CN112577727B - Detection device for cutting speed of cutting knife of endoscope anastomat - Google Patents
Detection device for cutting speed of cutting knife of endoscope anastomat Download PDFInfo
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- CN112577727B CN112577727B CN202011466772.6A CN202011466772A CN112577727B CN 112577727 B CN112577727 B CN 112577727B CN 202011466772 A CN202011466772 A CN 202011466772A CN 112577727 B CN112577727 B CN 112577727B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a device for detecting the cutting speed of a cutting knife of an endoscopic anastomat, and belongs to the technical field of medical instruments. Comprising the following steps: cutting board, cutting platform, drive arrangement, the cutting board is equipped with the centre gripping instrument, be equipped with the recess on the cutting board, cutting board and centre gripping instrument form the space that is used for the centre gripping of soft tissue, cutting platform passes through drive arrangement and slides for the cutting board, is equipped with the compression pulling force meter on the cutting platform, the cutting knife of being connected with the compression pulling force meter, the cutting knife removes in the recess. Just with the mode that the pressure tension meter cooperated with the cutting knife moved, real-time cutting force numerical value of output that can be comparatively accurate, the cutting force curve is generated, finally detects the cutting effect of cutting knife under different cutting speeds. The upper computer is used for outputting data, the lower computer is used for setting and controlling the cutting speed, the cutting force change at the accurate cutting speed can be accurately fed back, whether the instantaneous large wave difference occurs is checked, and whether the cutting effect is good is further determined.
Description
Technical Field
The invention relates to a device for detecting the cutting speed of a cutting knife of an endoscopic anastomat, and belongs to the technical field of medical instruments.
Background
The accurate setting of the cutting speed of the cutting knife on the electric endoscopic cutting anastomat is one of important guarantee for smooth operation. In the cutting process, a huge problem occurs in the setting of the cutting speed of the cutting knife too fast or too slow: the cutting speed is too fast, the cutting is smoother, but the tissue is easy to pull and tear, and a larger soft tissue ball is formed after the tissue is torn; the cutting surface is rough and fine tissue cracks are easy to generate when the cutting speed is too slow. In addition, when thicker tissues are resected in operation, the cutting is blocked easily by the higher cutting speed, so that the direct current motor is overloaded and burnt, and the anastomat is locked, thereby generating a great medical accident.
The endoscope anastomat cutting knife in the prior art has the following defects:
1. there is no method to effectively detect the cutting effect of soft tissue for different cutting speeds. The conventional detection is to set a speed gear to detect the maximum cutting force of the cutter in a period of time, but the detection effect of the maximum cutting force is comprehensive and cannot effectively reflect the specific cutting effect of the cutter.
2. The detection method of the anastomat cutting knife comprises the steps of digitally displaying and memorizing the maximum cutting force through data acquisition and data processing, and comparing the detection value with a set maximum cutting force value to determine the cutting effect of the cutting knife, wherein the measurement and comparison of the maximum cutting force of the cutting knife cannot well respond to the specific cutting effect under the speed gear. In actual cutting, the friction force gradually increases as the contact area of the cutting blade with the tissue increases. Sometimes, the contact surface is greatly increased by slight deviation, and further, the friction force is greatly increased, so that the detected maximum cutting force cannot effectively display the cutting effect of the cutting knife.
3. The existing cutting knife detection device is not provided with a specific cutting distance control device, so that the displacement of the cutting knife cannot be accurately controlled, and the specific cutting length is determined.
Disclosure of Invention
[ technical problem ]
The cutting device can detect the cutting effect of the cutting knife at different cutting speeds.
Technical scheme
The invention provides a device for detecting the cutting speed of a cutting knife of an endoscopic stapler, which comprises the following components: the device comprises a cutting plate, a cutting platform and a driving device, wherein the cutting plate is provided with a clamping tool, a groove is formed in the cutting plate, the cutting plate and the clamping tool form a gap for clamping soft tissues, the cutting platform slides relative to the cutting plate through the driving device, a compression-tension meter and a cutting knife connected with the compression-tension meter are arranged on the cutting platform, and the cutting knife moves in the groove;
the driving device includes: the device comprises a direct current motor, a speed reducer and a screw rod, wherein the direct current motor is connected with the speed reducer, the direct current motor drives the screw rod to rotate after being decelerated by the speed reducer so as to drive a cutting platform to move, and a thread ring matched with the screw rod is arranged on the cutting platform;
a control board, the control board comprising: the system comprises a direct current power supply, a motor control board, a lower computer and an upper computer; the direct current power supply is used for providing power for the direct current motor, the motor control board is used for controlling the rotation speed of the motor, the lower computer is used for determining and selecting the speed gear of cutting, and the upper computer is used for outputting a real-time pressure tension value through communication with the pressure tension meter;
the upper computer is used for outputting real-time pressure force values with the manometer in a communication manner and outputting real-time cutting force values accurately, generating a cutting force curve, finally detecting cutting effects of the cutting knife at different cutting speeds, accurately feeding back cutting force changes at the accurate cutting speed, checking whether instantaneous large wave differences exist, and determining whether the cutting effects are good.
In one embodiment of the invention, the gripping tool comprises: the base, the centre gripping press handle, press the U-shaped groove, the centre gripping press handle with press the U-shaped groove all rotate and connect on the base, press the U-shaped groove and press the back and provide pressure and fixed soft tissue for soft tissue, the centre gripping is pressed the handle and is used for pressing the back lock and dies and fix soft tissue.
In one embodiment of the invention, the base is provided with a height adjusting groove, and the pressure for pressing the U-shaped groove is adjusted by adding or subtracting the gasket.
In one embodiment of the present invention, limit switches are disposed on both sides of the cutting platform, and the limit switches include: the fixed shaft is connected with the positioning table, a hole for the fixed shaft to pass through is formed in the cutting platform, the positioning table is used for fixing the position of the limiting switch and determining the cutting length, a switch sleeve frame is arranged at the lower end of the positioning table, the switch control plate and the stop switch are arranged on the switch sleeve frame, and the pressing sheet is arranged on one side of the stop switch.
In one embodiment of the present invention, grease is added inside the groove.
In one embodiment of the invention, the device further comprises a handle, wherein the cutting knife is meshed and fixed with the handle, and the handle is fixedly connected with the compression-tension gauge through a jaw bolt.
In one embodiment of the invention, the pressure tension meter is provided with a pressure tension value signal transmission interface which is connected with an upper computer and used for transmitting real-time pressure tension value and a display screen which is used for displaying the current pressure tension value in real time.
In one embodiment of the invention, the dc power supply voltage and current are both regulated and controlled by a motor control board.
[ advantageous effects ]
1. The mode that adopts the pressure tension meter to cooperate the cutting knife to remove can be comparatively accurate output real-time cutting force numerical value, the cutting force curve is generated, the cutting effect of cutting knife under different cutting speeds is detected at last.
2. The upper computer is used for outputting data, the lower computer is used for setting and controlling the cutting speed, the cutting force change at the accurate cutting speed can be accurately fed back, whether the instantaneous large wave difference occurs is checked, and whether the cutting effect is good is further determined.
3. The limit switch can realize the accurate control of cutting distance, guarantees to return the initial point after automatic arrival cutting position at every turn when cutting.
4. The soft tissue can be better clamped by pressing the U-shaped groove and clamping the pressing handle, so that the measurement result of the soft tissue is more prone to the actual cutting effect of the anastomat.
5. The motor is combined with the speed reducer to drive the screw rod to rotate, so that the cutting force of the cutting knife is ensured to be large enough when the cutting platform is moved, and the normal movement of the cutting knife is ensured.
6. The STM32F1 singlechip is adopted as a lower computer after being encoded, so that the multi-gear cutting speed can be effectively set, and the normal advancing, retreating and resetting of the cutting knife are controlled.
7. The adoption of the adjustable voltage and current type direct current power supply can ensure that the motor works under the same voltage and current, and the measurement accuracy is ensured.
Drawings
FIG. 1 is a schematic diagram of a novel cutter measurement platform according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a fluted cutting plate according to an embodiment of the present invention;
FIG. 3 is a schematic view of a mobile cutting deck according to an embodiment of the present invention;
FIG. 4 is a schematic view of a tissue compression device according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of the operation of a pressure gauge according to an embodiment of the present invention;
FIG. 6 is a schematic illustration of the operation of a motor pack according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of the operation of a limit switch according to an embodiment of the invention;
FIG. 8 is a schematic diagram of the operation of a cutting blade according to an embodiment of the present invention;
in the figure: 1. a support platform; 2. a cutting platform; 3. a support plate; 4 and 28 are both cutting boards; 5. a clamping tool; 6. a DC motor; 7 and 20 are both reducers; 8. a limit switch; 9. a pressure tension meter; 10 and 32 are both cutters; 11. clamping and pressing the handle; 12. pressing the U-shaped groove; 13. a height adjusting groove; 14. jaw bolts; 15. a display screen; 16. a signal transmission interface; 17. a thread ring; 18. a fixed table; 19. a DC motor; 21. a coupling; 22. a fixed shaft; 23. a positioning table; 24. a switch control board; 25. a switch sleeve frame; 26. stopping the button switch; 27. pressing the sheet; 29. a boss; 30. a groove; 31. a handle.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples.
Example 1
As shown in fig. 1-8, the present embodiment provides a device for detecting a cutting speed of a cutting blade of an endoscopic stapler, including: supporting platform 1, cutting platform 2, drive arrangement, control panel, cutting platform 2 includes: the cutting device comprises a supporting plate 3 and a cutting plate 4, wherein the cutting plate 4 is arranged on the supporting plate 3, the supporting plate 3 is used for supporting and adjusting the cutting height, a boss 29 is arranged on the cutting plate 4, a clamping tool 5 is fixed on the boss 29, a groove 30 is arranged on the cutting plate 4, the cutting plate 4 and the clamping tool 5 form a gap for clamping soft tissues, the cutting plate 4 is used for fixing the lower end of the soft tissues, the clamping tool 5 is used for fixing the upper end of the soft tissues, the cutting platform 2 slides relative to the cutting plate 4 through a driving device, a compression tension meter 9 and a cutting knife 10 connected with the compression tension meter 9 are arranged on the cutting platform 2, the cutting knife 10 is meshed and fixed with the handle 31, the cutting knife 10 is a commonly used cutting knife 10 of a cavity mirror cutting anastomat, the lower edge end of the cutting knife 10 is parallel to the cutting plate 4, the handle 31 is fixedly connected with the compression tension meter 9 through a jaw bolt 14, a compression tension value signal transmission interface 16 for transmitting real-time compression tension value signals with an upper computer is arranged on the compression tension meter 9, a friction groove 15 is formed in the groove for displaying the current real-time display of the compression tension value, and grease is added in the groove 30.
The driving device includes: the speed reducer 207 is used for reducing the shaft speed of the direct current motor 6 in an equal proportion; the direct current motor 6 is arranged on the fixed table 18, the fixed table 18 can reduce the vibration of the motor, the direct current motor 6 is connected with the speed reducer 7, the direct current motor 6 is connected with the screw rod through the coupler 21, the direct current motor 6 drives the screw rod to rotate after being decelerated by the speed reducer 7 so as to drive the cutting platform 2 to move, the cutting platform 2 is provided with a threaded ring 17 matched with the screw rod, the direct current motor 6 is combined with the speed reducer 7 so as to drive the screw rod to rotate, so that the cutting force of the cutting knife 10 enough can be ensured to be given to the moving cutting platform 2, and the normal movement of the cutting knife 10 is ensured.
The gripping tool 5 comprises: the base, centre gripping press handle 11, press U-shaped groove 12, centre gripping press handle 11 and press U-shaped groove 12 all rotate and connect on the base, press U-shaped groove 12 and press the back and provide pressure and fixed soft tissue for soft tissue, centre gripping press handle 11 is used for pressing the back lock and dies and fixed soft tissue, be equipped with height-adjusting groove 13 on the base, adjust the pressure of pressing U-shaped groove 12 through increasing or reducing the gasket.
The cutting platform 2 both sides all are equipped with limit switch 8, limit switch 8 includes: the fixed shaft 22 is connected with the positioning table 23, a hole for the fixed shaft 22 to pass through is formed in the cutting platform 2, the positioning table 23 is used for fixing the position of the limit switch 8 and determining the cutting length, a switch sleeve frame 25 is arranged at the lower end of the positioning table 23, the switch sleeve frame 25 is provided with the switch control plate 24 and a stop switch, and one side of the stop switch is provided with the press sheet 27. Touching when removing through cutting platform 2 presses the thin slice 27, will pressing stop button switch 26 when pressing the thin slice 27, and then make direct current motor 6 stall, can realize cutting distance's accurate control through the position of adjustment positioning table 23 for automatic get back to the initial point again after the cutting position at every turn when cutting, two limit switches 8 can confirm the cutting length of cutting knife 10.
The control board includes: the system comprises a direct current power supply, a motor control board, a lower computer and an upper computer; the direct current power supply is used for providing power for the direct current motor 6, the motor control board is used for adjusting PWM and further controlling the rotation speed of the motor, the lower computer is used for determining and selecting the speed gear of cutting, the lower computer adopts STM32F1 singlechip coding and then serves as the lower computer, the multi-gear cutting speed can be effectively set, the normal advancing, retreating and resetting of the cutting knife 10 are controlled, the upper computer is used for communicating with the piezoelectric tension meter 9 to output real-time piezoelectric tension values and accurately outputting real-time cutting force values, a cutting force curve is generated, finally, the cutting effect of the cutting knife 10 at different cutting speeds is detected, the cutting force change under the accurate feedback cutting speed can be accurately detected, whether the instantaneous large wave difference appears is checked, whether the cutting effect is good or not is determined, in addition, the direct current power supply voltage and current are adjustable and controllable, the voltage and current during cutting can be accurately controlled are stable, and the influence of the change of the voltage and the current on the cutting effect is well controlled.
The scope of the present invention is not limited to the above-described embodiments, but is intended to be limited to the appended claims, any modifications, equivalents, improvements and alternatives falling within the spirit and principle of the inventive concept, which can be made by those skilled in the art.
Claims (8)
1. The utility model provides a detection device of laparoscopic anastomat cutting knife cutting speed which characterized in that includes: the device comprises a cutting plate, a cutting platform and a driving device, wherein the cutting plate is provided with a clamping tool, a groove is formed in the cutting plate, the cutting plate and the clamping tool form a gap for clamping soft tissues, the cutting platform slides relative to the cutting plate through the driving device, a compression-tension meter and a cutting knife connected with the compression-tension meter are arranged on the cutting platform, and the cutting knife moves in the groove;
the driving device includes: the device comprises a direct current motor, a speed reducer and a screw rod, wherein the direct current motor is connected with the speed reducer, the direct current motor drives the screw rod to rotate after being decelerated by the speed reducer so as to drive a cutting platform to move, and a thread ring matched with the screw rod is arranged on the cutting platform;
a control board, the control board comprising: the system comprises a direct current power supply, a motor control board, a lower computer and an upper computer; the direct current power supply is used for providing power for the direct current motor, the motor control board is used for controlling the rotation speed of the motor, the lower computer is used for determining and selecting the speed gear of cutting, and the upper computer is used for outputting a real-time pressure tension value through communication with the pressure tension meter;
the upper computer is used for outputting real-time pressure force values with the manometer in a communication manner and outputting real-time cutting force values accurately, generating a cutting force curve, finally detecting cutting effects of the cutting knife at different cutting speeds, accurately feeding back cutting force changes at the accurate cutting speed, checking whether instantaneous large wave differences exist, and determining whether the cutting effects are good.
2. The device for detecting the cutting speed of a cutting blade of an endoscopic stapler according to claim 1, wherein said holding means comprises: the base, the centre gripping press handle, press the U-shaped groove, the centre gripping press handle with press the U-shaped groove all rotate and connect on the base, press the U-shaped groove and press the back and provide pressure and fixed soft tissue for soft tissue, the centre gripping is pressed the handle and is used for pressing the back lock and dies and fix soft tissue.
3. The device for detecting the cutting speed of the cutting blade of the endoscopic stapler according to claim 2, wherein the base is provided with a height adjusting groove, and the pressure for pressing the U-shaped groove is adjusted by increasing or decreasing the spacer.
4. The device for detecting the cutting speed of a cutting knife of an endoscopic stapler according to claim 1, wherein both sides of the cutting platform are provided with limit switches, and the limit switches comprise: the fixed shaft is connected with the positioning table, a hole for the fixed shaft to pass through is formed in the cutting platform, the positioning table is used for fixing the position of the limiting switch and determining the cutting length, a switch sleeve frame is arranged at the lower end of the positioning table, the switch control plate and the stop switch are arranged on the switch sleeve frame, and the pressing sheet is arranged on one side of the stop switch.
5. The device for detecting the cutting speed of the cutting knife of the endoscopic stapler according to claim 1, wherein grease is added into the groove.
6. The device for detecting the cutting speed of a cutting knife of an endoscopic stapler according to claim 1, further comprising a handle, wherein the cutting knife is engaged and fixed with the handle, and the handle is fixedly connected with the compression-tension gauge through a jaw bolt.
7. The device for detecting the cutting speed of the cutting knife of the endoscopic anastomat according to claim 1, wherein the compression-tension meter is provided with a compression-tension value signal transmission interface which is connected with an upper computer and used for transmitting real-time compression-tension values and a display screen which is used for displaying current compression-tension values in real time.
8. The device for detecting the cutting speed of a cutting knife of an endoscopic stapler according to claim 2, wherein the direct current power supply voltage and the direct current power supply current are regulated and controlled by a motor control board.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011466772.6A CN112577727B (en) | 2020-12-14 | 2020-12-14 | Detection device for cutting speed of cutting knife of endoscope anastomat |
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| CN202011466772.6A CN112577727B (en) | 2020-12-14 | 2020-12-14 | Detection device for cutting speed of cutting knife of endoscope anastomat |
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| CN112577727B true CN112577727B (en) | 2023-06-30 |
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| CN210990494U (en) * | 2019-08-21 | 2020-07-14 | 常州伊沃特医疗器械有限公司 | Linear cutting anastomat |
| CN111982561A (en) * | 2020-10-16 | 2020-11-24 | 常州市赫铭自动化科技有限公司 | Percussion force tester for linear cutting anastomat |
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| US9782214B2 (en) * | 2010-11-05 | 2017-10-10 | Ethicon Llc | Surgical instrument with sensor and powered control |
| US9924942B2 (en) * | 2013-08-23 | 2018-03-27 | Ethicon Llc | Motor-powered articulatable surgical instruments |
| CN205589209U (en) * | 2016-04-18 | 2016-09-21 | 苏庆列 | Automatically controlled parking brake of planetary geared |
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| CN208860692U (en) * | 2018-09-28 | 2019-05-14 | 山西农业大学 | A kind of multi-functional reciprocating cutting test platform of crop stem |
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| CN109655363B (en) * | 2019-01-30 | 2021-02-23 | 湖南农业大学 | Crop stem cutting mechanical property test bench |
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| CN210990494U (en) * | 2019-08-21 | 2020-07-14 | 常州伊沃特医疗器械有限公司 | Linear cutting anastomat |
| CN111982561A (en) * | 2020-10-16 | 2020-11-24 | 常州市赫铭自动化科技有限公司 | Percussion force tester for linear cutting anastomat |
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