CN103405254A - Control method and control device for electric surgery suture nail installing instrument - Google Patents
Control method and control device for electric surgery suture nail installing instrument Download PDFInfo
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- CN103405254A CN103405254A CN2013101415197A CN201310141519A CN103405254A CN 103405254 A CN103405254 A CN 103405254A CN 2013101415197 A CN2013101415197 A CN 2013101415197A CN 201310141519 A CN201310141519 A CN 201310141519A CN 103405254 A CN103405254 A CN 103405254A
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Abstract
The invention provides a control method and control device for an electric surgery suture nail installing instrument. The electric surgery suture nail installing instrument comprises a general handle and end effectors, wherein the general handle can be used in cooperation with the different end effectors of the surgery suture nail installing instrument. The method includes the steps that in the self-inspection step, partial jaw closing operation and suture nail striking operation are carried out, and the electric surgery suture nail installing instrument returns to an original position; in the step of detecting types of the end effectors, the types of the end effectors are detected; in the closing step, the jaw is closed and the tissue is clamped in the jaw; in the striking step, whether striking is carried out or not is judged, if the striking is not selected, the electric surgery suture nail installing instrument returns to a state after the step of detecting the types of the end effectors, and if the striking is selected, a suture nail is struck; in the return step, the electric surgery suture nail installing instrument returns to the original position. The control process is more reasonable and reliable, and the operation steps are more reasonable.
Description
Technical field
The present invention relates to medical instruments field, particularly relate to control method and the control device of electric surgery binding instrument.
Background technology
Thereby staple class surgery binding instrument has obtained a large amount of application because it is easy to use, sewing effect is good in operation since invention.Anastomat is the first stiching instrument in the world, for nearly century of gastrointestinal anastomosis, until 19 century 70 tube type anastomats just are widely used in gastrointestinal procedures.It is the equipment that the alternative traditional-handwork that medically uses is sewed up, due to the development of modern science and technology and the improvement of manufacturing technology, the anastomat reliable in quality of using clinically at present, easy to use, tightly, degree of tightness is suitable, especially quick, easy and simple to handle the reaching of its stitching seldom has the advantages such as side effect and postoperative complication, sometimes the tumor operation that can't excise of also making over is able to lesion resection, being subjected to very much the domestic and international doctor's of Clinical Surgery favor and high praise, is the very large operating theater instruments commonly used of a kind of consumption.Traditional surgery binding instrument, using manually power source as control device, operation to the doctor has higher requirement, for different doctors, different sewing effects may be arranged, perhaps due to the user inhomogeneous or large not uncertainty that increases sewing process of strength of exerting oneself, this is that the surgeon is unacceptable, simultaneously owing to not carrying out adjustment devices according to the difference of operation kind and operative site, and cause the poor compatibility of apparatus, need clinically to be equipped with the parts (for example nail kit) of plurality of specifications, thereby cause the significant wastage of material and manpower.
Summary of the invention
The present invention aims to provide control method and the control device of the electric surgery binding instrument of replaceable end effector.
According to an aspect of the present invention, the control method of electric surgery binding instrument, electric surgery binding instrument comprises universal handle and the end effector that can be used in conjunction with from different surgery binding instrument end effectors, described method comprises: the self check step, in described self check step, carry out part jaw closed procedure and staple percussion operation and move and return initial position; End effector type detection step, in described end effector type detection step, detect the type of end effector; Closed step, in described closed step, jaw closed and by tissue holder between jaw; The percussion step, in described percussion step, judge whether to pull the trigger, and if selected, do not pull the trigger the state turned back to after end effector type detection step, pulls the trigger staple if selected to pull the trigger; Return to step, return to step described, electric surgery binding instrument returns to initial position.
Preferably, between executor's detecting step and closed step, also comprise the semi-closed step endways, in described semi-closed step, closed distance completes the major part of setpoint distance, if make position is improper, return initial position, if make position is suitable, confirm to enter subsequent step.
Preferably, between actuator types detecting step and semi-closed step, also comprise endways semi-closed confirmation step, be confirmed whether to carry out the semi-closed step by the doctor.
Preferably, between semi-closed step and closed step, also comprise closed confirmation step, if the doctor confirms enter closed step carry out closed step, if the doctor confirms not enter closed step, carry out closed procedure and return and return semi-closed confirmation step.
According to another aspect of the present invention, the control device of electric surgery binding instrument, electric surgery binding instrument comprises universal handle and the end effector that can be used in conjunction with from different surgery binding instrument end effectors, described control device comprises processor module, described processor module comprises: the self check submodule, in described self check submodule, carry out part jaw closed procedure and staple percussion operation and move and return initial position; End effector type detection submodule, in described end effector type detection submodule, detect the type of end effector; Closed submodule, in described closed submodule, jaw closed and by tissue holder between jaw; The percussion submodule, in described percussion submodule, judge whether to pull the trigger, and if selected, do not pull the trigger the state turned back to after end effector type detection step, pulls the trigger staple if selected to pull the trigger; Return to submodule, return to submodule described, electric surgery binding instrument returns to initial position.
Preferably, between executor's detection sub-module and closed submodule, also comprise the semi-closed submodule endways, in described semi-closed submodule, closed distance completes the major part of setpoint distance, if make position is improper, return initial position, if make position is suitable, confirm to enter subsequent step.
Preferably, between actuator types detection sub-module and semi-closed submodule, also comprise endways semi-closed confirmation submodule, be confirmed whether to carry out the semi-closed step by the doctor.
Preferably, between semi-closed submodule and closed submodule, also comprise the closed submodule of confirming, if the doctor confirms enter closed step carry out closed step, if the doctor confirms not enter closed step, carry out closed procedure and return and return semi-closed confirmation step.
Preferably, described control device also comprises motor drive module, described motor drive module is accepted the driving signal that processor module provides, and gives drive motors after signal is amplified, and makes drive motors complete speed and Position Control according to the requirement of processor module.
Preferably, described control device also comprises the flow process display module, and described flow process display module adopts the mode of traffic light system that current flow process is shown.
Preferably, described control device also comprises voltage transformation module, and described voltage transformation module is converted to supply voltage the running voltage of electric surgery binding instrument each several part.
Preferably, described control device also comprises the program download interface, and described program download interface can be on computers carried out read-write operation to processor module, update routine or data under the control of position machine software.
The control method of electric surgery binding instrument of the present invention and control device carry out the end effector type detection after the self check step of closure, percussion, the type of identification end effector before can performing the operation in independent step, the whole operating process of electric surgery binding instrument is carried out according to the end effector type of identification, and control procedure more rationally, reliably.In the percussion step, judge whether to pull the trigger, the state after selecting to return to end effector type detection step while not pulling the trigger, thus the state before starting from operation restarts, and operating procedure is more reasonable.
The accompanying drawing explanation
Above-mentioned is only the general introduction of technical solution of the present invention, and for can clearer understanding the present invention, the present invention is described in further detail below in conjunction with accompanying drawing and the specific embodiment.
Fig. 1 is that end effector is the schematic diagram of the electric surgery binding instrument of Linear stapler end.
Fig. 2 is that end effector is the schematic diagram of the electric surgery binding instrument of circular anastomosis device end.
Fig. 3 is that end effector is the schematic diagram of the electric surgery binding instrument of stapler end under the mirror of chamber.
Fig. 4 is the structured flowchart of the control device of electric surgery binding instrument according to an embodiment of the invention.
Fig. 5 is the running lamp schematic diagram of the control device of electric surgery binding instrument according to an embodiment of the invention.
Fig. 6 is the flow chart of the control method of electric surgery binding instrument according to another embodiment of the present invention.
The specific embodiment
Fig. 1 is that end effector is the schematic diagram of the electric surgery binding instrument of Linear stapler end.Fig. 2 is that end effector is the schematic diagram of the electric surgery binding instrument of circular anastomosis device end.Fig. 3 is that end effector is the schematic diagram of the electric surgery binding instrument of stapler end under the mirror of chamber.
As shown in Figure 1, 2, 3, the universal handle of electric surgery binding instrument is general, can connect stapler under different end effectors one straight line stitching instrument device, circular anastomosis device, chamber mirror.Except several end effectors shown in figure, all right tape splicing cutter stiching instrument of universal handle, other anastomat.
Fig. 4 is the structured flowchart of the control device of electric surgery binding instrument according to an embodiment of the invention.
Control device can divide transmitted signal to motor driving part, thereby makes the driver drives motor make nail kit towards nail anvil, move to the closed gap of setting, and makes staple reach the forming height of setting after actuating the staple percussion.
Control device can be used in control and driving and collecting sensor signal and the feedback of electronic anastomat.Described sensor comprises motor code-disc signal and pressure sensor signal, complete respectively closed and percussion distance collection, organize the collection of extruding force, offer processor assurance processor and can comprehensively judge suitable closure distance, guarantee to bind effect and quality.
As shown in Figure 4, control device is with a processor, described processor can complete code-disc signal and organizational stress signals collecting function, can accept user control command output and drive order to motor driver, to complete the function of electric surgery binding instrument being carried out to speed and Position Control.
On control device, be integrated with a motor drive module, described motor drive module can be accepted the driving signal that processor provides, and gives drive motors after signal is amplified, and motor can complete according to the requirement of processor speed and Position Control.
On control device, be integrated with the flow process display module, described flow process display module adopts the mode of traffic light system, and signal flow is divided into 4 steps: self check, and closure, percussion, return.Therefore 4 signal lights indication current states are arranged, and the current state be instructed to is blink states, and the step completed is shown as normal bright state, and uncompleted step is designated as the state of turning off the light.This control device is except carrying out accurately transmission step and operational motion, control safely, operating process and current process can also be clearly illustrated out, be convenient to the whole process that the doctor understands operation, and have " key " operating function, make the doctor only need under normal circumstances according to signal prompt, to press acknowledgement key always and can complete operation.Also can be divided into 7 steps, except in self check, closure, percussion, outside returning, increase an arrow display lamp in the middle of each step, when being between two steps, corresponding arrow display lamp flicker, state that can more accurate indicator instruments.
On control device, be integrated with voltage transformation module, can at first be converted to 12V from the power taking of 220V alternating current, the 12V electricity is supplied with to motor drive module; The 12V electricity becomes 5V supply processor through blood pressure lowering and other use electrical interface.
Control device is with mode detection module, can automatically detect the end effectors such as the stiching instrument that is arranged on the different size on handle, stapler, circular anastomosis device, chamber mirror stapler, thereby for selection different performing a programme, guaranteed the comfortable and simple and easy of doctor's operation.
On control device, be integrated with the program download interface, described program download interface can be on computers carried out read-write operation to processor, update routine or data under the control of position machine software.
Fig. 5 is the running lamp schematic diagram of the control device of electric surgery binding instrument according to an embodiment of the invention.
The described running lamp of Fig. 5, at first with certain frequency scintillation self check lamp, the prompting doctor carries out self check when the doctor installs end effector, and now the doctor presses the execution button, and apparatus carries out machinery and electric self check; Self check lamp Chang Liang after self check, closed lamp starts flicker, and prompting doctor self check has completed can carry out closed procedure, the doctor press carry out button closure start to carry out, the doctor can press at any time pause button and stops closed procedure in closing course, and system automatically restores to self check and finishes; If the doctor does not carry out other operations in closing course, Automatic Program determines closed gap according to the distance of setting and the measured value of pressure transducer, guarantees best closure effect; Closed lamp and self check lamp Chang Liang after closed end the, percussion lamp start the flash for prompting doctor and carry out next step percussion operation, and the doctor presses the execution button, and instrument is pulled the trigger operation automatically, and percussion has operated rear time delay several seconds auto-returned and completed whole percussion process.
Fig. 6 is the flow chart of the control method of electric surgery binding instrument according to another embodiment of the present invention.
As shown in Figure 6, at first the doctor takes out anastomat handle and end effector, checks that outward appearance is without after damaging, end effector and anastomat handle being pegged graft; After connecting with the mains, program is carried out the electric and mechanical detection of oneself, and detection means can't the self check success for closed procedure and percussion operation being carried out to a little operation and return, go wrong if electric or mechanical causing, and program can't be proceeded; After self check is passed through, automatic identification device tool end type, after waiting for that the doctor confirms to carry out closed procedure, carry out closed procedure, at first carry out the semi-closed operation, be about to the part that closed distance completes setpoint distance, whether the doctor observes make position suitable, can return by button if improper, reorientates make position, if make position is suitable, can presses acknowledgement key and carry out the complete closure operation; After the complete closure operation, the doctor observes closure effect, and judgement can be pulled the trigger to operate to press and be confirmed that button carries out closed procedure, and closure is undesirable if think or be not suitable for pulling the trigger operation can return to the closed step started; After pulling the trigger confirmation, device is automatically pulled the trigger operation and is return, and has pulled the trigger rear system automatic time delay a period of time assurance surgical effect; After percussion was return, the doctor pressed the confirmation closure and returns, and completes operation technique, or automatically set the closed time of staying by system, automatically performed closure and return step.
The above; it is only preferred embodiment of the present invention; not the present invention is done to any pro forma restriction, those skilled in the art utilize the technology contents of above-mentioned announcement to make a little simple modification, equivalent variations or modification, all drop in protection scope of the present invention.
Claims (12)
1. the control method of electric surgery binding instrument, electric surgery binding instrument comprises universal handle and the end effector that can be used in conjunction with from different surgery binding instrument end effectors, described method comprises:
The self check step, in described self check step, carry out part jaw closed procedure and staple percussion operation and move and return initial position;
End effector type detection step, in described end effector type detection step, detect the type of end effector;
Closed step, in described closed step, jaw closed and by tissue holder between jaw;
The percussion step, in described percussion step, judge whether to pull the trigger, and if selected, do not pull the trigger the state after end effector type detection step as described in turning back to, and pulls the trigger staple if selected to pull the trigger;
Return to step, return to step described, electric surgery binding instrument returns to initial position.
2. the control method of electric surgery binding instrument as claimed in claim 1, it is characterized in that, between executor's detecting step and closed step, also comprise the semi-closed step endways, in described semi-closed step, closed distance completes the major part of setpoint distance, if make position is improper, return initial position, if make position is suitable, confirm to enter subsequent step.
3. the control method of electric surgery binding instrument as claimed in claim 2, is characterized in that, between actuator types detecting step and semi-closed step, also comprises endways semi-closed confirmation step, is confirmed whether to carry out the semi-closed step by the doctor.
4. the control method of electric surgery binding instrument as claimed in claim 3, it is characterized in that, between semi-closed step and closed step, also comprise the closed step of confirming, if the doctor confirms enter closed step carry out closed step, if the doctor confirms not enter closed step, carry out closed procedure and return and return semi-closed confirmation step.
5. the control device of electric surgery binding instrument, electric surgery binding instrument comprises universal handle and the end effector that can be used in conjunction with from different surgery binding instrument end effectors, and described control device comprises processor module, and described processor module comprises:
The self check submodule, in described self check submodule, carry out part jaw closed procedure and staple percussion operation and move and return initial position;
End effector type detection submodule, in described end effector type detection submodule, detect the type of end effector;
Closed submodule, in described closed submodule, jaw closed and by tissue holder between jaw;
The percussion submodule, in described percussion submodule, judge whether to pull the trigger, and if selected, do not pull the trigger the state turned back to after end effector type detection step, pulls the trigger staple if selected to pull the trigger;
Return to submodule, return to submodule described, electric surgery binding instrument returns to initial position.
6. the control device of electric surgery binding instrument as claimed in claim 5, it is characterized in that, between actuator types detection sub-module and closed submodule, also comprise the semi-closed submodule endways, in described semi-closed submodule, closed distance completes the major part of setpoint distance, if make position is improper, return initial position, if make position is suitable, confirm to enter subsequent step.
7. the control device of electric surgery binding instrument as claimed in claim 6, is characterized in that, between actuator types detection sub-module and semi-closed submodule, also comprises endways semi-closed confirmation submodule, is confirmed whether to carry out the semi-closed step by the doctor.
8. the control device of electric surgery binding instrument as claimed in claim 7, it is characterized in that, between semi-closed submodule and closed submodule, also comprise the closed submodule of confirming, if the doctor confirms enter closed step carry out closed step, if the doctor confirms not enter closed step, carry out closed procedure and return and return semi-closed confirmation step.
9. the control device of electric surgery binding instrument as claimed in claim 5, it is characterized in that, described control device also comprises motor drive module, described motor drive module is accepted the driving signal that processor module provides, and give drive motors after signal is amplified, make drive motors complete speed and Position Control according to the requirement of processor module.
10. the control device of electric surgery binding instrument as claimed in claim 5, is characterized in that, described control device also comprises the flow process display module, and described flow process display module adopts the mode of traffic light system that current flow process is shown.
11. the control device of electric surgery binding instrument as claimed in claim 5, is characterized in that, described control device also comprises voltage transformation module, and described voltage transformation module is converted to supply voltage the running voltage of electric surgery binding instrument each several part.
12. the control device of electric surgery binding instrument as claimed in claim 5, it is characterized in that, described control device also comprises the program download interface, and described program download interface can be on computers carried out read-write operation to processor module, update routine or data under the control of position machine software.
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| CN201310141519.7A CN103405254B (en) | 2013-04-23 | 2013-04-23 | The control method of electric surgery binding instrument and control device |
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| CN201310141519.7A CN103405254B (en) | 2013-04-23 | 2013-04-23 | The control method of electric surgery binding instrument and control device |
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| CN103405254B CN103405254B (en) | 2016-06-29 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105411642A (en) * | 2015-12-22 | 2016-03-23 | 苏州英途康医疗科技有限公司 | Electric anastomat |
| CN106333720A (en) * | 2016-10-14 | 2017-01-18 | 苏州英途康医疗科技有限公司 | Intelligent abdomen microscope anastomat |
| WO2017107488A1 (en) * | 2015-12-22 | 2017-06-29 | 苏州英途康医疗科技有限公司 | Electric stapler |
| WO2021109592A1 (en) * | 2019-12-05 | 2021-06-10 | 山东威瑞外科医用制品有限公司 | Electronic stapler and control system thereof |
| RU2796188C1 (en) * | 2019-12-05 | 2023-05-17 | Шаньдун Вирэй Серджикал Продактс Ко., Лтд. | Surgical electronic stapler and its control system |
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| CN101327139A (en) * | 2007-06-22 | 2008-12-24 | 伊西康内外科公司 | End effector closure system for a surgical stapling instrument |
| US20090308907A1 (en) * | 2008-06-12 | 2009-12-17 | Nalagatla Anil K | Partially reusable surgical stapler |
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| EP0669104A1 (en) * | 1994-02-25 | 1995-08-30 | Ethicon Endo-Surgery | Anvil pockets for surgical stapler |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105411642A (en) * | 2015-12-22 | 2016-03-23 | 苏州英途康医疗科技有限公司 | Electric anastomat |
| WO2017107488A1 (en) * | 2015-12-22 | 2017-06-29 | 苏州英途康医疗科技有限公司 | Electric stapler |
| WO2017107489A1 (en) * | 2015-12-22 | 2017-06-29 | 苏州英途康医疗科技有限公司 | Electric stapler |
| US10695056B2 (en) | 2015-12-22 | 2020-06-30 | Suzhou Intocare Medical Technology Co., Ltd. | Electric surgical stapler |
| US10743879B2 (en) | 2015-12-22 | 2020-08-18 | Suzhou Intocare Medical Technology Co., Ltd. | Electric surgical stapler |
| CN106333720A (en) * | 2016-10-14 | 2017-01-18 | 苏州英途康医疗科技有限公司 | Intelligent abdomen microscope anastomat |
| WO2021109592A1 (en) * | 2019-12-05 | 2021-06-10 | 山东威瑞外科医用制品有限公司 | Electronic stapler and control system thereof |
| RU2796188C1 (en) * | 2019-12-05 | 2023-05-17 | Шаньдун Вирэй Серджикал Продактс Ко., Лтд. | Surgical electronic stapler and its control system |
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