对简单的控制装置满足它们之间的动作逻辑关系，现有的端部执行器和切割刀组件的控制装置不能满足上述要求。Existing endoluminal cutting and staplers generally include an operating assembly, a cutting blade assembly, a shaft assembly extending longitudinally from the operating assembly, and an end effector disposed at a distal end of the shaft assembly. The stapler also includes a motor. The end effector includes a cartridge seat and an anvil pivotally connected to the cartridge seat for operably supporting the staple cartridge located therein, the anvil can be between an open position and a closed position Selective movement to effect opening and closing of the end effector. The operating assembly includes a main body and a transmission mechanism mounted on the main body. The motor drives the transmission mechanism to work, and the transmission mechanism drives the end effector to open or close it and drives the cutter assembly to move forward or backward. However, both the control devices of the end effector and the cutting blade assembly in the prior art have the disadvantage of being complicated in structure. Existing staplers include two motors, one motor drives the end effector, and one motor drives the cutting blade assembly, but the two motors make the stapler large in size and weight, which adversely affects the ease of operation of the stapler . If two motors are changed into one motor, which drives both the end effector and the cutting knife assembly, and a relatively simple control device is required to satisfy the logical relationship between them, the existing end effector and cutting knife assembly The control device cannot meet the above requirements.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种结构简单、容易实现的外科器械的控制装置。The purpose of the present invention is to provide a control device for a surgical instrument with a simple structure and easy implementation.
为了达到上述目的，本发明通过以下技术方案实现：In order to achieve the above object, the present invention realizes through the following technical solutions:
一种端部执行器的控制装置，电机通过传动机构驱动所述端部执行器；所述控制装置包括信号源模块和控制模块；所述信号源模块电性连接于所述控制模块，所述控制模块电性连接于所述电机；所述控制模块接收所述信号源模块发出的信号后，对所述信号进行分析处理，并根据分析处理后的信号指令所述电机转动或停止转动，实现对于所述端部执行器的控制。A control device for an end effector, wherein a motor drives the end effector through a transmission mechanism; the control device includes a signal source module and a control module; the signal source module is electrically connected to the control module, the The control module is electrically connected to the motor; after the control module receives the signal sent by the signal source module, it analyzes and processes the signal, and instructs the motor to rotate or stop rotating according to the analyzed signal, so as to realize for the control of the end effector.
进一步的，所述信号源模块包括按键，所述按键电性连接于所述控制模块；触发所述按键，所述控制模块接收所述按键发出的信号后指令所述电机沿第一方向或沿第二方向转动，所述电机沿所述第一方向转动以通过所述传动机构驱动所述端部执行器闭合，所述电机沿所述第二方向转动以通过所述传动机构驱动所述端部执行器开启；所述第一方向与所述第二方向相反。Further, the signal source module includes a button, and the button is electrically connected to the control module; the button is triggered, and the control module instructs the motor to move in the first direction or along the first direction after receiving the signal sent by the button. Rotation in a second direction, the motor is rotated in the first direction to drive the end effector closed through the transmission mechanism, the motor is rotated in the second direction to drive the end effector through the transmission mechanism The first direction is opposite to the second direction.
进一步的，所述信号源模块包括行程开关，所述行程开关电性连接于所述控制模块；所述传动机构包括配合部，所述电机转动以驱动所述传动机构运动，使得所述配合部触发所述行程开关，所述控制模块接收所述行程开关发出的信号后指令所述电机停止转动。Further, the signal source module includes a travel switch, and the travel switch is electrically connected to the control module; the transmission mechanism includes a matching part, and the motor rotates to drive the transmission mechanism to move, so that the matching part The travel switch is triggered, and the control module instructs the motor to stop rotating after receiving the signal sent by the travel switch.
进一步的，所述行程开关包括第三行程开关和第四行程开关；所述配合部触发所述第三行程开关时，所述端部执行器闭合到位，所述配合部触发所述第四行程开关时，所述端部执行器开启到位。Further, the travel switch includes a third travel switch and a fourth travel switch; when the matching portion triggers the third travel switch, the end effector is closed in place, and the matching portion triggers the fourth travel When switched, the end effector opens into place.
进一步的，所述信号源模块包括霍尔传感器，所述霍尔传感器电性连接于所述控制模块；所述传动机构设置有磁铁；所述控制模块中存储磁场强度预定值。Further, the signal source module includes a Hall sensor, and the Hall sensor is electrically connected to the control module; the transmission mechanism is provided with a magnet; and the control module stores a predetermined value of the magnetic field strength.
进一步的，所述控制模块包括微控制单元，所述微控制单元对所述控制模块接收的信号进行分析和处理后发出低电平信号。Further, the control module includes a micro-control unit, and the micro-control unit sends out a low-level signal after analyzing and processing the signal received by the control module.
进一步的，所述微控制单元存储所述端部执行器和切割刀组件之间的动作逻辑关系。Further, the micro-control unit stores the action logic relationship between the end effector and the cutting blade assembly.
进一步的，所述控制模块进一步包括电机驱动单元，所述电机驱动单元将接收的所述低电平信号转换成高电平信号并发出高电平信号。Further, the control module further includes a motor driving unit, and the motor driving unit converts the received low-level signal into a high-level signal and sends out a high-level signal.
进一步的，所述控制模块进一步包括电机控制单元，所述电机控制单元接收所述高电平信号并识别所述高电平信号中的电机控制信号，所述电机控制单元根据所述电机控制信号控制所述电机的运行状态。Further, the control module further includes a motor control unit, the motor control unit receives the high-level signal and identifies the motor control signal in the high-level signal, and the motor control unit according to the motor control signal Control the operating state of the motor.
进一步的，所述控制模块进一步包括检测单元，所述检测单元用于接收所述信号源模块发出的信号并将信号传送至所述微控制单元。Further, the control module further includes a detection unit, and the detection unit is configured to receive a signal sent by the signal source module and transmit the signal to the micro-control unit.
一种切割刀组件的控制装置，电机通过传动机构驱动所述切割刀组件；所述控制装置包括信号源模块和控制模块；所述信号源模块电性连接于所述控制模块，所述控制模块电性连接于所述电机；所述控制模块接收所述信号源模块发出的信号后，对所述信号进行分析处理，并根据分析处理后的信号指令所述电机转动或停止转动，实现对于所述切割刀组件的控制。A control device for a cutting knife assembly, wherein a motor drives the cutting knife assembly through a transmission mechanism; the control device includes a signal source module and a control module; the signal source module is electrically connected to the control module, and the control module It is electrically connected to the motor; after the control module receives the signal sent by the signal source module, it analyzes and processes the signal, and instructs the motor to rotate or stop according to the analyzed signal, so as to realize the control of the cutter assembly described above.
进一步的，所述信号源模块包括按键，所述按键电性连接于所述控制模块；触发所述按键，所述控制模块接收所述按键发出的信号后指令所述电机沿第一方向转动，释放所述按键，所述控制模块接收所述按键发出的信号后指令所述电机沿第二方向转动；所述电机沿所述第一方向转动以通过所述传动机构驱动所述切割刀组件向前移动，所述电机沿所述第二方向转动以通过所述传动机构驱动所述切割刀组件向后移动；所述第一方向与所述第二方向相反。Further, the signal source module includes a button, and the button is electrically connected to the control module; when the button is triggered, the control module instructs the motor to rotate in the first direction after receiving the signal sent by the button, Release the button, the control module instructs the motor to rotate in the second direction after receiving the signal sent by the button; the motor rotates in the first direction to drive the cutting knife assembly to the direction through the transmission mechanism. Moving forward, the motor rotates along the second direction to drive the cutting blade assembly to move backward through the transmission mechanism; the first direction is opposite to the second direction.
进一步的，所述信号源模块包括行程开关，所述行程开关电性连接于所述控制模块；所述传动机构包括配合部，所述电机转动以驱动所述传动机构运动，使得所述配合部触发所述行程开关，所述控制模块接收所述行程开关发出的信号后指令所述电机停止转动。Further, the signal source module includes a travel switch, and the travel switch is electrically connected to the control module; the transmission mechanism includes a matching part, and the motor rotates to drive the transmission mechanism to move, so that the matching part The travel switch is triggered, and the control module instructs the motor to stop rotating after receiving the signal sent by the travel switch.
进一步的，所述行程开关包括第一行程开关和第二行程开关；所述配合部触发所述第一行程开关时，所述切割刀组件到达前止点，即切割完毕的位置，所述配合部触发所述第二行程开关时，所述切割刀组件到达后止点，即退刀完毕的位置。Further, the travel switch includes a first travel switch and a second travel switch; when the matching portion triggers the first travel switch, the cutting blade assembly reaches the front dead center, that is, the position where the cutting is completed, and the matching When the second travel switch is triggered by the second stroke switch, the cutting blade assembly reaches the rear dead center, that is, the position where the knife has been retracted.
进一步的，所述信号源模块包括霍尔传感器，所述霍尔传感器电性连接于所述控制模块；所述传动机构设置有磁铁；所述控制模块中存储磁场强度预定值。Further, the signal source module includes a Hall sensor, and the Hall sensor is electrically connected to the control module; the transmission mechanism is provided with a magnet; and the control module stores a predetermined value of the magnetic field strength.
进一步的，所述信号源模块包括按键，触发所述按键，所述控制模块接收所述按键发出的信号，自接收所述信号起在预定的时间长度内，无论所述控制模块是否接收到意图为驱动所述切割刀组件的信号，所述控制模块不发出信号以指令所述电机转动，进而不驱动所述切割刀组件；自接收所述信号起达到预定的时间长度后，在所述控制模块接收到意图为驱动所述切割刀组件的信号时，所述控制模块发出信号以指令所述电机转动，进而驱动所述切割刀组件。Further, the signal source module includes a button, the button is triggered, the control module receives the signal sent by the button, and within a predetermined length of time since receiving the signal, no matter whether the control module receives the intention In order to drive the signal of the cutting knife assembly, the control module does not send a signal to instruct the motor to rotate, and thus does not drive the cutting knife assembly; after receiving the signal for a predetermined length of time, in the control When the module receives a signal intended to drive the cutting blade assembly, the control module sends a signal to instruct the motor to rotate, thereby driving the cutting blade assembly.
进一步的，所述信号源模块包括按键，触发所述按键后，所述控制模块接收所述按键发出的信号，在预定的时间长度内再次触发所述按键，在所述控制模块再次接收所述按键发出的信号后，在所述控制模块接收到意图为驱动所述切割刀组件的信号时，所述控制模块发出信号以指令所述电机转动，进而驱动所述切割刀组件。Further, the signal source module includes a button, and after the button is triggered, the control module receives the signal sent by the button, triggers the button again within a predetermined period of time, and the control module receives the signal again. After the signal sent by the button, when the control module receives a signal intended to drive the cutting blade assembly, the control module sends a signal to instruct the motor to rotate, thereby driving the cutting blade assembly.
进一步的，所述预定的时间长度为15秒。Further, the predetermined time length is 15 seconds.
进一步的，所述控制模块包括微控制单元，所述微控制单元对所述控制模块接收的信号进行分析和处理后发出低电平信号。Further, the control module includes a micro-control unit, and the micro-control unit sends out a low-level signal after analyzing and processing the signal received by the control module.
进一步的，所述微控制单元存储端部执行器和所述切割刀组件之间的动作逻辑关系。Further, the micro-control unit stores the action logic relationship between the end effector and the cutting blade assembly.
进一步的，所述控制模块进一步包括电机驱动单元，所述电机驱动单元将接收的所述低电平信号转换成高电平信号并发出所述高电平信号。Further, the control module further includes a motor driving unit, and the motor driving unit converts the received low-level signal into a high-level signal and sends the high-level signal.
进一步的，所述控制模块进一步包括电机控制单元，所述电机控制单元接收所述高电平信号并识别所述高电平信号中的电机控制信号，所述电机控制单元根据所述电机控制信号控制所述电机的运行状态。Further, the control module further includes a motor control unit, the motor control unit receives the high-level signal and identifies the motor control signal in the high-level signal, and the motor control unit according to the motor control signal Control the operating state of the motor.
进一步的，所述控制模块进一步包括检测单元，所述检测单元用于接收所述信号源模块发出的信号并将信号传送至所述微控制单元。Further, the control module further includes a detection unit, and the detection unit is configured to receive a signal sent by the signal source module and transmit the signal to the micro-control unit.
一种外科器械的控制装置，所述外科器械包括端部执行器、切割刀组件、传动机构和电机，所述电机通过传动机构驱动所述端部执行器和通过所述传动机构驱动所述切割刀组件；所述控制装置包括信号源模块和控制模块；所述信号源模块电性连接于所述控制模块，所述控制模块电性连接于所述电机；所述控制模块接收所述信号源模块发出的信号后，对所述信号进行分析处理，并根据分析处理后的信号指令所述电机转动或停止转动，实现对于所述端部执行器和所述切割刀组件的控制；所述电机的数量为一个。A control device for a surgical instrument, the surgical instrument includes an end effector, a cutting blade assembly, a transmission mechanism and a motor, the motor drives the end effector through the transmission mechanism and drives the cutting through the transmission mechanism a knife assembly; the control device includes a signal source module and a control module; the signal source module is electrically connected to the control module, and the control module is electrically connected to the motor; the control module receives the signal source After the signal sent by the module, analyze and process the signal, and instruct the motor to rotate or stop rotating according to the analyzed signal, so as to realize the control of the end effector and the cutting knife assembly; the motor The number is one.
进一步的，所述信号源模块包括按键，所述按键电性连接于所述控制模块；触发所述按键，所述控制模块接收所述按键发出的信号后指令所述电机沿第一方向或沿第二方向转动，释放所述按键，所述控制模块接收所述按键发出的信号后指令所述电机沿第二方向转动；所述电机沿所述第一方向转动以通过所述传动机构驱动所述端部执行器闭合或者通过所述传动机构驱动所述切割刀组件向前移动，所述电机沿所述第二方向转动以通过所述传动机构驱动所述端部执行器开启或者通过所述传动机构驱动所述切割刀组件向后移动；所述第一方向与所述第二方向相反。Further, the signal source module includes a button, and the button is electrically connected to the control module; the button is triggered, and the control module instructs the motor to move in the first direction or along the first direction after receiving the signal sent by the button. Rotate in the second direction, release the button, the control module instructs the motor to rotate in the second direction after receiving the signal sent by the button; the motor rotates in the first direction to drive the motor through the transmission mechanism The end effector is closed or the cutting knife assembly is driven to move forward through the transmission mechanism, and the motor is rotated in the second direction to drive the end effector to open through the transmission mechanism or through the transmission mechanism. The transmission mechanism drives the cutter assembly to move backward; the first direction is opposite to the second direction.
进一步的，所述信号源模块包括行程开关，所述行程开关电性连接于所述控制模块；所述传动机构包括配合部，所述电机转动以驱动所述传动机构运动，使得所述配合部触发所述行程开关，所述控制模块接收所述行程开关发出的信号后指令所述电机停止转动。Further, the signal source module includes a travel switch, and the travel switch is electrically connected to the control module; the transmission mechanism includes a matching part, and the motor rotates to drive the transmission mechanism to move, so that the matching part The travel switch is triggered, and the control module instructs the motor to stop rotating after receiving the signal sent by the travel switch.
进一步的，所述信号源模块包括霍尔传感器，所述霍尔传感器电性连接于所述控制模块；所述传动机构设置有磁铁；所述控制模块中存储磁场强度预定值。Further, the signal source module includes a Hall sensor, and the Hall sensor is electrically connected to the control module; the transmission mechanism is provided with a magnet; and the control module stores a predetermined value of the magnetic field strength.
进一步的，所述信号源模块包括按键，触发所述按键，所述控制模块接收所述按键发出的信号，自接收所述信号起在预定的时间长度内，无论所述控制模块是否接收到意图为驱动所述切割刀组件的信号，所述控制模块不发出信号以指令所述电机转动，进而不驱动所述切割刀组件；自接收所述信号起达到预定的时间长度后，在所述控制模块接收到意图为驱动所述切割刀组件的信号时，所述控制模块发出信号以指令所述电机转动，进而驱动所述切割刀组件。Further, the signal source module includes a button, the button is triggered, the control module receives the signal sent by the button, and within a predetermined length of time since receiving the signal, no matter whether the control module receives the intention In order to drive the signal of the cutting knife assembly, the control module does not send a signal to instruct the motor to rotate, and thus does not drive the cutting knife assembly; after receiving the signal for a predetermined length of time, in the control When the module receives a signal intended to drive the cutting blade assembly, the control module sends a signal to instruct the motor to rotate, thereby driving the cutting blade assembly.
进一步的，所述信号源模块包括按键，触发所述按键后，所述控制模块接收所述按键发出的信号，在预定的时间长度内再次触发所述按键，在所述控制模块再次接收所述按键发出的信号后，在所述控制模块接收到意图为驱动所述切割刀组件的信号时，所述控制模块发出信号以指令所述电机转动，进而驱动所述切割刀组件。Further, the signal source module includes a button, and after the button is triggered, the control module receives the signal sent by the button, triggers the button again within a predetermined period of time, and the control module receives the signal again. After the signal sent by the button, when the control module receives a signal intended to drive the cutting blade assembly, the control module sends a signal to instruct the motor to rotate, thereby driving the cutting blade assembly.
进一步的，所述预定的时间长度为15秒。Further, the predetermined time length is 15 seconds.
进一步的，所述控制模块包括微控制单元，所述微控制单元对所述控制模块接收的信号进行分析和处理后发出低电平信号。Further, the control module includes a micro-control unit, and the micro-control unit sends out a low-level signal after analyzing and processing the signal received by the control module.
进一步的，所述微控制单元存储所述端部执行器和所述切割刀组件之间的动作逻辑关系。Further, the micro-control unit stores the action logic relationship between the end effector and the cutting blade assembly.
进一步的，所述控制模块进一步包括电机驱动单元，所述电机驱动单元将接收的所述低电平信号转换成高电平信号并发出所述高电平信号。Further, the control module further includes a motor driving unit, and the motor driving unit converts the received low-level signal into a high-level signal and sends the high-level signal.
进一步的，所述控制模块进一步包括电机控制单元，所述电机控制单元接收所述高电平信号并识别所述高电平信号中的电机控制信号，所述电机控制单元根据所述电机控制信号控制所述电机的运行状态。Further, the control module further includes a motor control unit, the motor control unit receives the high-level signal and identifies the motor control signal in the high-level signal, and the motor control unit according to the motor control signal Control the operating state of the motor.
进一步的，所述控制模块进一步包括检测单元，所述检测单元用于接收所述信号源模块发出的信号并将信号传送至所述微控制单元。Further, the control module further includes a detection unit, and the detection unit is configured to receive a signal sent by the signal source module and transmit the signal to the micro-control unit.
一种外科器械，所述外科器械包括端部执行器、电机和传动机构，所述电机通过所述传动机构驱动所述端部执行器，所述外科器械进一步包括上述任意一项所述的端部执行器的控制装置。A surgical instrument comprising an end effector, a motor and a transmission mechanism, the motor driving the end effector through the transmission mechanism, the surgical instrument further comprising the end effector described in any one of the above control device for the external actuator.
一种外科器械，所述外科器械包括切割刀组件、电机和传动机构，所述电机通过所述传动机构驱动所述切割刀组件，所述外科器械进一步包括上述任意一项所述的切割刀组件的控制装置。A surgical instrument, the surgical instrument comprises a cutting blade assembly, a motor and a transmission mechanism, the motor drives the cutting blade assembly through the transmission mechanism, the surgical instrument further comprises the cutting blade assembly described in any one of the above control device.
一种外科器械，所述外科器械包括端部执行器、切割刀组件、传动机构和电机，所述电机通过所述传动机构驱动所述端部执行器和通过所述传动机构驱动所述切割刀组件，所述外科器械进一步包括上述任意一项所述的外科器械的控制装置。A surgical instrument comprising an end effector, a cutting blade assembly, a transmission mechanism, and a motor, the motor driving the end effector through the transmission mechanism and the cutting blade through the transmission mechanism An assembly, the surgical instrument further comprises the control device of any one of the above-mentioned surgical instruments.
一种外科器械的控制方法，所述外科器械包括端部执行器、控制装置、传动机构和电机，所述控制装置包括信号源模块和控制模块；所述信号源模块电性连接于所述控制模块，所述控制模块电性连接于所述电机；所述电机通过所述传动机构驱动所述端部执行器；所述信号源模块包括第一按键、第二按键、第三行程信号元件及第四行程信号元件；所述控制方法包括如下步骤：A control method of a surgical instrument, the surgical instrument includes an end effector, a control device, a transmission mechanism and a motor, the control device includes a signal source module and a control module; the signal source module is electrically connected to the control device The control module is electrically connected to the motor; the motor drives the end effector through the transmission mechanism; the signal source module includes a first button, a second button, a third stroke signal element and The fourth stroke signal element; the control method includes the following steps:
(1)按压所述第一按键并保持按压，所述控制模块接收所述第一按键发出的信号后指令所述电机转动，所述电机通过所述传动机构驱动所述端部执行器闭合；(1) Press the first button and keep pressing, the control module instructs the motor to rotate after receiving the signal sent by the first button, and the motor drives the end effector to close through the transmission mechanism;
(2)在驱动所述端部执行器闭合的过程中，所述传动机构触发所述第三行程信号元件，所述第三行程信号元件向所述控制模块发出信号，所述控制模块接收所述第三行程信号元件发出的信号后指令所述电机停止转动，所述端部执行器闭合到位；(2) During the process of driving the end effector to close, the transmission mechanism triggers the third stroke signal element, the third stroke signal element sends a signal to the control module, and the control module receives the After the signal sent by the third stroke signal element, the motor is instructed to stop rotating, and the end effector is closed in place;
(3)按压所述第二按键并保持按压，所述控制模块接收所述第二按键发出的信号后指令所述电机转动，所述电机通过所述传动机构驱动所述端部执行器开启；(3) Press the second button and keep pressing, the control module instructs the motor to rotate after receiving the signal sent by the second button, and the motor drives the end effector to open through the transmission mechanism;
(4)在驱动所述端部执行器开启的过程中，所述传动机构触发所述第四行程信号元件，所述第四行程信号元件向所述控制模块发出信号，所述控制模块接收所述第四行程信号元件发出的信号后指令所述电机停止转动，所述端部执行器开启到位。(4) During the process of driving the end effector to open, the transmission mechanism triggers the fourth stroke signal element, the fourth stroke signal element sends a signal to the control module, and the control module receives the After the signal sent by the fourth stroke signal element, the motor is instructed to stop rotating, and the end effector is opened in place.
进一步的，所述外科器械还包括切割刀组件，所述电机通过所述传动机构驱动所述切割刀组件，所述控制方法还包括步骤S1，所述步骤S1位于所述步骤(2)与所述步骤(3)之间；所述步骤S1为：按压所述第一按键并保持按压，所述控制模块接收所述第一按键发出的信号后指令所述电机转动，所述电机通过所述传动机构驱动所述切割刀组件向前移动。Further, the surgical instrument further includes a cutting blade assembly, and the motor drives the cutting blade assembly through the transmission mechanism, and the control method further includes a step S1, and the step S1 is located between the step (2) and the step (2). Between the step (3); the step S1 is: press the first button and keep pressing, the control module instructs the motor to rotate after receiving the signal sent by the first button, and the motor passes the A transmission mechanism drives the cutting blade assembly to move forward.
进一步的，所述信号源模块还包括第一行程信号元件；所述步骤S1进一步包括：在驱动所述切割刀组件向前移动的过程中，所述传动机构触发所述第一行程信号元件，所述第一行程信号元件向所述控制模块发出信号，所述控制模块接收所述第一行程信号元件发出的信号后指令所述电机停止转动，所述切割刀组件到达前止点，即切割完毕的位置。Further, the signal source module further includes a first stroke signal element; the step S1 further includes: in the process of driving the cutting blade assembly to move forward, the transmission mechanism triggers the first stroke signal element, The first stroke signal element sends a signal to the control module, and the control module instructs the motor to stop rotating after receiving the signal from the first stroke signal element, and the cutting blade assembly reaches the front dead center, that is, cutting finished position.
进一步的，所述步骤S1进一步包括：在所述切割刀组件到达前止点后，释放所述第一按键，所述控制模块接收所述第一按键发出的信号后指令所述电机转动，所述电机通过所述传动机构驱动所述切割刀组件向后移动。Further, the step S1 further includes: after the cutting blade assembly reaches the front dead center, releasing the first button, the control module instructs the motor to rotate after receiving the signal sent by the first button, so that the The motor drives the cutting blade assembly to move backward through the transmission mechanism.
进一步的，所述信号源模块还包括第二行程信号元件；所述步骤S1进一步包括：在驱动所述切割刀组件向后移动的过程中，所述传动机构触发所述第二行程信号元件，所述第二行程信号元件向所述控制模块发出信号，所述控制模块接收所述第二行程信号元件发出的信号后指令所述电机停止转动，所述切割刀组件到达后止点，即退刀完毕的位置。Further, the signal source module further includes a second stroke signal element; the step S1 further includes: in the process of driving the cutting blade assembly to move backward, the transmission mechanism triggers the second stroke signal element, The second stroke signal element sends a signal to the control module, and the control module instructs the motor to stop rotating after receiving the signal sent by the second stroke signal element, and the cutting blade assembly reaches the rear dead center, that is, retreats. The position where the knife is finished.
进一步的，所述外科器械还包括压榨保持机构；所述控制方法还包括步骤S2，所述步骤S2位于所述步骤(2)与所述步骤S1之间，所述步骤S2为：操作所述压榨保持机构，待所述压榨保持机构运行完毕后或者所述压榨保持机构运行被终止后，所述步骤S1被实施。Further, the surgical instrument further includes a pressing and holding mechanism; the control method further includes step S2, the step S2 is located between the step (2) and the step S1, and the step S2 is: operating the For the pressing and holding mechanism, the step S1 is implemented after the operation of the pressing and holding mechanism is completed or after the operation of the pressing and holding mechanism is terminated.
进一步的，所述行程信号元件为行程开关，所述传动机构包括配合部，所述配合部触发所述行程开关，所述控制模块接收所述行程开关发出的信号以指令所述电机停止转动。Further, the travel signal element is a travel switch, the transmission mechanism includes a fitting portion, the fitting portion triggers the travel switch, and the control module receives a signal sent by the travel switch to instruct the motor to stop rotating.
进一步的，所述行程信号元件为霍尔传感器，所述传动机构包括磁铁，所述控制模块判别其接收到所述霍尔传感器感知到的所述磁铁的磁场强度达到预定值后，所述控制模块指令所述电机停止转动。Further, the travel signal element is a Hall sensor, the transmission mechanism includes a magnet, and the control module determines that after the control module receives that the magnetic field strength of the magnet sensed by the Hall sensor reaches a predetermined value, the control The module instructs the motor to stop rotating.
进一步的，所述信号源模块还包括第三按键，所述外科器械还包括指示机构，所述指示机构与所述控制模块电性连接，按压所述第三按键并即刻释放，所述控制模块接收所述第三按键发出的信号以指令所述指示机构开始工作，所述压榨保持机构运行完毕包括：按压所述第三按键并即刻释放，所述指示机构开始工作直至工作完毕。Further, the signal source module further includes a third button, the surgical instrument further includes an indicating mechanism, the indicating mechanism is electrically connected with the control module, and the third button is pressed and released immediately, the control module Receiving the signal sent by the third button to instruct the indicating mechanism to start working, the operation of the pressing and holding mechanism includes: pressing the third button and releasing it immediately, and the indicating mechanism starts to work until the working is completed.
进一步的，所述信号源模块还包括第三按键，所述外科器械还包括指示机构，所述指示机构与所述控制模块电性连接，按压所述第三按键并即刻释放，所述控制模块接收所述第三按键发出的信号以指令所述指示机构开始工作，所述压榨保持机构运行被终止包括：按压所述第三按键并即刻释放，在所述指示机构工作完毕之前再次按压所述第三按键并即刻释放。Further, the signal source module further includes a third button, the surgical instrument further includes an indicating mechanism, the indicating mechanism is electrically connected with the control module, and the third button is pressed and released immediately, the control module Receiving the signal sent by the third button to instruct the indicating mechanism to start working, and the operation of the pressing and holding mechanism being terminated includes: pressing the third button and releasing it immediately, and pressing the indicating mechanism again before the working of the indicating mechanism is completed. The third key is pressed and released immediately.
本发明的有益效果是：本发明的外科器械包括端部执行器、切割刀组件及控制装置，所述控制装置包括电机、信号源模块及控制模块，控制模块接收信号源模块发出的信号后，对信号进行分析处理，并根据分析处理后的信号指令电机沿第一方向转动、沿第二方向转动、停止转动，实现了对于端部执行器和切割刀组件的简便、有效控制，并且满足了端部执行器、切割刀组件之间的动作逻辑关系。The beneficial effects of the present invention are as follows: the surgical instrument of the present invention includes an end effector, a cutting blade assembly and a control device, the control device includes a motor, a signal source module and a control module, and after the control module receives the signal sent by the signal source module, The signal is analyzed and processed, and the motor is instructed to rotate in the first direction, rotate in the second direction, and stop the rotation according to the analyzed signal, which realizes the simple and effective control of the end effector and the cutting knife assembly, and satisfies the Action logic relationship between end effector and cutter assembly.
附图说明Description of drawings
图1是本发明吻合器的结构示意图；Fig. 1 is the structural schematic diagram of the stapler of the present invention;
图2是图1所示画圈部分的放大图；Fig. 2 is an enlarged view of the circled portion shown in Fig. 1;
图3是图1所示吻合器的另一视角的局部结构示意图；Fig. 3 is a partial structural schematic diagram of the stapler shown in Fig. 1 from another perspective;
图4是图3所示画圈部分A的放大图；Fig. 4 is an enlarged view of the circled portion A shown in Fig. 3;
图5是图3所示画圈部分B的放大图；Fig. 5 is an enlarged view of the circled portion B shown in Fig. 3;
图6是图3所示吻合器的部分结构示意图；Fig. 6 is a partial structural schematic diagram of the stapler shown in Fig. 3;
图7是图6所示第一部件的结构示意图；Fig. 7 is the structural representation of the first part shown in Fig. 6;
图8是图6所示第三部件的结构示意图；Fig. 8 is the structural representation of the third component shown in Fig. 6;
图9是图1所示电路板组件的示意图；Figure 9 is a schematic diagram of the circuit board assembly shown in Figure 1;
图10是图9所示电机驱动单元的示意图；Figure 10 is a schematic diagram of the motor drive unit shown in Figure 9;
图11是图1所示端部执行器与套管的组装图；Figure 11 is an assembly view of the end effector and sleeve shown in Figure 1;
图12是图11所示画圈部分的放大图；Figure 12 is an enlarged view of the circled portion shown in Figure 11;
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
本文所用术语“近”、“后”和“远”、“前”是相对于操纵外科器械的临床医生而言的。术语“近”、“后”是指相对靠近临床医生的部分，术语“远”、“前”则是指相对远离临床医生的部分。“左”“右”以图1所示的外科器械的位置为参考，例如，端部执行器在“左”，套管在“右”。术语“上”“下”以端部执行器的抵钉座和钉仓座的相对位置为参考，具体的，抵钉座在“上”，钉仓座在“下”。需要理解的是，“近”“后”“远”“前”“左”“右”“上”“下”这些方位是为了方便描述而进行的定义，然而，外科器械可以在许多方向和位置使用，因此这些表达相对位置关系的术语并不是受限和绝对的。The terms "proximal", "posterior" and "distal", "anterior" are used herein with respect to the clinician manipulating the surgical instrument. The terms "proximal" and "posterior" refer to the part relatively close to the clinician, and the terms "distal" and "anterior" refer to the part relatively far from the clinician. "Left" and "Right" are referenced to the position of the surgical instrument shown in Figure 1, eg, the end effector is "left" and the cannula is "right". The terms "upper" and "lower" refer to the relative positions of the anvil seat and the staple cartridge seat of the end effector, specifically, the anvil seat is "upper" and the staple cartridge seat is "lower". It is to be understood that the orientations "near", "rear", "far", "front", "left", "right", "up" and "down" are defined for ease of description, however, surgical instruments can be in many orientations and positions use, so these terms expressing relative positional relationships are not restrictive and absolute.
如图1至图12所示，为本发明所述的一种外科器械，具体是吻合器100，其包括操作组件10、从操作组件10沿纵长方向延伸的杆身组件20及设置于杆身组件20一端的端部执行器30。端部执行器30包括钉仓座31和可枢转地连接于钉仓座31的抵钉座32，钉仓座31用于可操作地支撑位于其中的钉仓(未图示)，抵钉座32可在打开位置和闭合位置之间选择性地运动。杆身组件20包括芯轴21及套设于芯轴21的套管22。操作组件10包括本体(未图示)及安装于本体的传动机构11。套管22包括连接于传动机构11的第一端部23和可活动地连接于端部执行器30的抵钉座32的第二端部24，套管22的向后移动使得抵钉座32向上枢转以打开端部执行器30，套管22的向前移动使得抵钉座32向下枢转以闭合端部执行器30。参见图11及图12，抵钉座32可转动地连接于套管22的第二端部24，即，抵钉座32连接于套管22的第二端部24且抵钉座32相对套管22的第二端部24可转动。需要说明的是，抵钉座32可转动地连接于套管22的第二端部24以使得套管22的前后移动驱动抵钉座32枢转为现有技术。As shown in FIG. 1 to FIG. 12, it is a surgical instrument according to the present invention, specifically a
吻合器100还包括切割刀组件40，切割刀组件40包括设置于钉仓33的切割刀41及可分离地连接于切割刀41的推刀件42。参见图4及图5，推刀件42设置有凹陷部(未标号)，切割刀41设置有凸出部(未标号)，凹陷部和凸出部相互配合从而使得推刀件42和切割刀41组装在一起。芯轴21的一端连接于传动机构11，另一端位于套管22内。推刀件42的一部分延伸进入端部执行器30且与切割刀41可分离地连接，推刀件42的另一部分位于套管22内且与芯轴21的另一端连接。芯轴21的向前移动使得切割刀组件40向前移动以切割组织，芯轴21的向后移动使得切割刀组件40向后移动以回复至初始位置。The
吻合器100还包括电路板组件50、触发器60及电机70，触发器60电性连接于电路板组件50，电机70电性连接于电路板组件50，电机70驱动传动机构11工作，电机70的数量为一个。电路板组件50包括电路板51及设置于电路板51的控制模块52，控制模块52用于控制电机70的运转状态。吻合器100还包括压榨保持机构(未图示)，操作者在驱动切割刀组件40向前移动之前需先操作压榨保持机构，待压榨保持机构运行完毕或压榨保持机构运行被终止后，操作者才能通过触发器60、控制模块52、电机70驱动切割刀组件40向前移动。压榨保持机构可将端部执行器30保持在闭合状态(即压榨状态)一定时间，通过对被压榨组织保持上述一定时间的压榨，促使被压榨的目标组织内的组织液向未被压榨的周围组织充分排出。The
触发器60包括第一按键61、第二按键62、第三按键63、第四按键64、第一行程开关65、第二行程开关66、第三行程开关67及第四行程开关68。触发器60也称作信号源模块。第一按键61和第二按键62均电性连接于控制模块52。The
第一行程开关65与第二行程开关66均电性连接于控制模块52，第一行程开关65与第二行程开关66用于检测切割刀组件40所处的位置并通过控制模块52使得切割刀组件40停止移动。传动机构11上设置有配合部，配合部包括第三凸块(未标号)和第四凸块(未标号)。当传动机构11通过芯轴21驱动切割刀组件40前进至一定位置时，传动机构11上的第三凸块触发第一行程开关65，控制模块52接收到第一行程开关65发出的信号并指令电机70停止转动；第一行程开关65所在的位置为切割刀组件40向前移动的前止点，即切割完毕的位置。当传动机构11通过芯轴21驱动切割刀组件40后退至一定位置时，传动机构11上的第四凸块触发第二行程开关66，控制模块52接收到第二行程开关66发出的信号并指令电机70停止转动；第二行程开关66所在的位置为切割刀组件40向后移动的后止点，即退刀完毕的位置。The
吻合器100还包括指示机构(未图示)，指示机构与控制模块52电性连接，指示机构包括五个指示灯，指示灯为LED灯。第三按键63与第四按键64均电性连接于控制模块52，第三按键63、第四按键64、控制模块52及指示机构形成压榨保持机构，压榨保持机构可以使得端部执行器30对目标组织的压榨持续一定时长，组织液排出更充分，即，压榨保持机构可以在一定时长内不允许切割刀组件40向前移动并且保持端部执行器30闭合，以提升端部执行器30对于组织的压榨效果。第三按键63与第四按键64对称设置，操作者无论按压第三按键63和第四按键64中的哪一个，都能起到相同的作用。压榨保持机构的操作方式包括第一种操作方式和第二种操作方式。第一种操作方式：操作者按压第三按键63或第四按键64并即刻释放，即点按第三按键63或第四按键64，控制模块52接收第三按键63或第四按键64发出的信号并指令指示机构开始工作，每三秒亮一个LED灯，当15秒后五个LED灯全部处于点亮状态时，指示机构工作完毕，此时，操作者可以操作第一按键61以驱动切割刀组件40向前移动，在指示机构工作完毕之前，即使操作者操作第一按键61发出信号，控制模块52也不会指令电机70转动以驱动切割刀组件40向前移动。若操作者认为待切割和缝合的组织适合于直接切割和缝合，不必施以一定时长的压榨，为节约时间，想在指示机构工作完毕之前就驱动切割刀组件40向前移动，可以采用第二种操作方式：按压第三按键63或第四按键64并即刻释放，在15秒内再次按压第三按键63或第四按键64并即刻释放，此时，操作者就可以操作第一按键61以驱动切割刀组件40向前移动。总之，使用第一种操作方式来操作压榨保持机构，可以提升压榨效果，使用第二种操作方式来操作压榨保持机构使得操作者在不愿等待的情况下可以操作第一按键61以驱动切割刀组件40向前移动。压榨保持机构运行完毕包括：按压第三按键63或第四按键64并即刻释放，指示机构开始工作直至工作完毕；压榨保持机构运行被终止包括：按压第三按键63或第四按键64并即刻释放，在15秒内再次按压第三按键63或第四按键64并即刻释放。压榨保持时间超过15秒，操作者会感觉等待时间过久，影响操作者的使用体验。将压榨保持时间设定为15秒，是在等待时间和压榨效果之间取得的平衡点。The
第三行程开关67和第四行程开关68均电性连接于控制模块52，第三行程开关67和第四行程开关68用于检测端部执行器30是否开启到位或闭合到位。电机70驱动传动机构11工作，传动机构11驱动套管22向前或向后移动，从而使得抵钉座32向下或向上枢转以闭合或打开端部执行器30。传动机构11包括配合部，配合部包括第一凸块12和第二凸块13。传动机构11在驱动套管22向前移动的过程中，第一凸块12触发第三行程开关67，控制模块52接收第三行程开关67发出的信号并指令电机70停止转动，此时，端部执行器30已闭合到位；传动机构11在驱动套管22向后移动的过程中，第二凸块13触发第四行程开关68，控制模块52接收第四行程开关68发出的信号并指令电机70停止转动，此时，端部执行器30已开启到位。需要说明的是，第一凸块12和第二凸块13可由一个凸块代替，上述一个凸块向前移动的过程中触发第三行程开关67，向后移动的过程中触发第四行程开关68。这种情况下，配合部包括上述一个凸块。The
控制模块52包括检测单元53、微控制单元54、电机驱动单元55及电机控制单元56。微控制单元54为单片机。第一按键61、第二按键62、第三按键63、第四按键64、第一行程开关65、第二行程开关66、第三行程开关67及第四行程开关68均电性连接于检测单元53，检测单元53电性连接于微控制单元54，微控制单元54电性连接于电机驱动单元55，电机驱动单元55电性连接于电机控制单元56。检测单元53用于检测第一按键61、第二按键62、第三按键63、第四按键64、第一行程开关65、第二行程开关66、第三行程开关67及第四行程开关68的触发状态，接收上述按键和行程开关发出的信号并将信号传送至微控制单元54。微控制单元54接收检测单元53发出的信号并对信号进行分析处理，微控制单元54将分析处理后的信号传送至电机驱动单元55，电机驱动单元55接收信号并对信号进行分析处理，电机驱动单元55将分析处理后的信号传送至电机控制单元56，电机控制单元56根据电机驱动单元55发出的高电平的PWM波信号来控制电机70的运转状态。电机驱动单元55包括第一电机驱动单元57和第二电机驱动单元58，第一电机驱动单元57和第二电机驱动单元58均为集成电路。第一电机驱动单元57和第二电机驱动单元58均用于将微控制单元54发出的低电平的PWM波信号转换成高电平的PWM波信号，该高电平的PWM波信号用于驱动电机控制单元56。电机驱动单元55完成了低电平信号到高电平信号的转换，增强了微控制单元54的驱动能力。第一电机驱动单元57和第二电机驱动单元58分担电机驱动单元55的任务，避免单独一个电机驱动单元负荷过大。电机控制单元56根据电机驱动单元55发出的高电平的PWM波信号来控制电机70的运转状态，即，电机控制单元56识别高电平的PWM波信号中的电机运转信息，电机运转信息包括电机转动方向信息和停止转动信息，同时利用高电平信号驱动电机70沿识别出的转动方向转动，或者指令电机70停止转动，转动方向包括第一方向和第二方向，第一方向与第二方向相反。电机70沿第一方向转动，驱动端部执行器30闭合，或者驱动切割刀组件40向前移动；电机70沿第二方向转动，驱动切割刀组件40向后移动，或者驱动端部执行器30打开。控制模块具有压榨保持模式，压榨保持模式开启即压榨保持机构运行，压榨保持模式维持的时间即压榨保持的时间。压榨保持的时间长度值被存储于微控制单元54，自压榨保持机构开始运行时，微控制单元54开始计时，同时向指示机构发出信号以指示压榨保持的进度或状态。在压榨保持机构运行的过程中，如果操作者操作第一按键61发出信号，检测单元53将接收到的信号传送至微控制单元54，微控制单元54不对检测单元53传送的信号进行分析和处理，即控制模块52不会指令电机70运转以驱动切割刀组件40，也就是说，虽然第一按键61发出的信号的意图是使得控制模块52指令电机70运转以驱动切割刀组件40，但在压榨保持机构运行的过程中，上述意图不被实现；当微控制单元54计时达到压榨保持的预定时间长度值，压榨保持机构运行完毕，微控制单元54向指示机构发出信号以指示压榨保持结束，微控制单元54恢复至可以分析和处理第一按键61发出的信号的状态。在压榨保持机构运行的过程中，如果操作者再次按压第三按键63或第四按键64并即刻释放，微控制单元54结束计时并且恢复至可以分析和处理第一按键61发出的信号的状态，即压榨保持机构运行被终止。压榨保持机构运行完毕或者压榨保持机构运行被终止后，第一按键61发出的信号的意图被实现。The
吻合器100的工作过程如下：(1)操作者按压第一按键61并保持按压状态，控制模块52接收第一按键61发出的信号后指令电机70工作，电机70驱动传动机构11工作，传动机构11驱动抵钉座32向下枢转进而闭合端部执行器30，当传动机构11在工作过程中触发第三行程开关67时，控制模块52接收第三行程开关67发出的信号并指令电机70停止工作，此时，端部执行器30闭合完毕，释放第一按键61；(2)操作者操作压榨保持机构；(3)当压榨保持机构运行完毕后或压榨保持机构运行被终止后，操作者按压第一按键61并保持按压状态，控制模块52接收第一按键61发出的信号后指令电机70工作，电机70驱动传动机构11工作，传动机构11驱动切割刀组件40向前移动以切割组织(即进刀)，当传动机构11在工作过程中触发第一行程开关65时，控制模块52接收第一行程开关65发出的信号后指令电机70停止工作，此时，切割刀组件40停止向前移动，切割组织完毕；(4)释放第一按键61，控制模块52接收第一按键61发出的信号并指令电机70继续开始工作，电机70驱动传动机构11工作，传动机构11驱动切割刀组件40向后移动(即退刀)；当传动机构11在工作过程中触发第二行程开关66时，控制模块52接收第二行程开关66发出的信号后指令电机70停止工作，此时，切割刀组件40停止向后移动，切割刀组件40后移到位；(5)操作者按压第二按键62并保持按压状态，控制模块52接收第二按键62发出的信号后指令电机70开始工作，电机70驱动传动机构11工作，传动机构11驱动抵钉座30向上枢转进而打开端部执行器30，当传动机构11在工作过程中触发第四行程开关68时，控制模块52接收第四行程开关68发出的信号并指令电机70停止工作，此时，端部执行器30开启完毕。电机70工作是指电机70运转，电机70停止工作是指电机70停止运转。The working process of the
在其它实施例中，第一行程开关65与第二行程开关66均可由霍尔传感器代替。传动机构11上设置磁铁，在传动机构11驱动芯轴21向前或向后移动的过程中，磁铁相对霍尔传感器的位置会发生变化，霍尔传感器所感应到的磁场强度也会发生变化。控制模块52的微控制单元54中预先设定、存储第一预定值和第二预定值。在传动机构11驱动芯轴21向前移动的过程中，霍尔传感器一直向控制模块52的检测单元53发出表示磁场强度的信号，检测单元53将信号传送至微控制单元54。当霍尔传感器感应到的磁场强度到达第一预定值时，控制模块52的微控制单元54进行判别并指令电机70停止运转，此时，切割刀组件40停止向前移动，切割组织完毕；在传动机构11驱动芯轴21向后移动的过程中，霍尔传感器一直向控制模块52的检测单元53发出表示磁场强度的信号，检测单元53将信号传送至微控制单元54。当霍尔传感器感应到的磁场强度到达第二预定值时，控制模块52的微控制单元54进行判别并指令电机70停止运转，此时，切割刀组件40停止向后移动。第一预定值可以等于第二预定值。In other embodiments, both the
在其它实施例中，第三行程开关67与第四行程开关68均可由霍尔传感器代替。传动机构11上设置磁铁，在传动机构11驱动套管22向前或向后移动的过程中，磁铁相对霍尔传感器的位置会发生变化，霍尔传感器所感应到的磁场强度也会发生变化。控制模块52的微控制单元54中预先设定、存储第三预定值和第四预定值。在传动机构11驱动套管22向前移动的过程中，霍尔传感器一直向控制模块52的检测单元53发出表示磁场强度的信号，检测单元53将信号传送至微控制单元54。当霍尔传感器感应到的磁场强度到达第三预定值时，控制模块52的微控制单元54进行判别并指令电机70停止运转，此时，端部执行器30闭合完毕；在传动机构11驱动套管22向后移动的过程中，霍尔传感器一直向控制模块52的检测单元53发出表示磁场强度的信号，检测单元53将信号传送至微控制单元54。当霍尔传感器感应到的磁场强度到达第四预定值时，控制模块52的微控制单元54进行判别并指令电机70停止运转，此时，端部执行器开启完毕。第三预定值可以等于第四预定值。In other embodiments, both the
在本发明中，微控制单元(即Microcontroller Unit，简称MCU)即为单片机，微控制单元是集成了内处理器(CPU)、存储器(RAM、ROM)、计数器、以及I/O端口为一体的一块集成芯片。在此硬件电路基础上，将要处理的数据、计算方法、步骤、操作命令编制成程序，存放于MCU内部或外部存储器中，MCU在运行时能自动地、连续地从存储器中取出并执行。本发明中，电机70的运转和停止均受微控制单元控制。微控制单元中存储端部执行器和切割刀组件之间的动作逻辑关系，根据上述动作逻辑关系分析和处理按键、行程开关或者霍尔传感器发来的信号后，发出用于控制电机的信号。实现对于端部执行器和切割刀组件的简单、有效控制，满足了它们之间的动作逻辑关系。In the present invention, the micro-control unit (ie Microcontroller Unit, MCU for short) is the single-chip microcomputer, and the micro-control unit integrates an internal processor (CPU), a memory (RAM, ROM), a counter, and an I/O port. an integrated chip. On the basis of this hardware circuit, the data, calculation methods, steps and operation commands to be processed are compiled into programs and stored in the internal or external memory of the MCU. The MCU can automatically and continuously retrieve and execute from the memory during operation. In the present invention, the operation and stop of the
本发明的吻合器100可以设置蜂鸣器(未图示)或指示灯(未图示)来便于操作者判别电机70是否停止运转。蜂鸣器和指示灯电性连接于控制模块52，当控制模块52指令电机70停止运转时，控制模块52同时也指令指示灯点亮或蜂鸣器鸣叫。另外，操作者也可以根据是否能听到电机70运转时发出的声音来判别电机70是否已经停止运转。The
在本发明中，结合图6至图8所示，传动机构11包括驱动装置，驱动装置包括第一驱动装置和第二驱动装置，第一驱动装置用于驱动端部执行器30闭合和开启，第二驱动装置用于驱动切割刀组件40向前和向后移动。电机70的数量为一个。第一驱动装置包括第一部件81和第二部件82，第一部件81包括第一有效转程结构和第一空转程结构，第一有效转程结构驱动第二部件82运动，第二部件82驱动端部执行器30闭合和开启，第一空转程结构不驱动第二部件82。第一部件81为齿轮，第一部件81与电机70的输出轴上固定的齿轮71相啮合，第一有效转程结构为直线槽83，第一空转程结构为与直线槽83连通的圆弧槽84，第二部件82为包括凸柱85的压环组件，凸柱85可以在直线槽83和圆弧槽84中移动，压环组件82与套管22相连接。第二驱动装置包括第三部件91和第四部件92，第三部件91包括第二有效转程结构和第二空转程结构，第二有效转程结构驱动第四部件92运动，第四部件92驱动切割刀组件40向前和向后移动，第二空转程结构不驱动第四部件92。第三部件91为包括满齿部93和缺齿部94的齿轮，缺齿部94包括有齿部95和无齿部96，满齿部93为第二有效转程结构，无齿部96为第二空转程结构，有齿部95和与有齿部95平行的满齿部93的部分与电机70的输出轴上固定的齿轮71相啮合，第四部件92为与齿条97啮合的齿轮，齿条97与芯轴21相连接。第一驱动装置和第二驱动装置由单个电机70驱动。在本发明中，空转程是指驱动装置在具有运动输入即被驱动的情况下，驱动装置没有运动输出，即不驱动切割刀或端部执行器。空转程结构是指驱动装置的部件所具有的、可实现空转程的结构。有效转程是指驱动装置在具有运动输入即被驱动的情况下，驱动装置具有运动输出，即驱动切割刀或端部执行器。有效转程结构是指驱动装置的部件所具有的、可实现有效转程的结构。In the present invention, as shown in FIG. 6 to FIG. 8 , the
综上所述，本发明通过接收信号以控制电机70的运行状态即沿第一方向转动、沿第二方向转动、停止转动，即可实现对于端部执行器30和切割刀组件40的简便、有效控制，并且满足了两者之间的动作逻辑关系。另一方面，传动机构11在驱动端部执行器30闭合的过程中触发第三行程开关67，从而使得电机70停止运转，此时，端部执行器30已闭合完毕；传动机构11在驱动端部执行器30开启的过程中触发第四行程开关68，从而使得电机70停止运转，此时，端部执行器30已开启完毕；第三行程开关67和第四行程开关68的设置，便于操作者识别端部执行器30是否已闭合到位或开启到位。上述第三行程开关67和第四行程开关68均可由霍尔传感器代替，霍尔传感器的功能与第三行程开关67和第四行程开关68相同。To sum up, in the present invention, by receiving signals to control the operating state of the
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型，上述变化、修改、替换和变型后的技术方案均在本发明的保护范围内。Although the embodiments of the present invention have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present invention. Changes, modifications, replacements and modifications are made to the embodiments, and the technical solutions after the above-mentioned changes, modifications, replacements and modifications are all within the protection scope of the present invention.
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