University of Shanghai for Science and Technology
目的 研制新型电动吻合器,以提高微创外科手术的自动化程度、便捷性和精准性。方法 在传统机械吻合器的基础上,本文创新设计了新型电动吻合器的压榨、击发与转弯机构,可以实现微创外科吻合手术的电动驱动。详细分析了电动压榨、击发与双螺旋转弯机构的运动过程,求解了三个机构的运动函数方程式,为电动吻合器的智能控制算法提供了理论基础。结果 利用ADAMS软件对电动压榨与击发过程进行了仿真,验证了运动方程。制作出新型电动吻合器的样机,进行了离体小肠组织的吻合实验和爆破压实验,吻合口爆破压数值介于3.7kPa至11.67kPa之间,符合临床基本要求。结论 新型电动吻合器的结构设计可以满足微创外科手术中电动压榨和击发等要求,有助于医生更加便捷、快速、有效地实现组织吻合。
Objective Developed a new electric stapler to improve the automation, convenience and precision of minimally invasive surgery. Methods The clamping, firing and turning mechanism of the new electric stapler was innovatively designed to realize the electric drive of minimally invasive surgical anastomosis on the basis of traditional mechanical stapler. The motion process of electric clamping, firing and double-screw turning mechanism is analyzed in detail, and the equations of motion function of three mechanisms are solved, which provides a theoretical basis for the intelligent control algorithm of electric stapler. Results The electric clamping and firing process was simulated using ADAMS software to verify the equation of motion. The prototype of the new electric stapler was made, and the anastomosis experiment and blasting pressure experiment of the ex vivo small intestine tissue were carried out. The value of anastomotic blasting pressure was between 3.7 kPa and 11.67 kPa, which met the basic clinical requirements. Conclusions The structure of the new electric stapler can meet the requirements of electric pressing and firing in minimally invasive surgery, which can help doctors to achieve tissue anastomosis more conveniently, quickly and effectively.