Driving control system and driving control method of electric endoscope anastomatTechnical Field
The invention relates to the technical field of medical equipment, in particular to a driving control system and a driving control method of an electric endoscopic stapler.
Background
The electric stapler is simple and stable in operation, and researches show that compared with the manual stapler, bleeding complications are reduced by nearly half when the electric stapler is used by a surgeon, but when the traditional electric stapler is used, medical staff cannot know the electric quantity of the stapler and the operating state of the stapler in real time, and how to design the stapler capable of enabling the medical staff to master the electric quantity and the operating state of the instrument is a problem which needs to be solved by the person in the field.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention is to provide a driving control system and a driving control method for an electric endoscopic stapler.
In order to solve the technical problems, the invention provides a driving control system of an electric endoscope anastomat, which comprises a shell;
the shell comprises an outer shell and an inner shell arranged inside the outer shell;
the inside of the shell is also provided with a motor and a cutting transmission part, the input end of the cutting transmission part is connected with the output shaft of the motor, the output end of the cutting transmission part is connected with the rear end of a driving piece, the front end of the driving piece is connected with a cutting knife, and the outer side surface of the rear end of the driving piece is provided with a shielding piece; the shell is internally provided with a front position induction switch and a rear position induction switch, and the front position induction switch and the rear position induction switch are both positioned on the moving path of the shielding piece;
A supporting shaft is further arranged in the shell; the nail box comprises a shell, a support shaft, a nail box base, a nail box seat and a nail box seat, wherein the lower part of the shell is provided with a closing lock plate, the closing lock plate is provided with a closing handle which is sleeved on the support shaft, the closing handle can rotate relative to the support shaft, the lower end of the closing handle is provided with a closing positioning piece, the closing handle is connected with the rear end of an outer sleeve through a closing driving part, the front end of the outer sleeve is connected with the steering sleeve, the nail box seat is arranged in the steering sleeve and is connected with the steering sleeve, the nail box seat is arranged above the nail box seat, and the nail box seat is movably connected with the nail box seat;
the driving control system is arranged in the shell and comprises a switch circuit, a display circuit and a power supply;
The switch circuit comprises a clamping contact switch and a firing contact switch, wherein the firing contact switch is positioned on a rotating path of the firing drive button;
The display circuit comprises an electric quantity display assembly, a cutter position display assembly and a clamping state display element, wherein the electric quantity display assembly comprises a first electric quantity state display element and a second electric quantity state display element;
The power supply, the front position induction switch, the rear position induction switch, the first electric quantity state display element, the second electric quantity state display element, the first cutter position display element, the second cutter position display element, the third cutter position display element, the clamping state display element, the clamping contact switch, the firing contact switch and the motor are all connected with a controller.
Preferably, the shell is further provided with a backset button which can move relative to the shell, and the switch circuit further comprises a backset contact switch connected with the controller, wherein the backset contact switch is positioned on the moving path of the backset button.
Further, the power display assembly further includes a third power state display element, and the third power state display element is connected with the controller.
Further, the first electric quantity state display element is a green light, the second electric quantity state display element is a red light, the third electric quantity state display element is a yellow light, the first cutter position display element is a green light, the second cutter position display element is a red light, the third cutter position display element is a yellow light, and the clamping state display element is a green light.
Preferably, the driving control system of the electric endoscope anastomat further comprises a driving circuit, wherein the driving circuit comprises a relay and a double-pole double-throw switch which are connected, the double-pole double-throw switch is connected with a signal input port of the motor, and the relay is connected with the controller.
Preferably, the driving control system of the electric endoscope anastomat further comprises a reset circuit and a register, wherein the reset circuit and the register are connected with the controller, and the register records the times of the shielding piece entering the front position sensing switch and the rear position sensing switch.
The invention relates to a driving control method of an electric endoscope anastomat, which adopts a driving control system of the electric endoscope anastomat and comprises the following steps:
1) The power supply is connected, the electric quantity display assembly is started, when the electric quantity monitored by the controller is in a preset electric quantity range, the first electric quantity state display element is normally on, the step 2) is carried out, when the electric quantity monitored by the controller is used up, the second electric quantity state display element is normally on, and the power supply needs to be replaced;
2) When the cutting knife is at the initial position, the shielding piece on the driving piece is positioned in the rear position sensing switch, the controller acquires an activating signal of the rear position sensing switch, then the first knife position display element flashes, and the step 3) is performed;
3) After a nail bin in a nail box base is installed, the closing handle is rotated, a closing positioning piece on the closing handle is inserted into a closing locking groove, the closing handle drives the outer sleeve to move forwards through a closing driving component, the outer sleeve pushes the steering sleeve to move forwards, the steering sleeve drives the nail abutting seat to rotate towards the direction closing with the nail box base, the nail abutting seat is closed with the nail box base, meanwhile, the closing handle activates the clamping contact switch, the controller acquires an activation signal of the clamping contact switch, and controls the clamping state display element to flash, so that step 4 is carried out;
4) Pressing a firing drive button, wherein the firing drive button activates a firing contact switch, the controller acquires an activation signal of the firing contact switch, the controller controls a first cutter position display element to be normally on, the controller drives a motor to rotate forward, the motor drives a driving piece to move forward through a cutting transmission part, and the driving piece drives a cutting knife to move forward; when the shielding piece on the driving piece is positioned in the front-position induction switch, the controller acquires an activation signal of the front-position induction switch, and the controller drives the motor to rotate reversely; when the shielding piece on the driving piece returns to the rear position induction switch, the controller acquires an activation signal of the rear position induction switch, and at the moment, the operation of the cutting knife is finished, and the controller controls the clamping state display element to be normally on;
5) And 3) rotating the closing handle, withdrawing the closing positioning piece on the closing handle from the closing locking groove, wherein the clamping contact switch is not activated, the controller controls the clamping state display element to be extinguished, and the controller controls the first cutter position display element to flash, and returning to the step 3).
Preferably, when the back button is pressed, the back button activates the back contact switch, the controller obtains an activation signal of the back contact switch, the controller drives the motor to rotate reversely, and the motor drives the driving piece to move backwards through the cutting transmission part.
Preferably, the third knife position display element flashes when both the forward position sensing switch and the rearward position sensing switch are inactive and the firing contact switch is inactive.
Preferably, the second tool position display element flashes when the controller monitors a voltage overload of the drive control system.
As described above, the driving control system and the driving control method of the electric endoscopic stapler have the following beneficial effects:
In the driving control system of the electric endoscope anastomat, after a firing driving button is pressed and a firing contact switch is activated, a controller drives a motor to rotate forward, the motor drives a driving piece to move forward through a cutting transmission component, and the driving piece drives a cutting knife to move forward, so that the physical consumption of medical staff in operation can be reduced, the burden of the medical staff is reduced, errors in the operation process are reduced, the driving control system of the electric endoscope anastomat can provide continuous and strong cutting force due to the adoption of the motor to drive the cutting knife, the driving control system is suitable for various operation environments, medical accidents caused by cutting errors are reduced, medical staff grasps the electric quantity condition of the driving control system through an electric quantity display component, grasps the position of the cutting knife of the driving control system through a cutter position display component, and grasps whether a nail abutting seat and a nail box base are in a closed state or not through a clamping state display component, so that the medical staff can grasp the operation process, and the humanized design concept is met.
Drawings
Fig. 1 is a circuit diagram showing a driving control system of the electric endoscopic stapler according to the present embodiment.
Fig. 2 is a schematic view showing the external structure of the electric endoscopic stapler according to the present embodiment when the staple abutment and the cartridge base are closed.
Fig. 3 is a schematic view showing a structure of a cutting transmission part when the electric endoscopic stapler of the present embodiment is not provided with a housing.
Fig. 4 is an enlarged schematic view of the structure at a in fig. 3.
Fig. 5 is a schematic perspective view showing a cutting transmission part when the electric endoscopic stapler of the present embodiment is not provided with a housing.
Fig. 6 is a schematic view showing the external structure of the electric endoscopic stapler according to the present embodiment when the staple supporting seat and the staple cartridge seat are opened.
Fig. 7 is an enlarged schematic view of the structure at B of fig. 6.
Fig. 8 is a schematic view showing a structure of a closing driving part when the electric endoscopic stapler of the present embodiment is not provided with a housing and the nail supporting seat and the nail box base are opened.
Fig. 9 is an enlarged schematic view of the structure at C of fig. 8.
Fig. 10 is a schematic view showing a structure of a closing driving part when the electric endoscopic stapler of the present embodiment is not provided with a housing and the nail supporting seat and the nail box base are closed.
Fig. 11 is an enlarged schematic view of the structure at D of fig. 10.
Fig. 12 is a schematic view showing a structure of a closing driving part when the housing of the electric endoscopic stapler of this embodiment is provided and the nail abutment and the nail cartridge base are closed.
Fig. 13 is an enlarged schematic view of fig. 12 at E.
Fig. 14 is a schematic view showing a structure of the electric endoscopic stapler according to the present embodiment when the closing handle is in contact with the pinch contact switch.
Fig. 15 is a schematic diagram showing a driving control system of the electric endoscopic stapler according to the present embodiment under the control of a controller.
Description of the reference numerals
100. Shell body
110. Outer casing
120. Inner shell
210. Motor with a motor housing
220. Cutting transmission component
221. Driving gear
222. Driven gear
230. Driving piece
231. Shielding piece
240. Cutting knife
251. Front position inductive switch
252. Rear position inductive switch
260. Firing drive button
270. Rollback button
310. Supporting shaft
320. Closing lock plate
321. Closing the locking groove
330. Closing handle
331. Closing positioning piece
340. Closure driving part
341. Outer tube lock plate
342. Closing connecting rod
343. Spring
350. Outer sleeve
360. Steering sleeve
370. Nail box base
380. Nail supporting seat
400. Switching circuit
410. Clamping contact switch
420. Firing contact switch
430. Rollback contact switch
500. Display circuit
510. Electric quantity display assembly
511. First electric quantity state display element
512. Second electric quantity state display element
513. Third electric quantity state display element
520. Cutter position display assembly
521. First tool position display element
522. Second tool position display element
523. Third tool position display element
530. Clamping state display element
600. Power supply
700. Controller for controlling a power supply
811. Voltage stabilizing chip
820. Driving circuit
821. Relay device
822. Double pole double throw switch
910. Reset circuit
920. Register
Detailed Description
Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.
Please refer to the accompanying drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings and described herein are for illustration purposes only and should not be construed as limiting the scope of the invention, therefore, without any technical significance, any structural modification, proportional relation change or size adjustment should still fall within the scope of the technical content disclosed by the invention without affecting the efficacy and achievement of the purpose of the invention. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.
As shown in fig. 1 to 15, the drive control system of the electric endoscopic stapler of the present embodiment includes a housing 100;
the case 100 includes an outer case 110 and an inner case 120 disposed inside the outer case 110;
The inside of the shell 110 is also provided with a motor 210 and a cutting transmission part 220, the input end of the cutting transmission part 220 is connected with the output shaft of the motor 210, the output end of the cutting transmission part 220 is connected with the rear end of a driving part 230, the front end of the driving part 230 is connected with a cutting knife 240, the outer side surface of the rear end of the driving part 230 is provided with a shielding part 231, the inside of the shell 110 is also provided with a front position sensing switch 251 and a rear position sensing switch 252, the front position sensing switch 251 and the rear position sensing switch 252 are both positioned on the moving path of the shielding part 231, the shell 110 is also provided with a firing drive button 260, the firing drive button 260 can rotate relative to the shell 110, and the front position sensing switch 251 and the rear position sensing switch 252 are all photoelectric limit switches;
The inside of the shell 110 is also provided with a supporting shaft 310, the lower part of the shell 110 is provided with a closing lock plate 320, the closing lock plate 320 is provided with a closing lock groove 321, a closing handle 330 is sleeved on the supporting shaft 310, the closing handle 330 can rotate relative to the supporting shaft 310, the lower end of the closing handle 330 is provided with a closing positioning piece 331, the closing handle 330 is connected with the rear end of an outer sleeve 350 through a closing driving part 340, the front end of the outer sleeve 350 is connected with a steering sleeve 360, a nail box base 370 is arranged in the steering sleeve 360, a nail propping seat 380 is arranged in the steering sleeve 360 and is connected with the steering sleeve 360, the nail propping seat 380 is positioned above the nail box base 370, and the nail propping seat 380 is movably connected with the nail box base 370;
A driving control system provided inside the housing 110, including a switching circuit 400, a display circuit 500, and a power supply 600;
A switch circuit 400 comprising a pinch contact switch 410 and a firing contact switch 420, wherein the firing contact switch 420 is positioned on the rotating path of the firing drive knob 260, and the pinch contact switch 410 is positioned on the moving path of the closing handle 330;
The display circuit 500 comprises an electric quantity display component 510, a cutter position display component 520 and a clamping state display element 530, wherein the electric quantity display component 510 comprises a first electric quantity state display element 511 and a second electric quantity state display element 512, and the cutter position display component 520 comprises a first cutter position display element 521, a second cutter position display element 522 and a third cutter position display element 523;
The power supply 600, the front position sensing switch 251, the rear position sensing switch 252, the first state of charge display element 511, the second state of charge display element 512, the first cutter position display element 521, the second cutter position display element 522, the third cutter position display element 523, the pinch state display element 530, the pinch contact switch 410, the firing contact switch 420, and the motor 210 are all connected to the controller 700.
In the driving control system of the electric endoscope anastomat, after the firing drive button 260 is pressed and the firing contact switch 420 is activated, the controller 700 drives the motor 210 to rotate forward, the motor 210 drives the driving piece 230 to move forward through the cutting transmission part 220, and the driving piece 230 drives the cutting knife 240 to move forward, so that the physical consumption of medical staff in operation can be reduced, the burden of the medical staff is reduced, and errors in the operation process are reduced; because the motor 210 is adopted to drive the cutting knife 240, the driving control system of the electric endoscope anastomat can provide continuous and strong cutting force, is suitable for various operation environments, reduces medical accidents caused by cutting errors, enables medical staff to grasp the electric quantity condition of the driving control system through the electric quantity display component 510, enables the medical staff to grasp the position of the cutting knife 240 of the driving control system through the cutter position display component 520, enables the medical staff to grasp whether the nail abutting seat 380 and the nail box base 370 are in a closed state or not through the clamping state display component 530, enables the medical staff to grasp the operation process, and accords with the humanized design concept.
The housing 110 is further provided with a back button 270, the back button 270 being movable relative to the housing 110, and the switch circuit 400 further includes a back contact switch 430 connected to the controller 700, the back contact switch 430 being in a movement path of the back button 270. When the back button 270 is pressed, the back button 270 activates the back contact switch 430, the controller 700 obtains an activation signal of the back contact switch 430, the controller 700 drives the motor 210 to rotate reversely, the motor 210 drives the driver 230 to move backward through the cutting transmission part 220, and the driver 230 drives the cutting blade 240 to move backward.
The charge status display assembly 510 further includes a third charge status display element 513, the third charge status display element 513 being coupled to the controller 700. When the power monitored by the controller 700 is not within the preset power range, the third power state display element 513 is normally on to indicate that the power supply 600 can be replaced.
The first charge state display element 511 is green, the second charge state display element 512 is red, the third charge state display element 513 is yellow, the first tool position display element 521 is green, the second tool position display element 522 is red, the third tool position display element 523 is yellow, and the pinch-off state display element 530 is green. The structure can facilitate the medical staff to distinguish various running conditions of the drive control system. The first, second, third, first, second, and clamping state display elements 511, 512, 513, 521, 522, 523, and 530 are LED lamps.
The driving control system of the electric endoscope anastomat further comprises a voltage conversion circuit, wherein the voltage conversion circuit comprises a voltage stabilizing chip 811, a receiving end of the voltage stabilizing chip 811 is connected with the power supply 600, and an output end of the voltage stabilizing chip 811 is connected with the controller 700. By the voltage conversion circuit, a stable voltage can be passed through the controller 700.
The driving control system of the electric endoscope anastomat further comprises a driving circuit 820, wherein the driving circuit 820 comprises a relay 821 and a double-pole double-throw switch 822 which are connected, the double-pole double-throw switch 822 is connected with a signal input port of the motor 210, and the relay 821 is connected with the controller 700. The controller 700 controls the motor 210 to rotate forward and backward through the driving circuit 820.
The closing driving part 340 comprises an outer tube locking plate 341, a closing connecting rod 342 and a spring 343, wherein the outer tube locking plate 341 is arranged in the inner shell 120, the rear end of the outer tube locking plate 341 is hinged with one end of the closing connecting rod 342, the other end of the closing connecting rod 342 is hinged with the upper end of the closing handle 330, the rear end of the outer tube 350 penetrates into the inner shell 120, the rear end of the outer tube 350 is connected with the outer tube locking plate 341, the spring 343 is sleeved on the outer tube 350, and the spring 343 is positioned between the inner shell 120 and the front end of the outer tube locking plate 341. After the closing positioning piece 331 at the lower end of the closing handle 330 is inserted into the closing locking groove 321 of the closing lock plate 320 and then the closing handle 330 is released, the closing handle 330 is locked by the closing lock plate 320, the closing handle 330 pushes the outer tube lock plate 341 to move forward through the closing connecting rod 342, the outer tube lock plate 341 drives the outer tube 350 to move forward, the outer tube 350 pushes the steering sleeve 360 to move forward through the sleeve connecting piece, the steering sleeve 360 drives the nail propping seat 380 to rotate towards the closing direction of the nail cartridge base 370, and the nail propping seat 380 is closed with the nail cartridge base 370, so that the pressing of the nail propping seat 380 on tissues is completed.
The cutting transmission part 220 is arranged in the shell 110, the cutting transmission part 220 comprises a driving gear 221 and a driven gear 222, the output end of the motor 210 is connected with the driving gear 221, the driving gear 221 and the driven gear 222 can rotate, the driving gear 221 is meshed with the driven gear 222, the central axis of the driving gear 221 is perpendicular to the central axis of the driven gear 222, the central axis of the driving gear 221 is perpendicular to the front-back direction of the shell 100, a threaded hole is formed in the driven gear 222, and the driving piece 230 is a screw rod connected with the threaded hole. The motor 210 drives the driving gear 221 to rotate, the driving gear 221 drives the driven gear 222 to rotate, the driven gear 222 drives the screw rod to move, and the cutting transmission part 220 is simple in structure and convenient to transmit.
The invention relates to a driving control method of an electric endoscope anastomat, which adopts a driving control system of the electric endoscope anastomat and comprises the following steps:
1) The power supply 600 is connected, the voltage conversion circuit converts the voltage of the power supply 600 and then transmits the converted voltage to the controller 700, and the switching circuit 400 and the display circuit 500 start to operate normally, the power display component 510 is started, when the power monitored by the controller 700 is in a preset power range, the first power state display element 511 is always on green light, step 2 is performed, when the power monitored by the controller 700 is exhausted, the second power state display element 512 is always on red light, the power supply 600 needs to be replaced, and when the power monitored by the controller 700 is not in the preset power range, the third power state display element 513 is always on yellow light, and the power supply 600 needs to be replaced;
2) When the cutter 240 is at the initial position, the shielding member 231 on the driving member 230 is at the rear position sensing switch 252, the controller 700 acquires the activating signal of the rear position sensing switch 252, then the first cutter position display element 521 flashes green light, and the step 3) is performed, when the cutter 240 is not at the initial position, the controller 700 does not acquire the activating signal of the rear position sensing switch 252, and then the cutter 240 is not at the initial position, and the cutter retracting operation is performed;
3) After the nail cartridge in the nail cartridge base 370 is installed, the closing handle 330 is rotated, the closing positioning piece 331 on the closing handle 330 is inserted into the closing locking groove 321, the closing handle 330 drives the outer sleeve 350 to move forwards through the closing driving part 340, the outer sleeve 350 pushes the steering sleeve 360 to move forwards, the steering sleeve 360 drives the nail abutting seat 380 to rotate towards the direction closing with the nail cartridge base 370, the nail abutting seat 380 clamps tissues after closing with the nail cartridge base 370, meanwhile, the closing handle 330 activates the clamping contact switch 410, the controller 700 acquires an activating signal of the clamping contact switch 410, the controller 700 controls the clamping state display element 530 to flash green light to indicate that the firing operation can be performed, meanwhile, the controller 700 supplies power to the driving circuit 820, and the driving circuit 820 is electrified to operate, so that step 4 is performed);
4) Pressing the firing drive button 260, the firing drive button 260 activates the firing contact switch 420, the controller 700 obtains an activation signal of the firing contact switch 420, the controller 700 controls the first cutter position display element 521 to be normally on green light so as to indicate that the firing operation is normal, the controller 700 transmits forward current to the motor 210 through the drive circuit 820, the motor 210 rotates forward, the motor 210 drives the driving piece 230 to move forward through the cutting transmission part 220, and the driving piece 230 drives the cutting knife 240 to move forward; when the shutter 231 on the driver 230 is in the front position sensing switch 251, the controller 700 acquires the activation signal of the front position sensing switch 251, the controller 700 supplies reverse current to the motor 210 through the driving circuit 820, the motor 210 reverses, when the shutter 231 on the driver 230 is returned to the rear position sensing switch 252, the controller 700 acquires the activation signal of the rear position sensing switch 252, at the moment, the operation of the cutter 240 is finished, the controller 700 controls the first cutter position display element 521 to keep normally-bright green light, the controller 700 controls the clamping state display element 530 to normally-bright green light to indicate that the firing operation is finished, the controller 700 stops supplying power to the driving circuit 820, the driving circuit 820 is powered off, and step 5 is performed);
5) Turning the closure handle 330, the closure positioning member 331 on the closure handle 330 withdraws from the closure lockout slot 321, releasing the tissue, the pinch contact switch 410 is deactivated, the controller 700 controls the pinch state display element 530 to extinguish, the controller 700 controls the first knife position display element 521 to flash green light to indicate that a firing operation may be performed, the firing operation has been reset, the drive control system is returned to the initial state, and step 3) is returned.
When the back button 270 is pressed, the back button 270 activates the back contact switch 430, the controller 700 acquires an activation signal of the back contact switch 430, the controller 700 supplies reverse current to the motor 210 through the driving circuit 820, the motor 210 is reversed, and the motor 210 drives the driver 230 to move backward through the cutting transmission part 220, so that the tool is retracted.
When neither the front position sensing switch 251 nor the rear position sensing switch 252 are activated and the firing contact switch 420 is not activated, the third knife position display element 523 flashes yellow light to indicate that the firing drive button 260 is released in the stroke.
The drive control system of the electric endoscope anastomat further comprises a reset circuit 910 and a register 920, wherein the reset circuit 910 and the register 920 are connected with the controller 700, and the number of times that the shielding piece 231 enters the front position sensing switch 251 and the rear position sensing switch 252 is recorded in the register 920. After the firing of the cutter 240 is completed once and the operation of the cutter 240 is completed, the controller 700 controls the data in the register 920 to be cleared, and after returning to step 3), the reset circuit 910 outputs a reset signal to the controller 700 after the completion of the cartridge in the cartridge mount 370, the controller 700 drives the switching circuit 400 and the display circuit 500 to return to the initial state.
When the controller 700 monitors the drive control system for voltage overload, the second tool position display element 522 flashes to indicate an abnormal condition.
In conclusion, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.