CN103405254B - The control method of electric surgery binding instrument and control device - Google Patents
The control method of electric surgery binding instrument and control device Download PDFInfo
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- CN103405254B CN103405254B CN201310141519.7A CN201310141519A CN103405254B CN 103405254 B CN103405254 B CN 103405254B CN 201310141519 A CN201310141519 A CN 201310141519A CN 103405254 B CN103405254 B CN 103405254B
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Abstract
The present invention provides control method and the control device of electric surgery binding instrument.Electric surgery binding instrument include can from different surgery binding instrument end effectors with the use of universal handle and end effector, described method includes: self-inspection step, carries out the percussion operation of part jaw closed procedure and staple and runs and return initial position；End effector type detection step, in described end effector type detection step, the type of detection end effector；Guan Bi step, tissue is also clipped between jaw by jaw Guan Bi；Percussion step, it may be judged whether fire, as selected not carry out firing, returns to the state after described end effector type detection step, as selected to carry out firing, fires staple；Returning step, electric surgery binding instrument returns initial position.The present invention controls process more rationally, reliably, and operating procedure is 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
Staple class surgery binding instrument is easy to use because of it since invention, sewing effect good thus obtaining substantial amounts of application in operation.Anastomat is the first stiching instrument in the world, for a gastrointestinal anastomosis nearly century, until 19 century 70 tube type anastomats are just widely used in gastrointestinal procedures.It is the equipment substituting traditional-handwork stitching medically used, improvement due to the development of modern science and technology and manufacturing technology, the anastomat reliable in quality used clinically at present, easy to use, tightly, degree of tightness is suitable, especially its stitching is quick, easy and simple to handle and seldom have the advantage such as side effect and postoperative complication, sometimes the tumor operation that cannot excise of also making over is able to lesion resection, very by the favor of domestic and international Clinical Surgery doctor and high praise, it it is the conventional operating theater instruments that a kind of consumption is very big.Traditional surgery binding instrument, using manually as the power source of control device, the operation of doctor there is higher requirement, it is likely to there is different sewing effects for different doctors, or owing to exert oneself uneven or strength of user adds not greatly the uncertainty of sewing process, this is that surgeon is unacceptable, simultaneously because apparatus can not be adjusted according to the difference of operation kind and operative site, and cause the poor compatibility of apparatus, need to be equipped with the parts (such as nail kit) of plurality of specifications clinically, thus causing the significant wastage of material and manpower.
Summary of the invention
It is desirable to provide the control method of the electric surgery binding instrument of replaceable end effector and control device.
According to an aspect of the present invention, the control method of electric surgery binding instrument, electric surgery binding instrument include can from different surgery binding instrument end effectors with the use of universal handle and end effector, described method includes: self-inspection step, in described self-inspection step, carry out part jaw closed procedure and run with staple percussion operation and return initial position；End effector type detection step, in described end effector type detection step, the type of detection end effector；Guan Bi step, in described Guan Bi step, tissue is also clipped between jaw by jaw Guan Bi；Percussion step, in described percussion step, it may be judged whether fire, as selected not carry out firing, returns to the state after end effector type detection step, as selected to carry out firing, fires staple；Returning step, in described return step, electric surgery binding instrument returns initial position.
Preferably, also including semi-closed step between end effector detecting step and Guan Bi step, in described semi-closed step, Guan Bi distance completes the major part of setpoint distance, if make position is improper, return initial position, if make position is properly, confirm to enter subsequent step.
Preferably, between end effector type detection step and semi-closed step, also include semi-closed confirm step, doctor be confirmed whether to carry out semi-closed step.
Preferably, between semi-closed step and Guan Bi step, also include Guan Bi confirm step, if doctor confirms entrance Guan Bi step, perform Guan Bi step, if doctor confirms not enter Guan Bi step, perform 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 include can from different surgery binding instrument end effectors with the use of universal handle and end effector, described control device includes processor module, described processor module includes: self-inspection submodule, in described self-inspection submodule, carry out part jaw closed procedure and run with staple percussion operation and return initial position；End effector type detection submodule, in described end effector type detection submodule, the type of detection end effector；Guan Bi submodule, in described Guan Bi submodule, tissue is also clipped between jaw by jaw Guan Bi；Percussion submodule, in described percussion submodule, it may be judged whether fire, as selected not carry out firing, returns to the state after end effector type detection step, as selected to carry out firing, fires staple；Returning submodule, in described return submodule, electric surgery binding instrument returns initial position.
Preferably, semi-closed submodule is also included between end effector detection sub-module and Guan Bi submodule, in described semi-closed submodule, Guan Bi distance completes the major part of setpoint distance, if make position is improper, return initial position, if make position is properly, confirm to enter subsequent step.
Preferably, between end effector type detection submodule and semi-closed submodule, also include semi-closed confirm submodule, doctor be confirmed whether to carry out semi-closed step.
Preferably, between semi-closed submodule and Guan Bi submodule, also include Guan Bi confirm submodule, if doctor confirms entrance Guan Bi step, perform Guan Bi step, if doctor confirms not enter Guan Bi step, perform closed procedure and return and return semi-closed confirmation step.
Preferably, described control device also includes motor drive module, described motor drive module accepts the driving signal that processor module provides, and gives drive motor after signal amplification, makes drive motor complete speed and position control according to the requirement of processor module.
Preferably, described control device also includes flow process display module, and described flow process display module adopts the mode of traffic light system to be shown by current process.
Preferably, described control device also includes voltage transformation module, and supply voltage is converted to the running voltage of electric surgery binding instrument each several part by described voltage transformation module.
Preferably, described control device also includes download program interface, and processor module can be written and read operation, update routine or data under the control of position machine software on computers by described download program interface.
The control method of the electric surgery binding instrument of the present invention with control device Guan Bi, percussion self-inspection step after carry out end effector type detection, can the type of operation consent identification end effector in a separate step, the whole operating process making electric surgery binding instrument carries out according to the end effector type identified, controls process more rationally, reliably.Judging whether to percussion in percussion step, the state after returning end effector type detection step when selecting not fire, thus the state before starting from operation restarts, operating procedure is more reasonable.
Accompanying drawing explanation
Above-mentioned is only the general introduction of technical solution of the present invention, in order to better understand the present invention, below in conjunction with accompanying drawing, the present invention is described in further detail with detailed description of the invention.
Fig. 1 is end effector is the schematic diagram of the electric surgery binding instrument of Linear stapler end.
Fig. 2 is end effector is the schematic diagram of the electric surgery binding instrument of circular staplers end.
Fig. 3 is 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 controlling device of electric surgery binding instrument according to an embodiment of the invention.
Fig. 5 is the running lamp schematic diagram controlling 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.
Detailed description of the invention
Fig. 1 is end effector is the schematic diagram of the electric surgery binding instrument of Linear stapler end.Fig. 2 is end effector is the schematic diagram of the electric surgery binding instrument of circular staplers end.Fig. 3 is 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, it is possible to connect stapler under different end effector one Linear stapler, circular staplers, chamber mirror.Except several end effectors shown in figure, universal handle can also tape splicing cutter stiching instrument, other anastomat.
Fig. 4 is the structured flowchart controlling device of electric surgery binding instrument according to an embodiment of the invention.
Control device and can distribute, to motor driving part, the number of delivering letters, so that driver drives motor makes nail kit move to the Guan Bi gap set towards nail anvil, and make staple reach the forming height set after actuating staple percussion.
Control device and can be used in the control of electronic anastomat and driving and collecting sensor signal and feedback.Described sensor includes motor code-disc signal and pressure sensor signal, it is respectively completed the collection of Guan Bi and the percussion collection of distance, Tissue approximation power, it is supplied to processor and ensures that processor can go out suitable Guan Bi distance by comprehensive descision, it is ensured that the effect that binds and quality.
As shown in Figure 4, control device with a processor, described processor can complete code-disc signal and organizational stress signals collecting function, user control command can be accepted and export drive command to motor driver, to complete electric surgery binding instrument is carried out the function of speed and position control.
Controlling to be integrated with a motor drive module on device, described motor drive module can accept the driving signal that processor provides, and gives drive motor after signal amplification, then motor can complete speed and position control according to the requirement of processor.
Controlling to be integrated with on device 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-inspection, Guan Bi, and percussion returns.Therefore having 4 signal lights instruction current states, the current state being instructed to is flicker state, and the step being complete is shown as normal bright state, and the step being not fully complete is designated as the state of turning off the light.This control device is except carrying out accurately transmission steps and operations action, control safely, can also clearly illustrate out by operating process and current process, it is easy to doctor and understands the whole process of operation, and there is " key " operating function so that doctor has only to press acknowledgement key according to signal prompt under normal circumstances always can complete operation.Can also being divided into 7 steps, except in self-inspection, Guan Bi, percussion, outside return, increasing an arrow display lamp in the middle of each step, when being between two steps, corresponding arrow display lamp glimmers, it is possible to the state of more accurate indicator instruments.
Control device is integrated with voltage transformation module, it is possible to be first converted to 12V from 220V alternating current power taking, 12V electricity is supplied motor drive module；12V electricity through blood pressure lowering become 5V supply processor and other use electrical interface.
Control device with mode detection module, can automatically detect the end effectors such as the stiching instrument of the different size being arranged on handle, stapler, circular staplers, chamber mirror stapler, thus for select different execution program, it is ensured that doctor's operation comfortable and simple and easy.
Controlling to be integrated with download program interface on device, processor can be written and read operation, update routine or data under the control of position machine software on computers by described download program interface.
Fig. 5 is the running lamp schematic diagram controlling device of electric surgery binding instrument according to an embodiment of the invention.
Running lamp described in Fig. 5, when doctor installs end effector first with certain frequency scintillation self-inspection lamp, prompting doctor carries out self-inspection, and now doctor presses execution button, and apparatus carries out mechanical and electric self-inspection；Self-inspection lamp Chang Liang after self-inspection, Guan Bi lamp starts flicker, and prompting doctor's self-inspection is complete and can carry out closed procedure, and doctor presses execution button and then closes and proceed by, in closing course, doctor can press pause button at any time and stops closed procedure, then system automatically restores to self-inspection and terminates；If doctor does not carry out other operations in closing course, then Automatic Program determines Guan Bi gap according to the measured value of the distance set with pressure transducer, it is ensured that best closure effect；Guan Bi closes lamp and self-inspection lamp Chang Liang after terminating, percussion lamp starts flash for prompting doctor and carries out next step percussion operation, and doctor presses execution button, and instrument carries out firing operation automatically, and after percussion operation completes, time delay several seconds auto-returned completes 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, first doctor takes out anastomat handle and end effector, check outward appearance without after damaging by end effector and anastomat handle grafting；After connecting with the mains, program carries out oneself electrically and mechanical detection, detection means for closed procedure is operated a little with percussion operation and returns, if electrically or machinery go wrong and cause cannot be self-detected successfully, then program cannot proceed；After self-inspection is passed through, automatic identification device tool end types, after waiting that doctor's confirmation can carry out closed procedure, carry out closed procedure, first carry out semi-closed operation, it is about to Guan Bi distance and completes a part for setpoint distance, whether properly doctor observes make position, if improper, can return by button, reorientates make position, if make position is suitable, it is possible to press acknowledgement key and carry out complete closure operation；After complete closure operation, doctor observes closure effect, it is determined that can carry out percussion operation and then press confirmation button and carry out closed procedure, if thinking that Guan Bi is undesirable or being not suitable for carrying out percussion operation, can return to the step that Guan Bi starts；Fire device after confirming automatically to carry out percussion operation and return, fire guarantee of rear system automatic time delay a period of time surgical effect；After percussion is return, doctor presses confirmation Guan Bi and returns, and completes operation technique, or is automatically set the Guan Bi time of staying by system, automatically performs Guan Bi and returns step.
The above; it it is only presently preferred embodiments of the present invention; not the present invention being done any pro forma restriction, those skilled in the art utilize the technology contents of the disclosure above to make a little simple modification, equivalent variations or modification, all fall within protection scope of the present invention.
Claims (7)
1. the control device of electric surgery binding instrument, electric surgery binding instrument include can from different surgery binding instrument end effectors with the use of universal handle and end effector, described control device includes processor module, and described processor module includes:
Self-inspection submodule, in described self-inspection submodule, carries out part jaw closed procedure and runs with staple percussion operation and return initial position；
End effector type detection submodule, in described end effector type detection submodule, the type of detection end effector；
Guan Bi submodule, in described Guan Bi submodule, tissue is also clipped between jaw by jaw Guan Bi；
Percussion submodule, in described percussion submodule, it may be judged whether fire, as selected not carry out firing, returns to the state after end effector type detection step, as selected to carry out firing, fires staple；
Returning submodule, in described return submodule, electric surgery binding instrument returns initial position；
Semi-closed submodule is also included between end effector type detection submodule and Guan Bi submodule, in described semi-closed submodule, Guan Bi distance completes the major part of setpoint distance, if make position is improper, returns initial position, if make position is properly, confirms to enter subsequent step.
2. the control device of electric surgery binding instrument as claimed in claim 1, it is characterised in that also include semi-closed between end effector type detection submodule and semi-closed submodule and confirm submodule, doctor be confirmed whether to carry out semi-closed step.
3. the control device of electric surgery binding instrument as claimed in claim 2, it is characterized in that, between semi-closed submodule and Guan Bi submodule, also include Guan Bi confirm submodule, if doctor confirms entrance Guan Bi step, perform Guan Bi step, if doctor confirms not enter Guan Bi step, perform closed procedure and return and return semi-closed confirmation step.
4. the control device of electric surgery binding instrument as claimed in claim 1, it is characterized in that, described control device also includes motor drive module, described motor drive module accepts the driving signal that processor module provides, and give drive motor after being amplified by signal, make drive motor complete speed and position control according to the requirement of processor module.
5. the control device of electric surgery binding instrument as claimed in claim 1, it is characterised in that described control device also includes flow process display module, described flow process display module adopts the mode of traffic light system to be shown by current process.
6. the control device of electric surgery binding instrument as claimed in claim 1, it is characterised in that described control device also includes voltage transformation module, and supply voltage is converted to the running voltage of electric surgery binding instrument each several part by described voltage transformation module.
7. the control device of electric surgery binding instrument as claimed in claim 1, it is characterized in that, described control device also includes download program interface, and processor module can be written and read operation, update routine or data under the control of position machine software on computers by described download program interface.
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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 true CN103405254B (en) | 2016-06-29 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105395232B (en) * | 2015-12-22 | 2019-02-15 | 苏州英途康医疗科技有限公司 | Electronic stapler |
| CN105411642B (en) | 2015-12-22 | 2018-09-11 | 苏州英途康医疗科技有限公司 | Electronic stapler and its closure, firing control method |
| CN106333720B (en) * | 2016-10-14 | 2019-02-15 | 苏州英途康医疗科技有限公司 | Intelligent hysteroscope 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 |
| CN114533165A (en) * | 2022-01-20 | 2022-05-27 | 北京天助畅运医疗技术股份有限公司 | Electric endoscope anastomat and control method and control device thereof |
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| EP0669104A1 (en) * | 1994-02-25 | 1995-08-30 | Ethicon Endo-Surgery | Anvil pockets for surgical stapler |
| CN1830398A (en) * | 2002-01-08 | 2006-09-13 | 能量医学介入公司 | A surgical device |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090308907A1 (en) * | 2008-06-12 | 2009-12-17 | Nalagatla Anil K | Partially reusable surgical stapler |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0669104A1 (en) * | 1994-02-25 | 1995-08-30 | Ethicon Endo-Surgery | Anvil pockets for surgical stapler |
| CN1830398A (en) * | 2002-01-08 | 2006-09-13 | 能量医学介入公司 | A surgical device |
| 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 |
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Address after: 102208 Beijing City, Changping District Beiqijia town Zhenggezhuang village Hongfu building room 61704 Applicant after: Beijing Panther Medical Equipment Co., Ltd., Address before: Beijing City, Chaoyang District Wangjing two district 100018 emerging industries in the Garden District Litse No. 208 building 3 floor 3305A room 3 Applicant before: Beijing Panther Medical Equipment Co., Ltd., |
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