CN118526243B - Nail magazine status identification device and identification method thereof and surgical instrument - Google Patents
Nail magazine status identification device and identification method thereof and surgical instrumentInfo
- Publication number
- CN118526243B CN118526243B CN202410566592.7A CN202410566592A CN118526243B CN 118526243 B CN118526243 B CN 118526243B CN 202410566592 A CN202410566592 A CN 202410566592A CN 118526243 B CN118526243 B CN 118526243B
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- nail
- staple cartridge
- assembly
- current threshold
- staple
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/11—Surgical instruments, devices or methods for performing anastomosis; Buttons for anastomosis
- A61B17/115—Staplers for performing anastomosis, e.g. in a single operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07257—Stapler heads characterised by its anvil
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07271—Stapler heads characterised by its cartridge
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- 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)
Abstract
The invention discloses a nail bin state identification device, an identification method thereof and a surgical instrument. The cartridge state identification device comprises an end effector, a closing assembly, a driving motor, a current monitoring circuit and a processing circuit, wherein the end effector comprises a nail anvil and a nail cartridge assembly which is operably connected to the nail anvil, the closing assembly comprises a closing part and a closing driving part which drives the closing part to slide, the driving motor is configured to provide driving force for the closing driving part under the action of driving current, the current monitoring circuit is configured to monitor the maximum driving current value in the process of moving the closing part from an initial position to a closing position, and the processing circuit is electrically connected with the current monitoring circuit and is configured to identify whether the nail cartridge exists in the nail cartridge assembly according to the maximum driving current value. The nail bin state identification device and the method thereof not only improve the operation convenience of surgical instruments, but also reduce the risk of misoperation of the instruments.
Description
Technical Field
The present disclosure relates to the field of medical devices, and in particular, to a device and method for identifying a state of a staple cartridge of a surgical instrument, and a surgical instrument.
Background
The stapler is a device used in medicine to replace manual suturing, and the main working principle is to cut or staple tissues by using staples, similar to a stapler. The electric anastomat can completely realize all action functions of the endoscope anastomat under electric control by combining the motor, the circuit board and the mechanical traditional components together, and the operation method is simpler.
Disclosure of Invention
The embodiment of the disclosure provides a device and a method for identifying the state of a nail bin of a surgical instrument and the surgical instrument.
According to a first aspect of the present disclosure, there is provided a cartridge status identifying device for a surgical instrument comprising an end effector, a closure assembly, a drive motor, a current monitoring circuit, and a processing circuit. The end effector includes an anvil and a cartridge assembly operably connected to the anvil, the cartridge assembly configured to receive a staple-containing cartridge, the end effector including proximal and distal ends that are opposite one another, a closure assembly configured to move in an axial direction from the proximal end toward the distal end, the closure assembly including a slidable closure member and a closure drive member that drives the closure member, the closure member having an initial position and a closed position, wherein the closure member, the cartridge assembly, and the cartridge are configured such that the cartridge assembly is moved proximate the anvil as the closure member moves from the initial position to the closed position, a drive motor configured to provide a drive force to the closure drive member under the influence of a drive current, a current monitoring circuit configured to monitor a maximum drive current value during movement of the closure member from the initial position to the closed position, and a processing circuit electrically connected to the current monitoring circuit and configured to identify the presence of a cartridge in the cartridge assembly based on the maximum drive current value.
In at least some embodiments, the processing circuit is further configured to set a first current threshold, wherein the first current threshold is greater than zero, and compare the maximum drive current value to the first current threshold, wherein the absence of the staple cartridge in the staple cartridge assembly is determined when the maximum drive current value is less than or equal to the first current threshold, and wherein the presence of the staple cartridge in the staple cartridge assembly is determined when the maximum drive current value is greater than the first current threshold.
In at least some embodiments, the processing circuitry is further configured to, upon identifying the presence of the staple cartridge in the staple cartridge assembly, further identify whether staples in the staple cartridge are fired.
In at least some embodiments, the processing circuit is further configured to set a second current threshold, wherein the second current threshold is greater than the first current threshold, and compare the maximum drive current value to the second current threshold, wherein the staples are determined to be fired when the maximum drive current value is greater than the first current threshold and less than or equal to the second current threshold, and wherein the staples are determined to not be fired when the maximum drive current value is greater than the second current threshold.
In at least some embodiments, the first current threshold is 0.95-1.05A and the second current threshold is 1.15-1.25A.
In at least some embodiments, the closure member further has a closure starting position between the initial position and the closed position, the closure member, the cartridge assembly, and the cartridge are configured to have a maximum spacing between the cartridge assembly and the anvil when the closure member is in the initial position, a minimum spacing between the cartridge assembly and the anvil when the closure member is in the closed position, the cartridge assembly begins to approach the anvil when the closure member is in the closed starting position, the current monitoring circuit is configured to monitor an initial maximum drive current value during movement of the closure member from the initial position to the closed starting position, and the processing circuit is configured to identify whether the cartridge is present in the cartridge assembly based on the initial maximum drive current value.
In at least some embodiments, the processing circuit is further configured to set a first current threshold, wherein the first current threshold is greater than zero, and compare the initial maximum drive current value to the first current threshold, wherein the absence of the staple cartridge in the staple cartridge assembly is determined when the initial maximum drive current value is less than or equal to the first current threshold, and wherein the presence of the staple cartridge in the staple cartridge assembly is determined when the initial maximum drive current value is greater than the first current threshold.
In at least some embodiments, the processing circuitry is further configured to, upon determining that the staple cartridge is present in the staple cartridge assembly, further determine whether staples in the staple cartridge are fired.
In at least some embodiments, the processing circuit is further configured to set a second current threshold, wherein the second current threshold is greater than the first current threshold, and compare the initial maximum drive current value to the second current threshold, wherein the staples are determined to be fired when the initial maximum drive current value is greater than the first current threshold and less than or equal to the second current threshold, and wherein the staples are determined to not be fired when the initial maximum drive current value is greater than the second current threshold.
In at least some embodiments, the staple cartridge includes a staple ejection face having a staple ejection region and a non-staple ejection region, the non-staple ejection region being located on a side of the staple ejection region proximate the proximal end, the anvil includes a staple abutment face and at least one spring disposed on the staple abutment face, the spring extending toward the non-staple ejection region such that when the staple cartridge assembly is moved proximate the anvil, the spring and the staple cartridge have a positional relationship such that when the staple cartridge is present in the staple cartridge assembly, the spring is in abutment with the non-staple ejection region of the staple cartridge, and when the staple cartridge is not present in the staple cartridge assembly, the spring is not in contact with the non-staple ejection region of the staple cartridge.
In at least some embodiments, the staple supporting surface has a staple supporting region and a non-staple supporting region, the non-staple supporting region is positioned at one side of the staple supporting region near the proximal end, the at least one elastic sheet comprises a head end and a tail end which are opposite to each other in the extending direction, the tail end is connected with the non-staple supporting region, the head end is a hanging end and extends towards the non-staple discharging region, so that when the staple cartridge assembly moves near the anvil and the staple cartridge exists in the staple cartridge assembly, the hanging end of the at least one elastic sheet is abutted against the non-staple discharging region.
In at least some embodiments, the staple cartridge assembly further comprises a bottom housing defining an elongated channel for receiving the staple cartridge, the staple cartridge removably mounted in the elongated channel, a staple pushing assembly configured to push the staples out of the staple cartridge, the staple pushing assembly comprising a staple pushing member positioned between the staple cartridge and the bottom housing and configured to move between a proximal position proximate the proximal end and a distal position proximate the distal end, wherein the staple pushing assembly is configured such that when the staple pushing member is moved to the distal position, the staple cartridge and the bottom housing leave a gap at the proximal position such that the staple cartridge has a drop space when the spring is abutted against the non-staple ejection zone, and such that when the staple pushing member is moved to the proximal position, the gap is occupied by the staple pushing member such that the staple cartridge remains stationary when the spring is abutted against the non-staple ejection zone.
In at least some embodiments, the stapling face has a knife slot extending in the axial direction, the closure member comprises a cutting portion configured to move in the knife slot, the stapling zone comprises a first stapling zone and a second stapling zone, the first stapling zone and the second stapling zone are respectively located on opposite sides of the knife slot, the non-stapling zone comprises a first non-stapling zone and a second non-stapling zone, the first non-stapling zone and the second non-stapling zone are respectively located on opposite sides of the knife slot, the at least one spring comprises two springs, the two springs comprise a first spring and a second spring, the first spring is connected to the first non-stapling zone, and the second spring is connected to the second non-stapling zone.
In at least some embodiments, the staple ejection face has an opposing slot extending in the axial direction, the cutting portion is configured to move in both the slot and the opposing slot, the staple ejection region includes a first staple ejection region and a second staple ejection region that are respectively located on opposite sides of the slot, the non-staple ejection region includes a first non-staple ejection region and a second non-staple ejection region that are respectively located on opposite sides of the slot, the first spring is configured to abut the first non-staple ejection region when the staple cartridge is present in the staple cartridge assembly, the first spring is not in contact with the first non-staple ejection region when the staple cartridge is not present in the staple cartridge assembly, and the second spring is configured to abut the second non-staple ejection region when the staple cartridge is present in the staple cartridge assembly.
According to a second aspect of the present disclosure, there is provided a surgical instrument comprising a cartridge status identifying device as described in any one of the above.
According to a third aspect of the present disclosure, there is provided a cartridge status identifying method of a surgical instrument comprising driving a closure member from an initial position to a closed position, monitoring a maximum drive current value during movement of the closure member from the initial position to the closed position, and identifying whether the cartridge is present in the cartridge assembly based on the maximum drive current value.
In at least some embodiments, the identifying whether the staple cartridge is present in the staple cartridge assembly based on the maximum drive current value includes setting a first current threshold, wherein the first current threshold is greater than zero, and comparing the maximum drive current value to the first current threshold, wherein the absence of the staple cartridge in the staple cartridge assembly is determined when the maximum drive current value is less than or equal to the first current threshold, and wherein the presence of the staple cartridge in the staple cartridge assembly is determined when the maximum drive current value is greater than the first current threshold.
In at least some embodiments, upon identifying the presence of the cartridge in the cartridge assembly, the cartridge status identifying method further comprises identifying whether staples in the cartridge are fired.
In at least some embodiments, the identifying whether staples in the staple cartridge are fired comprises:
Setting a second current threshold, wherein the second current threshold is greater than the first current threshold, and
Comparing the maximum drive current value with the second current threshold, wherein the staples are determined to be fired when the maximum drive current value is greater than the first current threshold and less than or equal to the second current threshold, and the staples are determined to not be fired when the maximum drive current value is greater than the second current threshold.
In at least some embodiments, a closure starting position is arranged between the initial position and the closure position, the closure component moves from the initial position to the closure starting position through the closure starting position, the monitoring of the maximum driving current value during the movement of the closure component from the initial position to the closure position comprises monitoring the initial maximum driving current value during the movement of the closure component from the initial position to the closure starting position, and the identifying whether the nail cartridge exists in the nail cartridge assembly according to the maximum driving current value comprises identifying whether the nail cartridge exists in the nail cartridge assembly according to the initial maximum driving current value.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below, and it is apparent that the drawings in the following description relate only to some embodiments of the present disclosure, not to limit the present disclosure.
FIG. 1 is a schematic structural view of a surgical instrument according to an embodiment of the present disclosure;
FIG. 2 is a block diagram of a cartridge identification device of an embodiment of the present disclosure;
FIG. 3A is a top view of a surgical instrument according to an embodiment of the present disclosure;
FIG. 3B is a schematic cross-sectional view taken along line A-A of FIG. 3A;
FIG. 3C is another schematic cross-sectional view taken along line A-A of FIG. 3A;
FIG. 4 is a schematic structural view of a closure assembly of an embodiment of the present disclosure;
FIG. 5A is a schematic structural view of a staple cartridge assembly of an embodiment of the present disclosure;
FIG. 5B is an enlarged partial schematic view of FIG. 5A;
FIG. 6A is a schematic structural view of an anvil according to an embodiment of the present disclosure;
FIG. 6B is an enlarged partial schematic view of FIG. 6A;
FIG. 6C is a schematic structural view of the spring in FIG. 6A;
FIG. 7A is another top view of a surgical instrument of an embodiment of the present disclosure;
FIG. 7B is a schematic cross-sectional view taken along line B-B of FIG. 7A;
FIG. 7C is another schematic cross-sectional view taken along line B-B of FIG. 7A;
FIG. 8A is a schematic view of an end effector of an embodiment of the present disclosure in an initial state;
FIG. 8B is a schematic view of the internal structure of the end effector of FIG. 8A;
FIG. 8C is an enlarged schematic view of a portion of the region E in FIG. 8B;
FIG. 9A is a schematic view of an end effector of an embodiment of the present disclosure in a closed start state;
FIG. 9B is a schematic view of the internal structure of the end effector of FIG. 9A;
FIG. 9C is an enlarged schematic view of a portion of the region F in FIG. 9B;
FIG. 9D is a schematic view of another internal structure of the end effector of FIG. 9A;
FIG. 9E is an enlarged partial schematic view of the region G in FIG. 9D;
FIG. 10 is another structural schematic view of a staple cartridge assembly of an embodiment of the present disclosure;
FIG. 11 is a flowchart of steps of a method of identifying a status of a staple cartridge of a surgical instrument according to an embodiment of the present disclosure.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without the need for inventive faculty, are within the scope of the present disclosure, based on the described embodiments of the present disclosure.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The terms "first," "second," and the like in the description and in the claims, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, is intended to mean that elements or items that are present in front of "comprising" or "comprising" are included in the word "comprising" or "comprising", and equivalents thereof, without excluding other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to denote relative positional relationships, which may also change accordingly when the absolute position of the object to be described changes.
The powered stapler includes a shaft assembly and an end effector at a distal end of the shaft assembly, such as having a clamp-like, openable and closable structure that includes an anvil and a cartridge assembly. A replaceable cartridge is mounted in the cartridge assembly to allow for the reusable end effector during operation. For example, during operation, multiple configurations of cartridge assemblies having different sizes of staples may be replaced according to different properties of thickness, density, etc. of tissue to be stapled, thereby improving the stapling effect.
However, the existing electric anastomat does not have a function of identifying the state of the nail cartridge, so that the convenience of operation of the electric anastomat is reduced, and the risk of misoperation exists.
To this end, embodiments of the present disclosure provide a cartridge status identifying device for a surgical instrument that includes an end effector, a closure assembly, a drive motor, a current monitoring circuit, and a processing circuit. The end effector includes an anvil and a cartridge assembly operably coupled to the anvil, the cartridge assembly configured to receive a staple-containing cartridge, the end effector including a proximal end and a distal end opposite one another. A closure assembly configured to move in an axial direction from a proximal end toward a distal end, the closure assembly including a slidable closure member and a closure drive member driving the closure member, the closure member having an initial position and a closed position, wherein the closure member, the cartridge assembly, and the cartridge are configured such that the cartridge assembly is moved to approach the anvil during movement of the closure member from the initial position to the closed position. The drive motor is configured to close the drive member to provide a driving force under the influence of a driving current. The current monitoring circuit is configured to monitor a maximum drive current value during movement of the closure member from the initial position to the closed position. The processing circuit is electrically connected to the current monitoring circuit and is configured to identify whether a staple cartridge is present in the cartridge assembly based on the maximum drive current value.
The embodiment of the disclosure also provides a surgical instrument, which comprises the device for identifying the state of the nail bin.
Embodiments of the present disclosure also provide a method of identifying a cartridge condition of a surgical instrument, comprising driving a closure member from an initial position to a closed position, monitoring a maximum drive current value during movement of the closure member from the initial position to the closed position, and identifying whether a cartridge is present in a cartridge assembly based on the maximum drive current value.
In the device and the method for identifying the nail cartridge state of the surgical instrument provided by the embodiments of the present disclosure, by monitoring the maximum driving current value in the process of moving the closing member from the initial position to the closed position and identifying whether the nail cartridge exists in the nail cartridge assembly according to the maximum driving current value, the purpose of identifying the nail cartridge state is achieved, so that the convenience in operation of the surgical instrument is improved, and the risk of misoperation of the instrument is reduced.
The present disclosure is illustrated by the following specific examples. Detailed descriptions of known functions and known components may be omitted for the sake of clarity and conciseness in the following description of the embodiments of the present disclosure. When any element of an embodiment of the present disclosure appears in more than one drawing, the element may be referred to by the same reference numeral in each drawing.
Fig. 1 is a schematic structural view of a surgical instrument according to an embodiment of the present disclosure. Fig. 2 is a block diagram of a cartridge identification device of an embodiment of the present disclosure. Fig. 3A is a top view of a surgical instrument of an embodiment of the present disclosure. Fig. 3B is a schematic cross-sectional view taken along line A-A of fig. 3A. Fig. 3C is another schematic cross-sectional view taken along line A-A of fig. 3A. Fig. 4 is a schematic structural view of a closure assembly of an embodiment of the present disclosure.
For example, embodiments of the present disclosure provide a surgical instrument comprising an end effector 1, a shaft assembly 2, and a handle assembly 3. The end effector 1 includes an anvil 10 and a cartridge assembly 20 operably coupled to the anvil 10, the cartridge assembly 20 being configured to receive a staple cartridge 22. When the cartridge assembly 20 and anvil 10 are moved away from each other, the end effector 1 is in an open state. When the cartridge assembly 20 and anvil 10 are brought into proximity with each other, the end effector 1 is in a closed state. The end effector 1 is attached to the distal end of a shaft assembly 2, and drive components, such as a closure drive component 33, a firing drive component (not shown), etc., for effecting closure and firing operations are disposed within the shaft assembly 2. The handle assembly 3 comprises a housing, the surgical instrument further comprising a drive motor 40, a current monitoring circuit 50, a processing circuit 60, and a power supply circuit 70, etc. disposed in the housing, the power supply circuit 70 comprising, for example, a reusable battery cartridge that can be inserted into the handle assembly 3 at the time of use and withdrawn from the handle assembly 3 after use.
For example, the surgical instrument further comprises a closing assembly 30 for closing the end effector 1, the closing assembly 30 being linearly reciprocated. The end effector 1 includes a proximal end 1A and a distal end 1B opposite each other, the end effector 1 being closed when the closure assembly 30 is moved in an axial direction (e.g., the +Z direction shown in the figures) from the proximal end 1A toward the distal end 1B, the cartridge assembly 20 and anvil 10 being moved toward each other, and the end effector 1 being opened when the closure assembly 30 is moved in an opposite direction (e.g., the-Z direction shown in the figures) from the cartridge assembly 20 to the anvil 10 being moved away from each other.
For example, the closure assembly 30 includes a closure member 31 and a closure driving member 33 that drives the closure member 33 in a linear motion. Closure member 31 includes a first attachment portion 311 configured to slidably couple to anvil 10 and a second attachment portion 312 configured to slidably couple to cartridge assembly 20. When the closing member 31 moves in the +z direction, the anvil 10 and the cartridge assembly 20 can approach each other under the clamping action of the first and second connecting portions 311 and 312, so that the end effector 1 is gradually closed. When the closure member 31 is moved in the-Z direction, the anvil 10 and cartridge assembly 20 are no longer gripped, and the two will move away from each other and the end effector 1 will be reopened. The closing member 31 and the driving closing member 33 may be connected by being engaged with each other, or connected in other manners, which is not limited by the embodiment of the present disclosure.
For example, embodiments of the present disclosure provide a cartridge condition recognition device that includes an end effector 1, a closure assembly 30, a drive motor 40, a current monitoring circuit 50, and a processing circuit 60.
Referring to fig. 3A to 3C, the closing member 31 has an initial position P0 and a closing position Py. When the closing part 31 is in the initial position P0, the end effector 1 is in an open state. When the closing part 31 is in the closing position Py, the end effector 1 is in the closed state. As can be seen in FIG. 3B, the staples have been fired at this point due to the proximity of the staple pushing assembly 35 to the distal end. As shown in fig. 3C, after the staples are fired, the closing member 31 is retracted to the initial position P0 and the end effector 1 is returned to the open state.
Fig. 5A is a schematic structural view of a staple cartridge assembly of an embodiment of the present disclosure. Fig. 5B is an enlarged partial schematic view of fig. 5A. Fig. 6A is a schematic structural view of an anvil according to an embodiment of the present disclosure. Fig. 6B is an enlarged partial schematic view of fig. 6A. Fig. 6C is a schematic structural diagram of the spring in fig. 6A. Fig. 7A is another top view of a surgical instrument of an embodiment of the present disclosure. Fig. 7B is a schematic cross-sectional view taken along line B-B of fig. 7A. Fig. 7C is another schematic cross-sectional view taken along line B-B of fig. 7A.
For example, the staple cartridge 22 includes a staple ejection face 220, the staple ejection face 220 having a staple ejection zone 222 and a non-staple ejection zone 224, the non-staple ejection zone 224 being located on a side of the staple ejection zone 222 proximate the proximal end 1A. A plurality of staple ejection slots 232 are provided in the staple ejection region 222, with staples provided in each staple ejection slot 232. As the staples are fired, the staples are moved upward so that the legs extend from the staple exit slot 232 and toward the anvil 10. The target tissue may be clamped between the cartridge assembly 20 and the anvil 10 and thus the staple exit face 220 is also referred to as a tissue contacting surface.
For example, anvil 10 includes a stapling face 110, stapling face 110 having a stapling region 112 and a non-stapling region 114, non-stapling region 114 being located on a side of stapling region 112 adjacent proximal end 1A. The nail propping area 112 is provided with a plurality of nail propping seats 234, and the plurality of nail propping seats 234 and the plurality of nail outlet grooves 232 are in one-to-one correspondence. Thus, when the legs of the staples reach the abutment 234 through the target tissue, the abutment 234 bends the legs of the staples into the tissue, effecting tissue stapling.
For example, the anvil 10 further includes at least one spring (e.g., the first spring 12a and the second spring 12b shown in the figures) disposed on the abutment surface 110, wherein the first spring 12a and the second spring 12b each extend toward the non-staple-ejection region 224 such that when the cartridge assembly 20 is moved closer to the anvil 10, the first spring 12a and the second spring 12b each have a positional relationship with the cartridge 10 such that when the cartridge 22 is installed in the cartridge assembly 20, the first spring 12a and the second spring 12b each abut against the non-staple-ejection region 224 of the cartridge 22, and when the cartridge 22 is not installed in the cartridge assembly 20, the first spring 12a and the second spring 12b each do not contact the non-staple-ejection region 224 of the cartridge 22. In the disclosed embodiment, "at least one spring" means may be the first spring 12a, or the second spring 12b, or both the first spring 12a and the second spring 12 b.
For example, as shown in FIG. 7B, in the event that a staple cartridge 22 is not installed in the cartridge assembly 20, when the closure member 31 is moved in the +Z direction, the cartridge assembly 20 is moved closer to the anvil 10, but the spring (only the first spring 12a is shown) does not contact the non-staple ejection zone 224 of the staple cartridge 22 because the staple cartridge 22 has not yet been installed at this time. As shown in fig. 7C, with cartridge 22 installed in cartridge assembly 20, when closure member 31 is moved in the +z direction, cartridge assembly 20 is moved closer to anvil 10, at which time first spring tab 12a will abut against non-staple ejection zone 224 of cartridge 22, thereby generating a force F that prevents cartridge assembly 20 and anvil 10 from moving closer to each other. However, in order to finally bring the end effector 1 to the closed state, the closure driving member 33 needs to overcome the above-described resistance force F to drive the closure member 31 to continue to move in the +z direction. Therefore, by increasing the current value of the drive current I, the driving force of the closing driving part 33 can be increased. Embodiments of the present disclosure can identify the presence or absence of a staple cartridge 22 in the staple cartridge assembly 20 by monitoring the maximum value of this drive current I, i.e., the maximum drive current value Imax.
Returning to fig. 2, the power supply circuit 70 is electrically connected to the drive motor 40 for applying a drive current I to the drive motor 40. The driving motor 40 supplies a driving force to the closing driving part 33 by a driving current I. In some embodiments, the drive motor 40 transmits drive force via a power take-off shaft to a transmission assembly, which in turn transmits drive force to the closure drive member 33, thereby effecting power transmission. The current monitoring circuit 50 is connected to the drive motor 40 and is used to monitor the maximum drive current value Imax, i.e. the maximum value of the current I, during the movement of the closing member 31 from the initial position P0 to the closing position Py. Processing circuitry 60 is electrically connected to current monitoring circuitry 50 and identifies the presence or absence of cartridge 22 in cartridge assembly 20 based on a maximum drive current value Imax.
For example, the processing circuit 60 is further configured to set a first current threshold I1, wherein the first current threshold I1 is greater than zero, and to compare the maximum drive current value Imax to the first current threshold I1. When the maximum drive current value Imax is less than or equal to the first current threshold I1, it is determined that no cartridge 22 is present in the cartridge assembly 20, and when the maximum drive current value Imax is greater than the first current threshold I1, it is determined that a cartridge 22 is present in the cartridge assembly 20.
The inventors have found that in the related surgical instruments, the end effector is entirely a replaceable component. For example, referring to FIG. 1, the distal assembly including the end effector and partial shaft assembly 2 to the left of the dashed line may be integrally disassembled. By providing electrical circuitry or wires in the shaft assembly 2 and the distal assembly, respectively, that can generate an electrical connection signal, and monitoring the electrical connection signal, it can be identified whether the distal assembly is replaced, thereby further confirming whether a new cartridge is installed.
However, the monitoring device and method in the related art described above cannot be applied to the surgical instrument of the embodiment of the present disclosure. The surgical instrument of the presently disclosed embodiments designs the cartridge 22 as a replaceable component, with the components of the shaft assembly 2 and the anvil 10 and bottom shell 24 of the end effector 1 being reusable components, for reasons of reduced cost of use. Because of the plastic material and small size of the cartridge 22, it is difficult to additionally design electrical circuits or wires therein that can produce electrical connection signals.
In the surgical instrument of the embodiment of the present disclosure, by providing the elastic sheet on the anvil 10, the driving current I is changed by the resistance force F generated by the elastic sheet, the maximum driving current value Imax during the movement of the closing member 31 is monitored by the current monitoring circuit 50, and whether the cartridge 22 is mounted or not is confirmed by the processing circuit according to the maximum driving current value. Compared with the related art, the method not only overcomes the technical difficulty and achieves the aim of identifying the state of the nail bin, but also has small change and low cost on the prior surgical instrument.
In the embodiment of the present disclosure, the number of the elastic sheets may be one or a plurality, that is, two or more, and the embodiment of the present disclosure is not limited thereto. The embodiment of the present disclosure will be described with reference to two spring plates. For example, the material of the spring plate includes a metal material, and in some embodiments, the spring plate may be a metal spring plate.
The specific construction of the spring is described below with reference to the second spring 12 b. For example, as shown in fig. 6A to 6C, the second elastic sheet 12b includes a head end E1 and a tail end E2 opposite to each other in the extending direction thereof, the tail end E2 is connected to the non-staple ejecting zone 114, the head end E1 is a overhanging end and extends toward the non-staple ejecting zone 224, so that when the cartridge assembly 20 moves close to the anvil 10 and the staple cartridge 22 is present in the cartridge assembly 20, the overhanging end of the second elastic sheet 12b abuts against the non-staple ejecting zone 224, thereby generating the resistance force F. By connecting the tail end E2 to the non-nailing region 224, the interference of the second spring 12b to the nailing seat in the nailing region 112 can be further avoided. By providing the head end E1 as an overhanging end, the second spring 12b can be brought into contact with and against the non-staple ejection region 224 of the staple cartridge 22 as the cartridge assembly approaches the anvil to create the resistive force F. In some embodiments, head end E1 is designed to have a curved shape, such as a curved hook shape, to avoid damaging the surface of non-staple ejection zone 224.
For example, referring to fig. 4 to 6C, the stapling face 110 has a knife groove 116 extending in the +z direction, and the closing member 31 includes a cutting portion 313, and when the closing member 31 moves, the cutting portion 313 moves in the knife groove 116. In this manner, the target tissue may be cut during movement of the closure member 31. The nailing section 112 comprises a first nailing section 112a and a second nailing section 112b, the first nailing section 112a and the second nailing section 112b being located on opposite sides of the knife channel 116, respectively. The non-nailer region 114 includes a first non-nailer region 114a and a second non-nailer region 114b, the first non-nailer region 114a and the second non-nailer region 114b being located on opposite sides of the sipe 116, respectively. The first elastic piece 12a is connected to the first non-nailing region 114a, and the second elastic piece 12b is connected to the second non-nailing region 114b. By the arrangement, the influence on the nail propping seat in the nail propping area can be avoided on the premise that the two elastic sheets can generate resistance.
For example, the staple ejection face 220 has an opposing sipe 226 extending in the +z direction, and when the closing member 31 moves, the cutting portion 313 moves in both the sipe 116 and the opposing sipe 226. The staple ejection zone 222 includes a first staple ejection zone 222a and a second staple ejection zone 222b, the first staple ejection zone 222a and the second staple ejection zone 222b being located on opposite sides of the knife channel 116, respectively. The non-staple ejection zone 224 includes a first non-staple ejection zone 224a and a second non-staple ejection zone 224b, the first non-staple ejection zone 224a and the second non-staple ejection zone 224b being located on opposite sides of the knife slot 116, respectively. When the cartridge assembly 20 is installed with the cartridge 22, the first spring 12a abuts the first non-staple ejecting zone 224a and the second spring 12b abuts the second non-staple ejecting zone 224b, and when the cartridge assembly 20 is not installed with the cartridge 22, the first spring 12a does not contact the first non-staple ejecting zone 224a and the second spring 12b does not contact the second non-staple ejecting zone 224b, i.e., neither the first spring 12a nor the second spring 12b contacts the cartridge surface.
Returning to fig. 3B, the closing member 31 also has a closing start position Px located between the initial position P0 and the closing position Py. The cartridge assembly 20 and the anvil 10 have a maximum spacing Dmax therebetween when the closure member 31 is in the initial position P0, a minimum spacing Dmin therebetween when the closure member 31 is in the closed position Py, and the cartridge assembly 20 begins to approach the anvil 10, i.e., begins to decrease from the maximum spacing to the minimum spacing Dmin, when the closure member 31 is in the closed initial position Px. In other words, at the closing start position Px, the closing member 31 starts generating a clamping force to the end effector 1, and the end effector 1 starts closing.
For example, in the course of movement of the closing member 31 from the initial position P0 to the closing position Py, an increase in instantaneous drive current generally occurs when the resistance force F of the elastic piece is overcome. Thus, to further reduce the time to monitor the current, the current monitoring circuit 50 may be configured to monitor an initial maximum drive current value IOmax during the movement of the closing component 31 from the initial position P0 to the closing start position Px. Accordingly, processing circuitry 60 is configured to identify whether a staple cartridge 22 is present in cartridge assembly 20 based on initial maximum drive current value IOmax.
Fig. 8A is a schematic view of an end effector of an embodiment of the present disclosure in an initial state. Fig. 8B is a schematic diagram of the internal structure of the end effector of fig. 8A. Fig. 8C is a partially enlarged schematic view of the area E in fig. 8B. Fig. 9A is a schematic view of an end effector of an embodiment of the present disclosure in a closed start state. Fig. 9B is a schematic diagram of the internal structure of the end effector of fig. 9A. Fig. 9C is a partially enlarged schematic view of the region F in fig. 9B. Fig. 9D is a schematic view of another internal structure of the end effector of fig. 9A. Fig. 9E is a partially enlarged schematic view of the region G in fig. 9D.
For example, with the cartridge 22 installed in the cartridge assembly 20, the closure member 31 is in the initial position P0 and the end effector 1 is in the open state, at which time the first spring tab 12a is not in contact with the first non-staple ejecting zone 224a and the second spring tab 12b is not in contact with the second non-staple ejecting zone 224b, so the drive current I driving the closure driving member 33 remains unchanged. When the closing member 31 moves to the initial closing position Px along the +z direction, the first elastic piece 12a contacts the first non-nail-ejecting zone 224a and generates a resistance force, and the second elastic piece 12b contacts the second non-nail-ejecting zone 224b and generates a resistance force, and at this time, the driving current I increases to the initial maximum driving current value IOmax.
For example, the processing circuit 60 is further configured to set a first current threshold I1, the first current threshold I1 being greater than zero, and compare the initial maximum drive current value IOmax to the first current threshold I1. When initial maximum drive current value IOmax is less than or equal to first current threshold I1, it is determined that no cartridge 22 is present in cartridge assembly 20, and when initial maximum drive current value IOmax is greater than first current threshold I1, it is determined that a cartridge 22 is present in cartridge assembly 20. In this way, the time for monitoring the current can be further reduced, the electrical energy loss of the instrument can be reduced, and the monitoring efficiency can be improved on the premise that whether the nail bin 22 exists in the nail bin assembly 20 can be identified.
FIG. 10 is another structural schematic view of a staple cartridge assembly of an embodiment of the present disclosure. For example, cartridge assembly 20 further includes a bottom housing 24, bottom housing 24 defining an elongated channel 240 (shown in FIG. 7B) for receiving cartridge 22, cartridge 22 being removably mounted in elongated channel 240. The cartridge assembly may also include a staple pushing assembly configured to push staples out of the cartridge 22. For example, the staple pushing assembly includes a staple pushing assembly 35, the staple pushing assembly 35 being positioned between the staple cartridge 22 and the bottom housing 24 and configured to move between a proximal position (e.g., the position of the staple pushing assembly 35 in fig. 10, also referred to as the unfired position) proximate the proximal end 1A of the end effector 1 and a distal position (e.g., the position of the staple pushing assembly 35 in fig. 3B, also referred to as the fired position) proximate the distal end 1B of the end effector 1. For example, the staple pushing member 35 includes an angled surface configured to lift staples in the staple cartridge 22 toward the anvil 10. In some embodiments, the staple pushing member 35 includes a plurality of sloped surfaces configured to slide under the staple pushing plate and lift the staple pushing plate and staples supported on the staple pushing plate toward the anvil.
For example, when the staple pushing member 35 is moved to the distal position, the staple cartridge 22 and bottom shell 24 leave a gap G at the proximal position such that the staple cartridge 22 has a drop space when the first and second spring plates 12a, 12b are abutted against the non-staple ejection zone 224. When the staple pushing member 35 is moved to the proximal position, the gap G is occupied by the staple pushing member 35 (as shown in FIG. 10) such that the staple cartridge 22 remains in place without a drop space when the first and second spring plates 12a, 12b are abutted against the non-staple ejection zone 224. By utilizing the descending space, whether the stitching nails are shot or not can be further judged.
For example, the force of each of the first and second spring plates 12a, 12b against the cartridge 22 is set to be resistant to F1 when the staple pushing member 35 is in the proximal position (i.e., the staples are not fired), and the force of each spring plate against the cartridge 22 is set to be resistant to F2 when the staple pushing member 35 is in the distal position (i.e., the staples are fired), with F1 being greater than F2. This is because if the staple pushing member 35 in fig. 10 is moved to the distal position, a gap will occur in the home position that allows some space for lowering the staple cartridge when it is compressed (e.g., by the spring), thus counteracting some of the resistive force.
Based on the above principle, after recognizing that the staple cartridge 22 exists in the staple cartridge assembly 20, the staple cartridge status recognition device of the embodiment of the present disclosure can further recognize whether the staples in the staple cartridge 22 are fired, i.e., determine whether the staple cartridge in the staple cartridge assembly is a new staple cartridge.
For example, in case the current monitoring circuit 50 is configured to monitor a maximum drive current value Imax during a movement of the closing part 31 from the initial position P0 to the closing position P2 closing position Py, the processing circuit 60 is further configured to set a second current threshold I2, wherein the second current threshold I2 is larger than the first current threshold I1, and to compare the maximum drive current value Imax with the second current threshold I2. When the maximum drive current value Imax is greater than or equal to the second current threshold I2, then it is determined that the staples are not fired. When the maximum drive current value Imax is greater than the first current threshold I1 and less than or equal to the second current threshold I2, then it is determined that the staples are fired. Through the arrangement, on the basis of not additionally increasing the structure, whether the nail bin exists or not can be judged, and whether the nail bin is a new nail bin or not can be further judged. For another example, where the current monitoring circuit 50 is configured to monitor an initial maximum drive current value IOmax during movement of the closure member 31 from the initial position P0 to the closure start position Px, the processing circuit 60 is further configured to set a second current threshold I2, where the second current threshold I2 is greater than the first current threshold I1, and to compare the initial maximum drive current value IOmax to the second current threshold I2. When the initial maximum drive current value IOmax is greater than or equal to the second current threshold I2, then it is determined that the staples are not fired. When the initial maximum drive current value IOmax is greater than the first current threshold I1 and less than or equal to the second current threshold I2, then it is determined that the staples are fired. Through the arrangement, the current monitoring time can be further shortened on the premise of judging whether the current is a new nail bin.
For example, the value of the first current threshold I1 ranges from 0.95 to 1.05a, and the value of the second current threshold I2 ranges from 1.15 to 1.25a. In some embodiments, the first current threshold I1 is set to about 1A and the second current threshold I2 is set to about 1.1A. The identification of the cartridge will be described in detail below using initial maximum drive current value IOmax as an example of the monitored current. First, the first current threshold I1 and the initial maximum drive current value IOmax are compared to determine if a staple cartridge is installed. For example, when IOmax is less than or equal to 1A, it is determined that no cartridge 22 is present in cartridge assembly 20, and when IOmax is greater than 1A, it is determined that a cartridge 22 is present in cartridge assembly 20. The second current threshold I2 is then further compared to the initial maximum drive current value IOmax to determine whether the staples in the staple cartridge 22 are fired (i.e., to determine whether they are new staple cartridges). When IOmax is greater than 1A and less than or equal to 1.1A, then staples are determined to be fired, and when IOmax is greater than 1.1A, then staples are determined to be unfired. For example, in the disclosed embodiment, the drive current for the motor operating at idle is approximately 1A, the initial maximum drive current value IOmax for installing a new cartridge (i.e., staples are not fired) is approximately 1.2A, and the initial maximum drive current value IOmax for the cartridge after use (i.e., staples have been fired) is approximately 1.1A. Since the driving current in the no-load operation remains unchanged, the initial maximum driving current value IOmax in the no-load operation is also equal to the driving current in the no-load operation.
FIG. 11 is a flowchart of steps of a method of identifying a status of a staple cartridge of a surgical instrument according to an embodiment of the present disclosure. For example, referring to fig. 1-11, the method of identifying the status of a staple cartridge of a surgical instrument shown in fig. 1-10 includes:
s100, driving the closing part 33 to move from the initial position P0 to the closing position Py;
s200, monitoring a maximum driving current value Imax during the movement of the closing member 31 from the initial position P0 to the closing position Py, and
And S300, identifying whether the nail cartridge 22 exists in the nail cartridge assembly 20 according to the maximum driving current value Imax.
For example, step S300 includes:
S301, setting a first current threshold I1, wherein the first current threshold I1 is greater than zero, and
S302, comparing the maximum driving current value Imax with a first current threshold I1, wherein when the maximum driving current value Imax is smaller than or equal to the first current threshold I1, the cartridge 22 is determined to be absent from the cartridge assembly 20, and when the maximum driving current value Imax is larger than the first current threshold I1, the cartridge 22 is determined to be present in the cartridge assembly 20. Compared with the related art, the method for identifying the state of the nail bin not only overcomes technical difficulties and achieves the aim of identifying the state of the nail bin, but also has small change and low cost on the prior surgical operation instrument.
In some embodiments, upon identifying the presence of a staple cartridge 22 in a staple cartridge assembly 20, the staple cartridge status identification methods of embodiments of the present disclosure may further include identifying whether staples in the staple cartridge 22 are fired, i.e., determining whether the staple cartridge in the staple cartridge assembly is a new staple cartridge.
For example, the above method for identifying a status of a staple cartridge further comprises:
S400, setting a second current threshold I2, wherein the second current threshold I2 is larger than the first current threshold I1, and
S500, comparing the maximum driving current value Imax with a second current threshold I2, wherein when the maximum driving current value Imax is greater than or equal to the second current threshold I2, the staples are determined not to be fired. When the maximum drive current value Imax is greater than the first current threshold I1 and less than or equal to the second current threshold I2, then it is determined that the staples are fired.
Through the steps, on the basis of not additionally adding the structure, whether the nail bin exists or not can be judged, and whether the nail bin is a new nail bin or not can be further judged. For example, in the above step S100, the closing start position Px is provided between the initial position P0 and the closing position Py, and the closing member 33 is moved from the initial position P0 to the closing position Py via the closing start position Px. At the closing start position Px, the closing member 31 starts to generate a clamping force to the end effector 1, and if there is a cartridge in the cartridge assembly at this time, the elastic sheet will generate a resistance force F against the cartridge, so that by monitoring the change of the driving current in the process from the initial position P0 to the closing start position Px, it can be determined whether there is a cartridge in the cartridge assembly. The monitoring time can be further shortened compared to monitoring the variation of the drive current in the process from the initial position P0 to the closed position Py.
For example, the step S200 includes monitoring an initial maximum drive current value IOmax during the movement of the closing part 31 from the initial position P0 to the closing start position Px.
For example, step S300 described above includes identifying whether a staple cartridge 22 is present in the staple cartridge assembly 20 based on the initial maximum drive current value IOmax. Further, identifying whether a staple cartridge 22 is present in the staple cartridge assembly 20 based on the initial maximum drive current value IOmax, for example, includes:
S301' setting a first current threshold I1, wherein the first current threshold I1 is greater than zero, and
S302', comparing the initial maximum drive current value IOmax with a first current threshold I1, wherein when the initial maximum drive current value IOmax is less than or equal to the first current threshold I1, it is determined that no cartridge 22 is present in the cartridge assembly 20, and when the initial maximum drive current value IOmax is greater than the first current threshold I1, it is determined that a cartridge 22 is present in the cartridge assembly 20. In this way, the time for monitoring the current can be further reduced, the electrical energy loss of the instrument can be reduced, and the monitoring efficiency can be improved on the premise that whether the nail bin 22 exists in the nail bin assembly 20 can be identified.
In some embodiments, upon identifying the presence of a staple cartridge 22 in a staple cartridge assembly 20, the staple cartridge status identification methods of embodiments of the present disclosure may further include identifying whether staples in the staple cartridge 22 are fired, i.e., determining whether the staple cartridge in the staple cartridge assembly is a new staple cartridge.
For example, the above-mentioned cartridge status recognition method further comprises:
S400' setting a second current threshold I2, wherein the second current threshold I2 is greater than the first current threshold I1, and
S500', comparing the initial maximum driving current value IOmax with a second current threshold I2, wherein when the initial maximum driving current value IOmax is larger than the second current threshold I2, the staples are determined not to be fired, and when the initial maximum driving current value IOmax is larger than the first current threshold I1 and smaller than or equal to the second current threshold I2, the staples are determined to be fired.
In the embodiment of the disclosure, the value range of the first current threshold I1 is 0.95-1.05 a, and the value range of the second current threshold I2 is 1.15-1.25 a. In some embodiments, the first current threshold I1 is set to about 1A and the second current threshold I2 is set to about 1.1A. The identification of the cartridge will be described in detail below using initial maximum drive current value IOmax as an example of the monitored current. First, the first current threshold I1 and the initial maximum drive current value IOmax are compared to determine if a staple cartridge is installed. For example, when IOmax is less than or equal to 1A, it is determined that no cartridge 22 is present in cartridge assembly 20, and when IOmax is greater than 1A, it is determined that a cartridge 22 is present in cartridge assembly 20. The second current threshold I2 is then further compared to the initial maximum drive current value IOmax to determine whether the staples in the staple cartridge 22 are fired (i.e., to determine whether they are new staple cartridges). When IOmax is greater than 1A and less than or equal to 1.1A, then staples are determined to be fired, and when IOmax is greater than 1.1A, then staples are determined to be unfired. For example, in the disclosed embodiment, the drive current for the motor operating at idle is approximately 1A, the initial maximum drive current value IOmax for installing a new cartridge (i.e., staples are not fired) is approximately 1.2A, and the initial maximum drive current value IOmax for the cartridge after use (i.e., staples have been fired) is approximately 1.1A. Since the driving current in the no-load operation remains unchanged, the initial maximum driving current value IOmax in the no-load operation is also equal to the driving current in the no-load operation.
In the device and the method for identifying the nail cartridge state of the surgical instrument provided by the embodiments of the present disclosure, by monitoring the maximum driving current value in the process of moving the closing member from the initial position to the closed position and identifying whether the nail cartridge exists in the nail cartridge assembly according to the maximum driving current value, the purpose of identifying the nail cartridge state is achieved, so that the convenience in operation of the surgical instrument is improved, and the risk of misoperation of the instrument is reduced.
In this context, the following points need to be noted:
(1) The drawings of the embodiments of the present disclosure relate only to the structures related to the embodiments of the present disclosure, and other structures may refer to the general design.
(2) The embodiments of the present disclosure and features in the embodiments may be combined with each other to arrive at a new embodiment without conflict.
(3) The foregoing is merely exemplary embodiments of the present disclosure and is not intended to limit the scope of the disclosure, which is defined by the appended claims.
Claims (20)
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| CN202410566592.7A CN118526243B (en) | 2024-05-09 | 2024-05-09 | Nail magazine status identification device and identification method thereof and surgical instrument |
| PCT/CN2025/093434 WO2025232830A1 (en) | 2024-05-09 | 2025-05-08 | Staple cartridge status identification device and identification method, and surgical instrument |
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| CN118526243B (en) * | 2024-05-09 | 2025-09-30 | 苏州英途康医疗科技有限公司 | Nail magazine status identification device and identification method thereof and surgical instrument |
| CN119366985B (en) * | 2024-10-31 | 2025-11-25 | 杭州迈瑞医疗科技有限公司 | A surgical instrument |
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| CN116370001A (en) * | 2021-12-30 | 2023-07-04 | 江苏风和医疗器材股份有限公司 | Surgical instrument |
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| US5529235A (en) * | 1994-04-28 | 1996-06-25 | Ethicon Endo-Surgery, Inc. | Identification device for surgical instrument |
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| US7721936B2 (en) * | 2007-01-10 | 2010-05-25 | Ethicon Endo-Surgery, Inc. | Interlock and surgical instrument including same |
| JP6138808B2 (en) * | 2011-10-26 | 2017-05-31 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | Method and system for detecting cartridge status and presence |
| CN104027145B (en) * | 2014-06-06 | 2016-07-06 | 山东威瑞外科医用制品有限公司 | Anti-misoperation type Endo-GIA |
| CN105395229B (en) * | 2014-09-12 | 2017-02-22 | 瑞奇外科器械(中国)有限公司 | End executor, nail box assembly thereof and surgical operating instrument |
| CN104473671B (en) * | 2014-12-30 | 2016-09-14 | 苏州天臣国际医疗科技有限公司 | Medical stapler |
| CN111588429B (en) * | 2020-06-11 | 2020-12-22 | 苏州贝诺医疗器械有限公司 | Protection mechanism for preventing anastomat from being fired for two times, anastomat and nail bin |
| CN111938734B (en) * | 2020-09-04 | 2025-08-05 | 北京派尔特医疗科技股份有限公司 | Stapler nail box and stapler |
| CN114617595B (en) * | 2020-12-11 | 2024-04-02 | 江苏风和医疗器材股份有限公司 | Electric anastomat and failure protection method of position detection unit of electric anastomat |
| CN114617600A (en) * | 2020-12-11 | 2022-06-14 | 江苏风和医疗器材股份有限公司 | Electric stapler |
| US11992209B2 (en) * | 2021-08-16 | 2024-05-28 | Cilag Gmbh International | Multi-threshold motor control algorithm for powered surgical stapler |
| CN117462190A (en) * | 2022-07-21 | 2024-01-30 | 天津瑞奇外科器械股份有限公司 | Nail bin assembly, end effector and surgical instrument |
| CN116725597A (en) * | 2023-06-05 | 2023-09-12 | 上海微创医疗机器人（集团）股份有限公司 | Anastomat and control method of anastomotic device |
| CN118526243B (en) * | 2024-05-09 | 2025-09-30 | 苏州英途康医疗科技有限公司 | Nail magazine status identification device and identification method thereof and surgical instrument |
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| CN116370001A (en) * | 2021-12-30 | 2023-07-04 | 江苏风和医疗器材股份有限公司 | Surgical instrument |
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