CN106491211A - A kind of anastomat fires force checking device - Google Patents
A kind of anastomat fires force checking device Download PDFInfo
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- CN106491211A CN106491211A CN201610879428.7A CN201610879428A CN106491211A CN 106491211 A CN106491211 A CN 106491211A CN 201610879428 A CN201610879428 A CN 201610879428A CN 106491211 A CN106491211 A CN 106491211A
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- anastomat
- connecting rod
- force
- percussion
- motor
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- 238000009527 percussion Methods 0.000 claims abstract description 112
- 238000010304 firing Methods 0.000 claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 238000012545 processing Methods 0.000 claims abstract description 28
- 238000000034 method Methods 0.000 claims abstract description 16
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000012360 testing method Methods 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 40
- 230000000994 depressogenic effect Effects 0.000 claims description 19
- 230000006978 adaptation Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims description 2
- 230000008054 signal transmission Effects 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 12
- 230000000694 effects Effects 0.000 description 11
- 239000012636 effector Substances 0.000 description 8
- 238000013461 design Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 5
- 239000006260 foam Substances 0.000 description 5
- 210000004247 hand Anatomy 0.000 description 4
- 230000002441 reversible effect Effects 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 230000003872 anastomosis Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000009499 grossing Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 238000012084 abdominal surgery Methods 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
- 230000001550 time effect Effects 0.000 description 1
- 229910052719 titanium Inorganic materials 0.000 description 1
- 239000010936 titanium Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/068—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
- A61B17/07207—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 the staples being applied sequentially
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
-
- 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
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
- Portable Nailing Machines And Staplers (AREA)
Abstract
The invention discloses a kind of anastomat fires force checking device, including supporting mechanism, drive mechanism, data processing module and control module；The anastomat includes firing handle, and the control module includes motor, display module；The supporting mechanism is used for fixing the anastomat being detected；Under the driving of the motor, the drive mechanism fires the firing handle of the anastomat；The data processing module perceives the power that motor is provided, i.e. percussion force；After the data processing module is acquired, processes to the percussion force, the display module is arrived in testing result output.The anastomat of the present invention fires the firing action of force checking device sham operated Shi doctor, percussion force is carried out detecting by data acquisition and data processing and digitized shows detected value, can interpolate that whether the percussion force of anastomat meets operation and require, the improved properties of anastomat percussion force are improved strong data supporting is provided.
Description
Technical field
The present invention relates to a kind of detection means of surgical instrumenties, more particularly to a kind of anastomat percussion force checking device, category
In medical instruments field.
Background technology
It can will be many while patient wound is sutured that the anastomat and its executive module for being applied to surgical operation is one kind
The surgical instrumenties of remaining cutting tissue, are widely used in tissue in the Minimally Invasive Surgerys such as abdominal surgery, gynecological, department of pediatrics and thoracic surgery
Cut off and coincide.The operation that Microendoscopic is carried out typically only needs to open several apertures on the body of patient, will excision, suture group
The apparatus that knits and aid in is stretched into from aperture is performed the operation in patient body.Minimally Invasive Surgery is little to the wound that patient brings, Bing Renke
To recover in a short period of time, therefore Minimally Invasive Surgery is increasingly subject to people's attention.
Clinically, each anastomat typically at least needs to carry out 2-4 percussion.During anastomat use, percussion force
For one of key technical index.Because of the structure design inside existing anastomat, firing handle and position fixing handle must be made every time
Abutting when cannot moving can just carry out next time effectively percussion, and percussion dynamics is not enough will to cause firing handle not have and positioning handss
Handle is fully abutted so as to affecting the normal use of anastomat.In the case, can only fire again, and the tissue quilt due to patient
It is clamped in the end effector of anastomat, percussion again will be caused to tear to patient and wait unexpected injury, affect just to perform the operation
Often carry out.Therefore, it is necessary to the percussion force to anastomat is detected, and the percussion force detection in prior art to anastomat
The device of anastomat percussion force can effectively not detected, without objective data supporting by the feel of tester.
Content of the invention
The present invention is intended to provide a kind of anastomat fires force checking device, whether it is capable of the percussion force of effective detection anastomat
Meet operation to require, the present invention is achieved through the following technical solutions：
A kind of anastomat fires force checking device, including supporting mechanism, drive mechanism, data processing module and control mould
Block；The anastomat includes firing handle, and the control module includes motor, display module；The supporting mechanism is used for will be by
The anastomat of detection is fixed；The first end of the drive mechanism is rotatably coupled with the supporting mechanism, the drive mechanism
The second end be rotatably coupled with the data processing module；The data processing module is connected with the output shaft of the motor
Connect, under the driving of the motor, the drive mechanism fires the firing handle of the anastomat；The data processing mould
Block perceives the power that motor is provided, i.e. percussion force；After the data processing module is acquired, processes to the percussion force, will inspection
Survey result output and arrive the display module.
The data processing module includes sensor；One end of the sensor can turn with the second end of the drive mechanism
Connect dynamicly, the other end of the sensor is connected with the output shaft of the motor；The motor provides percussion force, the motor
Output shaft the percussion force is transferred to the sensor, the percussion force is transferred to the driver by the sensor
The percussion force is transferred to the firing handle of the anastomat for structure, the drive mechanism.
The data processing module further includes AD converter；The control module further includes single-chip microcomputer；Described
Deformation is produced after force acting on transducer and by analog signal output to AD converter；The AD converter is received and comes from the sensing
Analogue signal is converted into digital signal after the signal of device and passes to the single-chip microcomputer, the single-chip microcomputer receives the digital signal
Afterwards, the display module is arrived in testing result output after data processing.
The sensor is S-shaped pulling force sensor, and the motor is direct current generator.
The supporting mechanism includes base, support column, fixed block；One end of the support column is fixed on the base,
The anastomat is fixed in the fixed block, and the fixed block is removably mounted on the other end of the support column.
The inner surface of the fixed block has the depressed part being adapted to the shell profiling of the anastomat.
The drive mechanism includes first connecting rod, second connecting rod and third connecting rod, and one end of the first connecting rod is rotatable
Be connected on the supporting mechanism, the mid portion of the first connecting rod is rotationally connected with one end of the second connecting rod
Connect, the other end of the second connecting rod is rotatably coupled with the third connecting rod.
The first connecting rod has the depressed part being adapted to the firing handle profiling.
The first connecting rod is used for transmitting the percussion force and fires the anastomat, and the second connecting rod is used for transmitting institute
Percussion force is stated, and the third connecting rod is used for for the percussion force of the motor first company being transferred to via the second connecting rod
Bar.
The drive mechanism is provided with position limiting structure.
The position limiting structure is limited post and stopper slot；One end of the second connecting rod be provided with the limited post, described
One end of three connecting rods is provided with the stopper slot；Or, one end of the second connecting rod is provided with the stopper slot, the third connecting rod
One end be provided with the limited post；Or, one end of the second connecting rod is simultaneously provided with the limited post and the stopper slot, institute
One end of third connecting rod is stated while being correspondingly provided with the stopper slot and the limited post.
The detection pattern of the anastomat percussion force checking device is automatic mode or manual mode.
The horizontal center line of the S-shaped pulling force sensor and the central axes of the motor output shaft.
The drive mechanism includes that first connecting rod, the first connecting rod are used for transmitting percussion force and firing the anastomat
The firing handle；The data processing module also includes photoswitch, and the photoswitch is located on the supporting mechanism, is used
In the state for detecting the first connecting rod and the firing handle.
The data processing module also includes comparator；The comparator is by the actually detected percussion force value for obtaining and standard
Value is compared, to determine whether anastomat percussion force meets requirement.
The power that the motor is provided is pulling force, or thrust.
The anastomat of the present invention fires the firing action of force checking device sham operated Shi doctor, by data acquisition sum
Percussion force is carried out detecting and digitized display detected value according to processing, whether the percussion force index for determining anastomat meets requirement,
And the improved properties for anastomat percussion force provide data supporting.
Description of the drawings
Fig. 1 is the structural representation before anastomat percussion force checking device percussion test according to embodiments of the present invention；
Fig. 2 is the structural representation after anastomat percussion force checking device percussion test according to embodiments of the present invention, is
Assembly relation is clearly showed that, parts thereof in figure, is eliminated；
Fig. 3 is anastomat percussion force checking device part exploded perspective view according to embodiments of the present invention, in order to clearly show
Show assembly relation, in figure, eliminate parts thereof；
Fig. 4 is the drive mechanism schematic diagram that anastomat according to embodiments of the present invention fires force checking device；
Fig. 5 is the structural representation of second connecting rod and third connecting rod in Fig. 4.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings.In retouching for the present invention
In stating, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", " length ", " width ", " thickness ", " on ", D score,
"front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " clockwise ", " counterclockwise ", " axle
To ", " radially ", the orientation of the instruction such as " circumference " or position relationship be based on orientation shown in the drawings or position relationship, be only for
It is easy to the description present invention and simplifies description, rather than indicates or the device or element of hint indication there must be specific side
Position, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In describing the invention, " multiple " are meant that at least two, such as two, three
Individual etc., unless otherwise expressly limited specifically.
Embodiment below with reference to Description of Drawings is exemplary, it is intended to for explaining the present invention, and be not understood that
For limitation of the present invention.
The anastomat percussion force checking device of the embodiment of the present invention, including supporting mechanism, data processing module and control mould
Block.As shown in figure 1, supporting mechanism includes base 10, fixed block 1, support column 2, drive mechanism；As shown in figure 4, drive mechanism 3
Including first connecting rod 31, second connecting rod 32, third connecting rod 33；Data processing module includes photoswitch 5, pulling force sensor 6, AD
Transducer；Control module includes single-chip microcomputer, motor, display module and some buttons.Retouch for the ease of the description present invention and simplification
State, in embodiments of the present invention, based on orientation shown in the drawings or position relationship, each part is claimed near one end of fixed block 1
For " near-end ", it is referred to as " distal end " near one end of motor fixed block 7；The direction towards fixed block 1 of each part is referred to as " front "
Side, is referred to as side " afterwards " towards the direction of motor fixed block 7.
AD converter is analog-digital converter, be one by analog-signal transitions for digital signal electronic component, specifically,
It is the transducer of the digital signal that an input voltage signal is converted to an output.AD converter in the embodiment of the present invention
For 24 high-precision AD converters, the programming amplifier that gain is 128 times is provided with the high-precision AD converter, can be adopted
HX711 chips.HX711 is a 24 bit A/D converter chips for aiming at high precision apparatus design, with other chip phases of same type
Than, the integrated chip including the peripheral circuit required for other similar cake cores such as regulated power supply, on-chip clock oscillator, tool
There are integrated level height, fast response time, strong interference immunity.
Single-chip microcomputer (i.e. micro-control unit Microcontroller Unit) abbreviation MCU, is to be integrated with inner treater
(CPU), one piece of integrated chip that memorizer (RAM, ROM), enumerator and I/O ports are integrated.On this hardware circuit basis
On, data to be processed, computational methods, step, operational order are compiled into program, memorizer inside or outside MCU is deposited in
In, MCU operationally automatically, continuously from memorizer can take out and execute.In the present invention, the rotating and reverse of motor,
Single-chip Controlling is received in the startup of motor and stopping.
One end of support column 2 is fixedly connected with base 10, and anastomat 8 is removably mounted in fixed block 1, fixed block 1
The other end of support column 2 is removably mounted on, the near-end of drive mechanism 3 rotatably and is detachably connected on fixed block 1,
The distal end of drive mechanism 3 is connected with the near-end of pulling force sensor 6, and the distal end of pulling force sensor 6 is connected with the near-end of motor output shaft 9
Connect, the distal end of motor output shaft 9 and motor connection, motor is fixedly mounted in motor fixed block 7, and motor fixed block 7 is arranged on
On base 10.
As shown in figure 3, the inside of fixed block 1 is provided with the depressed part 11 being adapted to the shell profiling of anastomat 8, depressed part 11
Shape consistent with the profile of detected anastomat 8, during ensureing to detect, the main part of anastomat 8 can be with complete with depressed part 11
The full degree of accuracy that fits, cause because fixed effect is bad anastomat 8 to rock when effectively prevent percussion and affect to detect.Enter one
Step ground, fixed block 1 include the first fixed block 12, the second fixed block 13, and the first fixed block 12, the second fixed block 13 is full symmetric sets
Put；The inside of the first fixed block 12 is provided with the first depressed part, the inside of the second fixed block 13 and is provided with the second depressed part, and described
One depressed part and the full symmetric setting of second depressed part, first depressed part and second depressed part are collectively forming recessed
Sunken portion 11, such symmetric design are stably installed fixed anastomosis device 8 and can guarantee that uniform force when being easy to test.Before test,
Identical thing will be first cut to be put in the end effector 84 of anastomat 8, position fixing handle 82 is tensed, be now cut identical thing quilt
It is fixed in end effector 84, it is preferable that the thing that coincide that is cut is foam；Further, the thickness of the foam is
10mm.After tensing position fixing handle 82, foam is fixed in end effector 84, the first fixed block 12 is positioned on horizontal plane,
Then in the first fixed block 12 make the half of 8 shell of anastomat complete with the first depressed part the half of 8 shell of anastomat
Complete fit, then cover the second fixed block 13, make the second depressed part fit completely 8 shell of anastomat second half；So, anastomat
8 shell is just fixed in fixed block 1, so as to be secured firmly to anastomat 8 in the profiling depressed part 11 of fixed block 1.This
In embodiment by taking the thick foams of 10mm as an example, the foam that identical thing can also be rubber, animal tissue or other specifications is cut,
Depending on meeting the detection requirement of percussion force.
After anastomat 8 is fixed in fixed block 1, then fixed block 1 is installed along with support column 2 together with anastomat 8,
The outer surface of the outer surface of fixed block 1 and support column 2 is respectively equipped with the installation fixed cell for cooperating, realize fixed block 1 with
Support column 2 is detachably connected.Preferably, supporting mechanism includes four support columns 2, and four support columns 2 are fixed with base 10
Connect and vertical with base 10.Specifically, the installation fixed cell includes chute and slide block, is all provided with each support column 2
There is chute 21, on the outer surface of fixed block 1, be accordingly provided with slide block 121, the size of chute is roughly equal with the size of slide block, sliding
Groove 21 and slide block 121 are substantially in rectangular shape, and position corresponds, and slide block 121 slides into chute 21 in chute 21
Bottom after can firmly fix fixed block 1, and then fixed anastomosis device 8.The power supply of testing equipment can be started with that, right
The percussion force of anastomat 8 is tested.
As shown in Figure 1,3, one end of drive mechanism 3 is rotatable and is detachably connected on fixed block 1, drive mechanism 3
The other end be movably connected with the near-end of motor output shaft 9.Specifically, as shown in figure 4, drive mechanism 3 includes first
Connecting rod 31, second connecting rod 32, third connecting rod 33；Further, drive mechanism 3 includes 31, two second companies of a first connecting rod
32, two third connecting rods 33 of bar.One end of first connecting rod 31 is rotatable and is removably connected with fixed block 1, two second companies
The near-end of bar 32 is rotatable with the mid portion of first connecting rod 31 and detachably connected respectively.The distal end of two second connecting rods 32
It is rotatably connected with the near-end of two third connecting rods 33 correspondingly respectively；Second connecting rod 32 is all provided with limited with third connecting rod 33
Bit architecture, the position limiting structure are limited post and stopper slot.Including but not limited to scenario described below：One end of the second connecting rod 32
It is provided with the limited post, one end of the third connecting rod 33 and is provided with the stopper slot；Or one end of the second connecting rod 32 sets
There are the stopper slot, one end of the third connecting rod 33 to be provided with the limited post；Or one end of the second connecting rod 32 is simultaneously
The limited post and the stopper slot is provided with, accordingly, one end of the third connecting rod 33 is simultaneously provided with the stopper slot and institute
State limited post.
Preferably, as shown in figure 4, the form and dimension of two second connecting rods 32 is identical, the shape of two third connecting rods 33
And size is identical.The distal end of second connecting rod 32 is semi-cylindrical, and the distal end of second connecting rod 32 is provided with limited post 321, third connecting rod
33 near-end is provided with stopper slot 331.Specifically, as shown in figure 5, limited post 321 is cylinder, limited post 321 and second connecting rod
32 are integrally formed or are fixedly connected；Stopper slot 331 is semi-circular.Second connecting rod 32 is proximally and distally semicylinder, and
The mid portion of two connecting rods 32 is cuboid, the mid portion of second connecting rod 32 refer to second connecting rod 32, except two ends
Remainder in addition.The mid portion of the second connecting rod 32 is in smoothing junction with the near-end of second connecting rod 32, distal end, described
The diameter of semicolumn is equal with the width of mid portion cuboid；Third connecting rod 33 is proximally and distally semicylinder, and
The mid portion of three connecting rods 33 is cuboid, the mid portion of third connecting rod 33 refer to third connecting rod 33, except two ends
Remainder in addition.The mid portion of the third connecting rod 33 is in smoothing junction with its near-end, distal end, the semicolumn straight
Footpath is equal with the width of mid portion cuboid.The near-end of third connecting rod 33 is provided with stage portion, the height of the stage portion and limit
It is highly equal that position post 321 is projected on second connecting rod 32, and the stage portion is semi-circular, forms stopper slot 331.Such as Fig. 4 institutes
Show, limited post 321 is fixedly connected on the distal end of second connecting rod 32 or remote with second connecting rod 32 substantially in cylindrical shape
End is integrally formed.There is between second connecting rod 32 and the 3rd side rod 33 relative motion, the relative motion limited post 321 is existed
The near-end of third connecting rod 33 is rotated and forms track, and the track is coincide substantially with stopper slot 331, and stopper slot 331 is substantially in half
Annular, the height of stopper slot 331 is highly equal with limited post 321 or height slightly larger than limited post 321, stopper slot
331 groove width is equal to the diameter or the diameter slightly larger than limited post 321 of limited post 321.
In detection process, limited post 321 can be in motion in stopper slot 331.Between limited post 321 and stopper slot 331
Relative motion depends on the relative motion between second connecting rod 32 and third connecting rod 33, i.e. limited post 321 is in stopper slot 331
Position depend on angle between second connecting rod 32 and third connecting rod 33.When firing handle 81 is kept completely separate with position fixing handle 82
When, the edge 332 of stopper slot 331 limits limited post 321 and continues rotation, and then limits between second connecting rod 32 and third connecting rod 33
Relative motion so that second connecting rod 32 is continued to move along with 33 geo-stationary of third connecting rod and jointly, until by first
Connecting rod 31 is kept completely separate with firing handle 81.If without position limiting structure, during drive mechanism 3 travels forward, second
Connecting rod 32 is tapered into the angle of third connecting rod 33, and the stroke of second connecting rod 32 is not enough to push first connecting rod 31 completely open,
In the case, first connecting rod 31 is difficult to be kept completely separate with firing handle 81 by action of gravity, so as to can not be had next time
Effect percussion.The distal end of third connecting rod 33 is fixedly connected with the near-end of pulling force sensor 6；The distal end of pulling force sensor 6 is defeated with motor
The near-end of shaft 9 is fixedly connected, the distal end of motor output shaft 9 and motor connection, and motor is fixedly mounted in motor fixed block 7,
Motor fixed block 7 is on base 10.The connected mode of first connecting rod 31 and fixed block 1, first connecting rod 31 and second connecting rod
The connection side of 32 connected mode, the connected mode of second connecting rod 32 and third connecting rod 33, third connecting rod 33 and pulling force sensor 6
Formula is bearing connection；Further, the bearing connection is rolling bearing connection, and rolling bearing has excellent interchangeability
And versatility, and start that moment of friction is low, the coefficient of friction in motor process low, power attenuation is little, can guarantee that rotating accuracy, energy
Percussion force effectively in transmission detection process.
Anastomat 8 includes firing handle 81, position fixing handle 82 and handle 83.During percussion, motor output shaft 9 by
It is moved rearwards by the pulling force effect for being subject to motor, drives S-shaped pulling force sensor 6, drive mechanism 3 to be at the uniform velocity moved rearwards by successively, the
The depressed part 311 of the profiling adaptation of one connecting rod 31 is slowly contacted to fitting completely with firing handle 81, and first connecting rod 31 receives pulling force
Effect drive firing handle 81 continue to handle 83 direction movement until firing handle 81 abut with position fixing handle 82, cannot
When mobile, the detection of shot power is completed.The direction of pull that motor is provided is linear, and the firing handle 81 of anastomat 8
Movement locus during percussion are arc, and linear motion can be converted to arcuate movement by drive mechanism 3, and fire described
Anastomat 8, is easy to detect percussion force exactly.
The inner surface of the first connecting rod 31 of drive mechanism 3 is provided with the depressed part being adapted to 81 profiling of firing handle of anastomat
311, the shape of depressed part 311 is consistent with the profile of firing handle 81, first connecting rod 31 and firing handle 81 during ensureing to detect
Can fit completely, good fixing effect, can effectively transmit percussion force.Motor output shaft 9 and motor connection, and motor output shaft 9
Central axis and pulling force sensor 6 central axes, the impact of Tilt loading and eccentric load can so reduced to
Minimum, it is ensured that effective transmission of percussion force.Firing handle 81, position fixing handle 82 are axial symmetry design, i.e.,：Firing handle 81,
Position fixing handle 82 is the axis of symmetry with regard to their own and symmetrical structure.One end of motor output shaft 9 and pulling force sensor 6
The central axes of connection, the central axis of motor output shaft 9 and pulling force sensor 6, and positioned at the symmetrical of firing handle 81
In the plane that the axis of symmetry of axle and position fixing handle 82 is formed, also, the maximum weighted point on 82 axis of symmetry of position fixing handle is located at institute
On the extended line of the central axis for stating motor output shaft；During percussion, firing handle 81 is around firing handle 81 and anastomat
Arcuate movement is done in the connection end of main body, and the maximum weighted point of firing handle 81 is the midpoint of 81 axis of symmetry of firing handle, so may be used
So that the impact of Tilt loading and eccentric load is minimized, it is ensured that effective transmission of percussion force.The other end of motor output shaft 9
With the motor connection；The central axis of motor output shaft 9 is overlapped with the horizontal center line axis of pulling force sensor 6, such straight
The transmission design of linear power, can effectively reduce the loss in the transmittance process of power, it is ensured that the efficient transmission of percussion force.
Further, pulling force sensor 6 is S-shaped pulling force sensor, and motor is direct current generator.
The operation principle of anastomat 8 is to cut patient tissue using cutter and patient tissue is kissed using titanium nail
Close, during Clinical practice, the number of times (number of times for coincideing and cutting) of the percussion of anastomat 8 is the maximum based on doctor's handss
Size, fire every time during be applied to the maximum, force of apparatus, the firing handle 81 of anastomat 8 and end effector 84 away from
The factors such as the size and ergonomicss from the power needed for, end effector 84 determine；Consider factors above, typically
It is that the number of times coincideing in 8 whole work process of anastomat and cut is divided into three times, additionally, after completing to coincide and cut, also needing
Fire and once cutter are return, the end effector 84 of anastomat 8 opens, make the tissue of patient depart from end effector
84, anastomat 8 could be taken out from abdominal cavity of patients, i.e., anastomat 8 at least needs to carry out 2-4 effectively percussion.Fire every time
When, firing handle 81 is abutted with position fixing handle 82 from being kept completely separate to which with position fixing handle 82, is calculated as completing once complete
Percussion process.Because of the structure design inside existing anastomat, after the completion of first time fires, firing handle 81 could be discharged,
Until when which is kept completely separate with position fixing handle 82, can just proceed by and effectively fire next time.
It should be noted that in percussion force detection process, before anastomat 8 is fired, first connecting rod 31 and firing handle
81 do not fit completely, and firing handle 81 remains static, and anastomat 8 is not fired, and force value now is only to pull first
Pulling force needed for connecting rod 31, is not belonging to the scope for firing force value, can be not counted in the detection range of the percussion force；Additionally, hitting
Handle 81 is sent out when abutting with position fixing handle 82, the power for continuing to pull back also is not belonging to the scope of percussion force value.It is based on above-mentioned original
Cause, the starting point of detection from first connecting rod 31 fitted with firing handle 81 completely when, the terminal of detection is set to firing handle 81
Stop recording when will abut with position fixing handle 82, as the speed of motor is set as quantitatively, the stroke of the operation of drive mechanism 3
Be quantitative, therefore detection starting point and the detection terminal of each detection can be controlled by setting detection time.
Photoswitch 5 is fixedly mounted on support column 2, and photoswitch 5 and pulling force sensor 6 are coupled with control module,
Photoswitch 5 is used for monitoring whether first connecting rod 31 is kept completely separate with firing handle 81.When motor is rotated forward, by motor output shaft
9 promote forward, and motor output shaft 9 promotes pulling force sensor 6 and then promotes drive mechanism 3 to move forward.When being moved to the first company
When bar 31 is kept completely separate with firing handle 81, the display lamp of photoswitch 5 is lighted, and points out tester's firing handle 81 complete
The signal for discharging completely is sent to control module by release, photoswitch 5 simultaneously；Motor receives the firing handle 81 that MCU is transmitted
Start to invert after the signal being completely released, the display lamp of photoswitch 5 extinguishes, and motor output shaft 9 is made by the pulling force of motor
With under, pull pulling force sensor 6 and then pull drive mechanism 3 to be moved rearwards by；When first connecting rod 31 is pasted completely with firing handle 81
During conjunction, percussion force test is proceeded by.When motor is rotated forward, thrust sequentially pass through motor output shaft 9, S-shaped pulling force sensor 6, the
Three connecting rods 33, second connecting rod 32 are to first connecting rod 31, and drive mechanism 3 and S-shaped pulling force sensor 6 are at the uniform velocity moved forward together
Dynamic, as first connecting rod 31 rotates forward, firing handle 81 is released, under the elastic force effect of anastomat inner spring, percussion
Handle 81 is rotated forward and is kept completely separate with position fixing handle 82；By signal transmission to MCU, the signal is passed photoswitch 5 by MCU
Motor is passed, is started to invert after the signal of motor reception MCU, motor output shaft 9 is subject to the pulling force effect of motor to be moved rearwards by, and enters
The detection of second percussion force of row, by that analogy, after completing four percussion force tests, fixed block 1 is removed from support column 2,
First remove the second fixed block 13, you can change anastomat 8, carry out percussion force detection next time.In whole detection process, electricity
Machine uniform rotation, that is to say, that the speed that motor is rotated forward is equal to the speed of motor reversal.
The motor may be alternatively located at the front of firing handle 81, and now, motor produces thrust through sensor and driver
Structure is acted in firing handle 81, is promoted firing handle 81, is realized the percussion of anastomat, it is also possible to realize the detection of percussion force.
The anastomat of the present invention fires the operation principle of force checking device：Before detection, first connecting rod 31 and firing handle
81 in being kept completely separate state, and the near-end of S-shaped pulling force sensor 6 is connected with the distal end of drive mechanism 3, pulling force sensor 6 remote
End is connected with the near-end of motor output shaft 9, when startup power supply starts to detect, motor reversal, and motor output shaft 9 is due to being subject to motor
Pulling force effect be moved rearwards by, drive S-shaped pulling force sensor 6, drive mechanism 3 to be at the uniform velocity moved rearwards by successively, first connecting rod 31 with
Firing handle 81 is slowly contacted to fitting completely, and first connecting rod 31 is driven firing handle 81 to continue to handle 83 by pulling force effect
Direction movement until firing handle 81 when abutting with position fixing handle 82, cannot move, completes the detection of first time percussion force.S
Resistance strain gage is pasted with the surface of shape pulling force sensor 6, during percussion anastomat 8, motor reversal, drive motor
Output shaft 9 produces pulling force through S-shaped pulling force sensor 6 to drive mechanism 3, so make firing handle 81 and position fixing handle 82 from point
Fire to abutting state from state, the effect of 6 under tension of S-shaped pulling force sensor produces elastic deformation, i.e. S-shaped pulling force sensor 6
It is subject to first connecting rod 31 to be in firing handle 81 and is kept completely separate the process that state is abutted with position fixing handle 82 to firing handle 81
Middle pulling force effect and produce elastic deformation, make to be pasted onto the resistance strain gage on its surface also in company with being deformed, resistance strain gage
After deformation, its resistance value will change, then this resistance change is converted to the signal of telecommunication through corresponding measuring circuit, so as to
Complete the process that pulling force is converted to the signal of telecommunication.After processing of circuit, output voltage analogue signal is simultaneously for the change that the signal of telecommunication occurs
Send AD converter to, voltage analog signal is converted into digital signal and sends single-chip microcomputer to by AD converter, and single-chip microcomputer receives institute
Through calculating testing result output to display module 47 after stating digital signal, tester just can be obtained from display module 47
The value of this anastomat percussion force.It should be noted that the percussion force measured in 47 Dynamic Announce detection process of display module
Instantaneous value.
The control module of the anastomat percussion force checking device of the present invention also includes display module 47 and several buttons, such as
Shown in Fig. 1, the button is reset key 41, determines button 42, forward key 43, Reverse keys 44, automatic keying 45 and mould
Formula adjusting key 46.
The anastomat of the present invention fires the course of work of force checking device：First operation power switch key is by detection means
It is powered；After device is reset or removed the peel, then test pattern is adjusted to by " automatic mode " by mode tuning key 46.First click really
Determine button 42, after detection means receives signal, proceed by the detection of continuous four percussion forces；After the completion of detection, by fixed block 1
Remove from support column 2, remove the second fixed block 13, you can change anastomat 8, then cover the second fixed block 13, by fixed block 1
Anastomat 8 after together with replacing is installed along with support column 2, you can carry out the percussion force detection of next anastomat 8.This
Bright anastomat percussion force checking device can also carry out manual test as needed, and specifically, tester is first by mode tuning
Key 46 is adjusted to manual mode, by forward key 43, the rotating forward of 44 manual controlled motor of Reverse keys, reversion, so as to carry out handss
Dynamic mode detection.During manual mode detection percussion force, it is only necessary to click forward key 43 or Reverse keys 44, single-chip microcomputer will be by setting
The Stroke Control motor rotating forward that sets, the startup for inverting, stopping, automatically controlling the starting point of percussion detection and terminal every time, enter
The detection and judgement of row percussion force.
As a further improvement on the present invention, anastomat of the invention percussion force checking device also includes comparator, described
The actually detected percussion force value for obtaining is compared by comparator with standard value, and automatic decision is detected each of anastomat and hits
Have an effect and whether meet requirement.Specifically, detection means is powered by first operation power switch key 41；After device is reset, set
Maximum percussion force value is X, maximum percussion force value X be early stage according to being fired after multiple anastomats manually, according to tester's handss
Percussion process smoothly anastomat is picked out in sense, and these anastomats are defaulted as the qualified anastomat of percussion force, with the present invention's
The meansigma methodss calculated after the percussion force value of the multiple described anastomat that anastomat percussion force checking device test is chosen, or
Maximum percussion force value X is to set as needed.The force value of each percussion of anastomat percussion force detection device records is simultaneously hit every time
Actual maximum percussion force value during sending out is compared with pre-set percussion force value X, when actually detected percussion force
When value is less than or equal to maximum percussion force value X for setting, the percussion force of the anastomat meets requirement, and anastomat percussion force is detected
Device records the detected value；Can be carried out the detection of the percussion force next time of the anastomat.When actually detected percussion force value
During more than percussion force value X for setting, anastomat fires force checking device alarm tester, this time percussion force of the anastomat
It is unsatisfactory for requiring, tester can stop the detection of the anastomat and take out the anastomat, check underproof reason；Or continue
The anastomat is taken out after the detection of residue degree is carried out until completing four detections, underproof reason is reexamined, after carrying out
Continuous improvement.
In sum, anastomat of the invention fires the firing action of force checking device sham operated Shi doctor, by number
Percussion force is carried out detecting according to collection and data processing and digitized shows detected value, the improved properties of anastomat percussion force are carried
High offer data supporting.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integral；Can be that machinery connects
Connect, or electrically connect or can communicate each other；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be with
It is connection or the interaction relationship of two elements of two element internals, unless otherwise clearly restriction.For this area
For those of ordinary skill, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be with
It is the first and second feature directly contacts, or the first and second features is by intermediary mediate contact.And, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy described with reference to the embodiment or example
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be with office
Combined in one or more embodiments or example in an appropriate manner.Additionally, in the case of not conflicting, the skill of this area
The feature of the different embodiments or example described in this specification and different embodiments or example can be tied by art personnel
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (16)
1. a kind of anastomat fires force checking device, it is characterised in that including supporting mechanism, drive mechanism, data processing module
And control module；The anastomat includes firing handle, and the control module includes motor, display module；
The supporting mechanism is used for fixing the anastomat being detected；The first end of the drive mechanism can with the supporting mechanism
Rotationally connect, the second end of the drive mechanism is rotatably coupled with the data processing module；The data processing mould
Block is connected with the output shaft of the motor, and under the driving of the motor, the drive mechanism fires the described of the anastomat
Firing handle；The data processing module perceives the power that motor is provided, i.e. percussion force；The data processing module is to the percussion
Power is acquired, process after, the display module is arrived in testing result output.
2. anastomat according to claim 1 fires force checking device, it is characterised in that the data processing module includes
Sensor；One end of the sensor is rotatably coupled with the second end of the drive mechanism, the other end of the sensor
It is connected with the output shaft of the motor；The motor provides percussion force, and the percussion force is transferred to by the output shaft of the motor
The percussion force is transferred to the drive mechanism by the sensor, the sensor, and the drive mechanism is by the percussion force
It is transferred to the firing handle of the anastomat.
3. anastomat according to claim 2 fires force checking device, it is characterised in that the data processing module enters one
Step includes AD converter；The control module further includes single-chip microcomputer；Deformation is produced after the force acting on transducer and will be simulated
Signal output is to AD converter；Analogue signal is converted into number after receiving the signal for coming from the sensor by the AD converter
After word signal transmission receives the digital signal to the single-chip microcomputer, the single-chip microcomputer, testing result is defeated after data processing
Go out to the display module.
4. the anastomat according to Claims 2 or 3 fires force checking device, it is characterised in that the sensor is that S-shaped is drawn
Force transducer, the motor are direct current generator.
5. anastomat according to claim 1 fires force checking device, it is characterised in that the supporting mechanism includes bottom
Seat, support column, fixed block；One end of the support column is fixed on the base, and the anastomat is fixed on the fixed block
Interior, the fixed block is removably mounted on the other end of the support column.
6. anastomat according to claim 5 fires force checking device, it is characterised in that the inner surface tool of the fixed block
There is the depressed part being adapted to the shell profiling of the anastomat.
7. anastomat according to claim 1 fires force checking device, it is characterised in that the drive mechanism includes first
Connecting rod, second connecting rod and third connecting rod, one end of the first connecting rod are rotatably connected on the supporting mechanism, and described
The mid portion of one connecting rod is rotationally connected with one end of the second connecting rod, the other end of the second connecting rod with described
Third connecting rod is rotationally connected.
8. anastomat according to claim 7 fires force checking device, it is characterised in that the first connecting rod has and institute
State the depressed part of firing handle profiling adaptation.
9. anastomat according to claim 7 fires force checking device, it is characterised in that the first connecting rod is used for transmitting
The percussion force simultaneously fires the anastomat, and the second connecting rod is used for transmitting the percussion force, and the third connecting rod is used for will
The percussion force of the motor is transferred to the first connecting rod via the second connecting rod.
10. anastomat according to claim 7 fires force checking device, it is characterised in that the drive mechanism is provided with limit
Bit architecture.
11. anastomats according to claim 10 fire force checking device, it is characterised in that the position limiting structure is spacing
Post and stopper slot；One end of the second connecting rod is provided with the limited post, one end of the third connecting rod and is provided with the stopper slot；
Or, one end of the second connecting rod is provided with the stopper slot, one end of the third connecting rod and is provided with the limited post；Or,
One end of the second connecting rod is simultaneously provided with the limited post and the stopper slot, one end of the third connecting rod while correspondingly
It is provided with the stopper slot and the limited post.
12. anastomats according to claim 1 fire force checking device, it is characterised in that the anastomat percussion force inspection
The detection pattern for surveying device is automatic mode or manual mode.
13. anastomats according to claim 4 fire force checking device, it is characterised in that the S-shaped pulling force sensor
The central axes of horizontal center line and the motor output shaft.
The 14. anastomat percussion force checking devices according to any one of claims 1 to 3, it is characterised in that the driver
Structure includes that first connecting rod, the first connecting rod are used for transmitting percussion force and fire the firing handle of the anastomat；Described
Data processing module also includes photoswitch, and the photoswitch is located on the supporting mechanism, for detecting that described first connects
The state of bar and the firing handle.
The 15. anastomat percussion force checking devices according to any one of claims 1 to 3, it is characterised in that at the data
Reason module also includes comparator；The actually detected percussion force value for obtaining is compared by the comparator with standard value, to determine
Whether anastomat percussion force meets requirement.
16. anastomats according to claim 1 fire force checking device, it is characterised in that it is described that the motor is provided
Power is pulling force, or thrust.
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| CN201610879428.7A CN106491211B (en) | 2016-09-30 | 2016-09-30 | A kind of stapler percussion force checking device |
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|---|---|---|---|
| CN201610879428.7A CN106491211B (en) | 2016-09-30 | 2016-09-30 | A kind of stapler percussion force checking device |
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| CN106491211B CN106491211B (en) | 2019-02-12 |
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| CN201610879428.7A Active CN106491211B (en) | 2016-09-30 | 2016-09-30 | A kind of stapler percussion force checking device |
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| CN107334543A (en) * | 2016-12-27 | 2017-11-10 | 江苏风和医疗器材股份有限公司 | A kind of moving link for detection means and there is its detection means |
| CN107485430A (en) * | 2017-09-08 | 2017-12-19 | 江苏孜航精密五金有限公司 | The push jack transmission device of disposable foreskin Endo-GIA |
| CN110411633A (en) * | 2018-04-27 | 2019-11-05 | 江苏风和医疗器材股份有限公司 | Detecting tool and detection method |
| CN111141435A (en) * | 2019-12-31 | 2020-05-12 | 苏州越众生物科技有限公司 | Method and device for testing percussion force of medical anastomat |
| CN111772705A (en) * | 2020-08-07 | 2020-10-16 | 山东威瑞外科医用制品有限公司 | Electric anastomat |
| CN113796907A (en) * | 2021-09-26 | 2021-12-17 | 赛诺微医疗科技（浙江）有限公司 | Stroke detection structure and control method thereof, electric stapler and medical equipment |
| CN113842181A (en) * | 2021-09-26 | 2021-12-28 | 赛诺微医疗科技（浙江）有限公司 | Deflection detection structure, control method thereof, electric stapler, and medical apparatus |
| CN114376637A (en) * | 2020-10-22 | 2022-04-22 | 苏州威森特医疗机器人有限公司 | Stapler power module, stapler and minimally invasive surgical robot |
| CN118243275A (en) * | 2024-05-28 | 2024-06-25 | 陕西省核工业二一五医院 | Anorectal anastomat pressure tester |
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| CN114376637A (en) * | 2020-10-22 | 2022-04-22 | 苏州威森特医疗机器人有限公司 | Stapler power module, stapler and minimally invasive surgical robot |
| CN113796907A (en) * | 2021-09-26 | 2021-12-17 | 赛诺微医疗科技（浙江）有限公司 | Stroke detection structure and control method thereof, electric stapler and medical equipment |
| CN113842181A (en) * | 2021-09-26 | 2021-12-28 | 赛诺微医疗科技（浙江）有限公司 | Deflection detection structure, control method thereof, electric stapler, and medical apparatus |
| CN113796907B (en) * | 2021-09-26 | 2023-09-05 | 赛诺微医疗科技（浙江）有限公司 | Stroke detection structure and control method thereof, electric stapler and medical equipment |
| CN113842181B (en) * | 2021-09-26 | 2023-09-29 | 赛诺微医疗科技（浙江）有限公司 | Deflection detection structure and control method thereof, electric stapler and medical equipment |
| US12324646B2 (en) | 2021-09-26 | 2025-06-10 | Surgnova Healthcare Technologies (Zhejiang) Co., Ltd. | Deflection detector, method of controlling deflection detector, electric stapler, and medical device |
| CN118243275A (en) * | 2024-05-28 | 2024-06-25 | 陕西省核工业二一五医院 | Anorectal anastomat pressure tester |
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