METHOD AND CONTROL DEVICE FOR ADJUSTING OPENING SIZE OF SAMPLING WINDOW OF BIOPSY SURGICAL DEVICE

Disclosed are a method and control device for adjusting an opening size of a sampling window of a biopsy surgical device. The biopsy surgical device includes a motor, an outer cutter tube and an inner cutter tube. The outer cutter tube includes a sampling window on a side of the front end. The motor drives the inner cutter tube to move axially through a transmission mechanism, changing the axial relative position of the inner cutter tube and the sampling window. The method includes: obtaining an input instruction that includes a set value of an sampling window opening length; determining an axial movement distance of the inner cutter tube according to the current position of the inner cutter tube and the set value; calculating the number of rotations of the motor corresponding to the axial movement distance; and controlling the motor to rotate until the sampling window reaches the opening length.

TECHNICAL FIELD

The present application relates to the technical field of medical devices, and particularly to a method and control device for adjusting an opening size of a sampling window of a biopsy surgical device.

BACKGROUND

Biopsy is a technique that removes diseased tissue from the patient's body for pathological examination by cutting, clamping, or puncturing for diagnosis and treatment needs. Biopsy surgical devices are used to sample biological tissue from the human body. A widely used biopsy surgical device is the one that performs sampling through rotational cutting, which typically includes a cutter and a handle. The cutter includes an inner cutter tube and an outer cutter tube that are sleeved. The front end of the outer cutter tube is a tip for puncture. A sampling slot is defined on the side of the outer cutter tube near the front end. The front end of the inner cutter tube includes a cutting edge. During puncture, the inner cutter tube is located at the forefront and closes the sampling slot. When the puncture is in position, the inner cutter tube moves backward to expose the sampling slot. The tissue is sucked into the sampling slot under negative pressure. At this time, the inner cutter tube moves forward and performs rotational cutting, thereby cutting off the tissue entering the sampling slot and accommodating it into the front end of the inner cutter tube.

During the surgery, it is necessary to accurately control the opening size of the sampling slot according to the amount of sampling.

SUMMARY

A method for adjusting an opening size of a sampling window of a biopsy surgical device is provided. The biopsy surgical device includes a motor, an outer cutter tube, and an inner cutter tube. The outer cutter tube is sleeved over the inner cutter tube. A sampling window is defined on a side of a front end of the outer cutter tube. The motor is configured to drive the inner cutter tube to move axially through a transmission mechanism and control a front end of the inner cutter tube to stop at any position along an axial direction of the sampling window of the outer cutter tube, such that adjusting an opening length of the sampling window.

The method for adjusting the opening size of the sampling window includes obtaining an input instruction at least including a set value of an opening length of the sampling window, determining an axial movement distance of the inner cutter tube according to a current position of the inner cutter tube and the set value of the opening length of the sampling window, calculating a number of rotations of the motor corresponding to the axial movement distance of the inner cutter tube according to a transmission relationship of the transmission mechanism, and controlling the motor to rotate according to the number of rotations, causing the inner cutter tube to move axially, so that the sampling window reaches a target window opening length.

In some embodiments, when the current position of the inner cutter tube is an initial position where the front end of the inner cutter tube closes the sampling window, the axial movement distance of the inner cutter tube is determined as L=S1+L0.

When the current position of the inner cutter tube is not at the initial position, the axial movement distance of the inner cutter tube is determined as L=S1+(L0−Ln) when Ln≤L0, and the axial movement distance of the inner cutter tube is determined as L=S1−(Ln−L0) when Ln≥L0.

Where S1is the set value of the opening length of the sampling window, L0is a distance from the front end of the inner cutter tube to a front end of the sampling window when the inner cutter tube is located at the initial position, and Lnis a distance from the front end of the inner cutter tube to the initial position.

In some embodiments, the transmission mechanism includes a transmission member fixedly connected to an output end of the motor. The transmission member includes a first thread segment. The inner cutter tube includes a second thread segment that threadedly engaged with the first thread segment. The motor drives the transmission member to rotate, which in turn drives the inner cutter tube to move axially.

In some embodiments, the transmission mechanism includes a transmission member fixedly connected to an output end of the motor. The transmission member includes a first thread segment. The transmission mechanism also includes a transmission sleeve fixedly sleeved on the inner cutter tube. The transmission sleeve and the inner cutter tube are arranged to be axially fixed and circumferentially rotate relative to each other. The transmission sleeve is provided with a second thread segment that is threadedly engaged with the first thread segment. The motor drives the transmission member to rotate, which in turn drives the inner cutter tube to move axially.

In some embodiments, the number X of rotations of the motor corresponding to the axial movement distance L of the inner cutter tube is calculated according to the following method:

where P is a pitch of the first thread segment or the second thread segment.

In some embodiments, the transmission mechanism comprises a first driving gear and a first driven gear that mesh with each other, the first driving gear is mounted on an output shaft of the motor, the inner cutter tube comprises a third thread segment, the first driven gear comprises a fourth thread segment, the first driven gear and the inner cutter tube are threadedly engaged, and the motor drives the first driving gear to rotate so that the first driven gear drives the inner cutter tube to move axially.

In some embodiments, the number X of rotations of the motor corresponding to the axial movement distance L of the inner cutter tube is calculated according to the following method:

where P1is a pitch of the third thread segment or the fourth thread segment, B is a number of teeth of the first driving gear, and D is a number of teeth of the first driven gear.

In some embodiments, the transmission mechanism includes a first transmission structure and a second transmission structure. The second transmission structure is configured to drive the inner cutter tube to rotate around an axis thereof. An output portion of the first transmission structure is sleeved on the inner cutter tube and is threaded with the inner cutter tube. The output portion and the inner cutter tube rotate in a same direction. There is a speed difference between the output portion and the inner cutter tube. The inner cutter tube is driven to move axially by the speed difference and thread structures on the output portion and the inner cutter tube.

In some embodiments, the first transmission structure includes a first driving gear and a first driven gear that mesh with each other. The first driving gear is arranged on an output shaft of the motor. The inner cutter tube includes a fifth thread segment. The first driven gear includes a sixth thread segment. The first driven gear and the inner cutter tube are threadedly engaged. The second transmission structure includes a second driving gear and a second driven gear that mesh with each other. The second driving gear is arranged on the output shaft of the motor. The second driven gear is sleeved on the inner cutter tube and is arranged to be circumferentially fixed and axially slidable relative to the inner cutter tube.

In some embodiments, the number X of rotations of the motor corresponding to the axial movement distance L of the inner cutter tube is calculated according to the following method:

where P2is a pitch of the fifth thread segment or the sixth thread segment, B is a number of teeth of the first driving gear, D is a number of teeth of the first driven gear, A is a number of teeth of the second driving gear, and C is a number of teeth of the second driven gear.

In some embodiments, the transmission mechanism further includes a transmission sleeve fixedly sleeved on the inner cutter tube. The transmission sleeve includes outer threads. The first driven gear is sleeved on the transmission sleeve and is threadedly engaged with the transmission sleeve.

In some embodiments, an extension segment extends axially from the transmission sleeve. One end of the second driven gear is fixedly connected with a sleeve piece. The sleeve piece is sleeved on the extension segment and cooperates with the extension segment through a convex-concave structure to transmit torque. The transmission sleeve can slide axially relative to the sleeve piece to maintain torque transmission during a relative axial movement.

In some embodiments, a groove is defined in an inner wall of the sleeve piece along an axial direction of the inner cutter tube, and a protrusion corresponding to the groove is provided on the extension segment.

In some embodiments, the biopsy surgical device further includes a support housing. The inner cutter tube and the outer cutter tube are both mounted on the support housing. The support housing includes a transmission window. The first driven gear and the second driven gear partially extend out of the support housing through the transmission window.

In some embodiments, the support housing includes a positioning structure configured to axially position the first driven gear and the second driven gear.

In some embodiments, the positioning structure includes steps formed on the transmission window and an inner wall of the support housing. The steps are configured to axially position the first driven gear and the second driven gear.

In some embodiments, the inner wall of the support housing includes a plurality of convex ribs, and an outer wall of the sleeve piece is supported by the convex ribs.

In some embodiments, a shaft portion with outer threads extends axially from the first driven gear. The shaft portion inserts into the inner cutter tube and is threadedly engaged therewith.

In some embodiments, the number of rotations of the motor is detected by a Hall sensor.

In some embodiments, the minimum unit for adjusting the opening length of the sampling window along the axial direction is E. The value of the minimum unit E ranges from 0.1 mm to 2 mm. The values of the minimum units E on the same biopsy surgical device are same.

A control device for adjusting an opening size of a sampling window of a biopsy surgical device includes an obtaining module, a distance calculation module, a rotation number calculation module, and a control module. The obtaining module is configured to acquire an input instruction. The input instruction at least includes a set value of an opening length of the sampling window. The distance calculation module is configured to determine an axial movement distance of the inner cutter tube according to the current position of the inner cutter tube and the set value of the opening length of the sampling window. The rotation number calculation module is configured to calculate the number of rotations of the motor corresponding to the axial movement distance of the inner cutter tube according to a transmission relationship of a transmission mechanism. The control module is configured to control the motor to rotate according to the number of rotations, so that the inner cutter tube moves axially and the sampling window reaches a target opening length.

A non-transitory computer-readable storage medium with a computer program stored therein is also provided. When the computer program is executed by a processor, the steps of the method are implemented.

A biopsy surgical device includes an inner cutter tube, an outer cutter tube, a motor, and a controller. The outer cutter tube is sleeved over the inner cutter tube. A sampling window is defined on a side of a front end of the outer cutter tube. The motor is configured to drive the inner cutter tube to move axially through a transmission mechanism and control a front end of the inner cutter tube to stop at any position along an axial direction of the sampling window of the outer cutter tube, such that adjusting an opening length of the sampling window. The controller is configured to execute steps of the method in the above embodiments.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The implementation of the present application is described below in conjunction with specific embodiments. Those familiar with this technology can easily know other advantages and effects of the present application from the content disclosed in the present specification.

EMBODIMENTS

In the present application, the orientation “front” and “back” are defined with reference to the usage status of the biopsy surgical device. During usage, the side facing the patient is the front, and the side away from the patient is the back.

During a biopsy surgery, the retraction position and distance of the inner cutter tube are controlled according to the amount of sampling so as to adjust the opening size of the sampling window. As known to the applicant, there are typically only 3 to 4 fixed adjustment positions, and adjustments can only be made between these fixed positions. For example, the sampling window can be opened at 50%, 100%, etc. It is impossible to achieve a refined and continuous adjustment of the opening size of the window. It only adapts to several fixed sampling lengths, resulting in poor adaptability and weak universality of the biopsy surgical device.

As shown inFIGS.1to6, the present embodiment illustrates a biopsy surgical device, including a handle1and a cutter assembly2that are connected. The cutter assembly2includes an outer cutter tube21and an inner cutter tube22that are arranged coaxially. The front end of the outer cutter tube21includes a puncture tip. A sampling window21ais defined on the side of the outer cutter tube21near the front end. The front end of the inner cutter tube22includes a cutting edge. The inner cutter tube22and the outer cutter tube21are sleeved. The inner cutter tube22is inserted in the outer cutter tube21, or the inner cutter tube22is sleeved over the outer cutter tube21. The inner cutter tube22can move axially relative to the outer cutter tube21.

A motor11is arranged in the handle1. The motor11is connected to the inner cutter tube22through a transmission mechanism so as to drive the inner cutter tube22to move along the axial direction (front and back direction) and control the front end of the inner cutter tube to stop at any position along the axial direction of the sampling window of the outer cutter tube, such that the length of the sampling window21athat is exposed or covered by the inner cutter tube can be continuously adjusted, thereby adjusting the actual opening length of the sampling window21afor tissue aspiration, i.e., the axial dimension of the actual used sampling window21a.

During puncture, the inner cutter tube22is located at the forefront and closes the sampling window21a. When the puncture is in position, the inner cutter tube22moves backward to expose the sampling window21a. The tissue is sucked into the sampling window21aunder negative pressure. At this time, the inner cutter tube moves forward or rotates while moving forward, so as to cut off the tissue entering the sampling window21aand then transport the cut tissue to a sample collection box through the inner cutter tube under atmospheric pressure. The position of the inner cutter tube22can be adjusted between completely covering the sampling window21a(the state shown inFIG.4) and completely exposing the sampling window21a(the state shown inFIG.5), so that the actual opening size of the sampling window21acan be continuously adjusted according to the sampling requirements.

A method for adjusting the opening size of a sampling window of a biopsy surgical device includes obtaining an input instruction. The input instruction at least includes a set value of an opening length of the sampling window. For example, a window opening length parameter can be input through buttons or a touch screen on the handle1. Alternatively, a relative amount of increase/decrease, i.e., an adjustment value of the window opening length, is input. The set value of the opening length of the sampling window can be calculated according to the input adjustment value. Then, an axial movement distance of the inner cutter tube22is determined according to the actual required window opening length, i.e., according to the current position of the inner cutter tube22and the set value of the opening length of the sampling window. For example, when the front end of the inner cutter tube22is flush with the front end of the sampling window21a, the distance the inner cutter tube22moves backward is the window opening length. When the front end of the inner cutter tube22is forward beyond the front end of the sampling window21a, the distance the inner cutter tube22moves backward needs to be greater than the input window opening length, and the difference is the distance between the front end of the inner cutter tube22and the front end of the sampling window21a. This distance (i.e., the difference) is determined when the biopsy surgical device is manufactured. The movement distance of the inner cutter tube22is determined according to the relative position, as shown inFIG.6andFIG.7.

Then, the number of rotations of the motor corresponding to the axial movement distance of the inner cutter tube22is calculated according to a transmission relationship of the transmission mechanism, such that the motor is controlled to rotate according to the number of rotations, casing the inner cutter tube22moves axially until the sampling window21areaches the specified window opening length.

The number of rotations of the motor can be detected by a Hall sensor, and the motor stops rotating after completing the specified number of rotations.

An input device, a driver, and a Hall sensor are connected to the controller, respectively. The input device may be a button, a touch screen, etc. The controller stores a calculation method for the relationship between the axial movement distance of the inner cutter tube22and the number of rotations of the motor. When obtaining the input instruction from the input device, the controller calculates the distance that the inner cutter tube22needs to move along the axial direction according to the relative position relationship between the inner cutter tube22and the sampling window21a. Then, the number of rotations that the motor needs to rotate is determined according to the transmission relationship of the current transmission mechanism. The driver drives the motor to rotate according to the determined number of rotations. At the same time, the Hall sensor detects the number of rotations of the motor and feeds it back to the controller. The number of rotations of the motor is obtained in real time. When the corresponding number of rotations is reached, the controller controls the motor to stop through the driver. The position of the inner cutter tube22can be adjusted between completely covering the sampling window21aand completely exposing the sampling window, so that the actual opening length of the sampling window21acan be adjusted to adapt to the needs of different sampling sizes. In addition, based on the relationship between the axial movement distance of the inner cutter tube22and the number of rotations of the motor, the opening length of the sampling window21acan be accurately controlled and can be adjusted in real time as needed by controlling the number of motor rotations.

The controller may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc. The controller may also be a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other programmable logic devices, a discrete gate or transistor logic device, or a discrete hardware component.

As shown inFIG.6, when the current position of the inner cutter tube22is the initial position (i.e., the inner cutter tube is located at the forefront and closes the sampling window), the axial movement distance L of the inner cutter tube22is determined as L=S1+L0, where S1is the input set value of opening length of the sampling window, and L0is the distance from the front end of the inner cutter tube22to the front end of the sampling window21awhen the inner cutter tube22is at the initial position.

When the current position of the inner cutter tube22is not at the initial position, there are two cases. When Ln≤L0, it means that the inner cutter tube22is located between the initial position and the front end of the sampling window21a. The axial movement distance L of the inner cutter tube22is determined as L=S1+(L0−Ln), and the distance to be moved is greater than the set value. When Ln≥L0, it means that the inner cutter tube22is located behind the front end of the sampling window21a, the distance to be moved is less than the set value, and L=S1−(Ln−L0). Lnis the distance from the front end of the inner cutter tube22to the initial position. The inner cutter tube22moves backward when L>0, and the inner cutter tube22moves forward when L<0.

As shown inFIG.7, (a) shows the current position of the inner cutter tube22, and (b) shows the final adjustment position of the inner cutter tube22. The current position of the inner cutter tube22is behind the front end of the sampling window21a, and the axial movement distance of the inner cutter tube22is L=S1−(Ln−L0). The calculation method is similar when Ln≤L0.

Regarding the transmission structure of the biopsy surgical device, there are different transmission ratio calculation methods according to different transmission structures.

In an embodiment, the output end of the motor11and the inner cutter tube22are directly connected through threads, and the inner cutter tube22moves axially. When the motor11completes one revolution, the inner cutter tube22moves axially by one pitch P. The number X of rotations of the motor corresponding to the axial movement distance L of the inner cutter tube22is obtained by

where P is the pitch of the thread of the inner cutter tube22that matches the output end of the motor11. When X>0, the motor rotates forward and the inner cutter tube22moves backward. When X<0, the motor rotates in reverse and the inner cutter tube22moves forward. X is not necessarily an integer, in other words, the motor can rotate half a turn or a quarter of a turn. The number of rotations of the motor can be set according to actual needs.

Specifically, as shown inFIG.8, the output end of the motor11is fixedly connected to a transmission member16that rotates synchronously with it. The transmission member16includes a first thread segment. The first thread segment may be an inner screw thread or an outer screw thread. The back portion of the inner cutter tube22includes a second thread segment that matches the first thread segment, and P is the pitch of the first thread segment or the second thread segment. The transmission member16is directly threaded with the back portion of the inner cutter tube22. A limiting element is set on the cutter assembly or the handle to limit the rotation of the inner cutter tube22so that the inner cutter tube22moves axially.

As shown inFIG.9, in another embodiment, the output end of the motor11is fixedly connected to a transmission member16that rotates synchronously with it. The transmission member16includes a first thread segment. The first thread segment may be an inner screw thread or an outer screw thread. A transmission sleeve25is arranged on the inner cutter tube22. The transmission sleeve25includes a second thread segment that matches the first thread segment. The transmission member16and the transmission sleeve25are in a threaded connection. The transmission sleeve25and the inner cutter tube22are arranged to be axially fixed and circumferentially rotate relative to each other, so that when the motor11rotates, the inner cutter tube22is driven to move axially through the transmission sleeve25, and the front end of the inner cutter tube22can stop at any position along the axial direction of the sampling window21aof the outer cutter tube21. This embodiment is applicable for the biopsy surgical device in which the inner cutter tube22does not rotate but only moves axially. A limiting element may be set on the cutter assembly or the handle to limit the rotation of the inner cutter tube22.

As shown inFIG.10, in an embodiment, the transmission mechanism includes a first driving gear13and a first driven gear23that mesh with each other. The output end of the motor11is connected with an output shaft12. The first driving gear13is sleeved on the output shaft12and rotates with the output shaft12. The inner cutter tube22includes an outer thread segment (i.e., a third thread segment). The inner wall of the first driven gear23includes inner threads (i.e., a fourth thread segment). The first driven gear23is sleeved on the outer thread segment of the inner cutter tube22and is threadedly engaged with the inner cutter tube22. By the cooperation of the threaded pair, the inner cutter tube22is driven to move axially. The first motor11drives the first driving gear13to rotate, causing the first driven gear23to drive the inner cutter tube22to move axially and stop the front end of the inner cutter tube22at any position in the axial direction of the sampling window21aof the outer cutter tube21, thereby changing the size of the sampling window21aexposed or covered by the inner cutter tube21.

In this embodiment, to facilitate manufacturing, the transmission sleeve25is fixedly sleeved on the inner cutter tube22. The transmission sleeve25is provided with outer threads to cooperate with the first driven gear23. In other embodiments, a shaft portion with outer threads extends axially from the first driven gear23. The shaft portion inserts into the inner cutter tube22and is threadedly engaged therewith.

The above embodiment is applicable for the biopsy surgical device in which the inner cutter tube22rotates while cutting, and for the biopsy surgical device in which the inner cutter tube22does not rotate but only moves axially.

In the above structure, by the transmission of the gear set and the threads, after the first driven gear23rotates one turn, the inner cutter tube22moves axially by one pitch, and the motor11rotates D/B turns, then the number X of rotations of the motor11corresponding to the axial movement distance L of the inner cutter tube22is obtained by

where P1is the pitch of the third thread segment or the fourth thread segment, B/D is the transmission ratio between the first driving gear13and the first driven gear23, for example, B is the number of teeth of the first driving gear, and D is the number of teeth of the first driven gear.

As shown inFIG.11, in an embodiment, the transmission mechanism includes a first transmission structure and a second transmission structure. The motor drives the inner cutter tube22to rotate around the axis thereof through the second transmission structure. An output portion of the first transmission structure is sleeved on the inner cutter tube22and is threadedly engaged with the inner cutter tube22. The output portion and the inner cutter tube22rotate in the same direction, and there is a speed difference between the output portion and the inner cutter tube22. The inner cutter tube22is driven to move axially by the speed difference and the threaded structure. Therefore, a slower movement adjustment in the axial direction is achieved while the inner cutter tube22rotates at a high speed, which facilitates precise adjustment.

As shown inFIG.11andFIG.12, the first transmission structure includes a first driving gear13and a first driven gear23that mesh with each other. The first driven gear23is the output portion of the first transmission structure. The output end of the motor11is connected with an output shaft12. The first driving gear13is sleeved on the output shaft12and rotates with the output shaft12. The inner cutter tube22includes an outer thread segment (a fifth thread segment), and the inner wall of the first driven gear23includes inner threads (a sixth thread segment). The first driven gear23is sleeved on the outer thread segment of the inner cutter tube22and is threadedly engaged with the inner cutter tube22.

Torque is transmitted between the motor11and the inner cutter tube22through the second transmission structure to drive the inner cutter tube22to rotate. The second transmission structure includes a second driving gear14and a second driven gear24that mesh with each other. The second driving gear14is arranged on the output shaft12of the motor11and rotates synchronously with the output shaft12. The second driven gear24is coaxially sleeved on the inner cutter tube22and is arranged to be circumferentially fixed and axially slidable relative to the inner cutter tube22. In other words, the inner cutter tube22rotates with the second driven gear24, but the inner cutter tube22can slide axially relative to the second driven gear24and still transmit torque during sliding.

Specifically, the transmission mechanism also includes a transmission sleeve25fixedly sleeved on the inner cutter tube22. The transmission sleeve25includes outer threads. The first driven gear23is sleeved on the transmission sleeve25and is threadedly engaged with the transmission sleeve25.

In the above structure, the inner cutter tube22is driven by the transmission mechanism to rotate around the axis thereof, i.e., rotate synchronously with the second driven gear24. At the same time, the first driven gear23is threadedly engaged with the inner cutter tube22, and the inner cutter tube22and the first driven gear rotate in the same direction but at different speeds. There is a speed difference, which drives the inner cutter tube22to move axially through the threads.

In an embodiment, an extension segment26extends axially from the transmission sleeve25. One end of the second driven gear24is fixedly connected with a sleeve piece27. The sleeve piece27is sleeved on the extension segment26and cooperates with the extension section26through a convex-concave structure to transmit torque. In addition, the transmission sleeve25can slide axially relative to the sleeve piece27to maintain torque transmission during the relative axial movement.

As shown inFIG.13, in an embodiment, a groove27ais defined in the inner wall of the sleeve piece27along the axial direction of the inner cutter tube22. Specifically, a plurality of grooves27aare distributed along the circumferential direction. Protrusions26acorresponding to the grooves27aare provided on the extension segment26, and the length of the groove27aalong the axial direction of the inner cutter tube22is greater than or less than the length of the protrusion26aalong the axial direction of the inner cutter tube22. Alternatively, the extension segment26and the sleeve piece27may also be matched by keyway or spline.

In this embodiment, the cutter assembly2also includes a support housing28. The inner cutter tube22and the outer cutter tube21are both mounted on the support housing28. The support housing28includes a transmission window. The first driven gear23and the second driven gear24partially extend out of the support housing28through the transmission window. The support housing28includes a positioning structure configured to axially position the first driven gear23and the second driven gear24, so that the first driven gear23and the second driven gear24are fixed in the axial direction and only perform rotational movement. In this embodiment, the axial positioning is achieved by the steps28bformed by the inner wall of the support housing28and the transmission window. In order to reduce friction while ensuring support, a plurality of convex ribs28aare provided on the inner wall of the support housing28, and the outer wall of the sleeve piece27is supported by the convex ribs28a.

Based on the above transmission structure, the process of calculating the number of rotations of the motor according to the axial movement distance L of the inner cutter tube22is as follows.

The first driving gear13and the second driving gear14are both connected to the output shaft of the motor and rotate at the same speed. The number of teeth on the first driving gear13, the second driving gear14, the first driven gear23, and the second driven gear24are different, resulting in different transmission ratios for the two gear sets. Therefore, the speeds of the first driven gear23and the second driven gear24are different, and the speed of the second driven gear24is the same as that of the inner cutter tube22rotating around the axis thereof.

The speed difference between the first driven gear23and the second driven gear24is N1:

N1=BD⁢N-AC⁢N=(BD-AC)⁢Nwhere N is the speed of the first driving gear13and the second driving gear14,

is the speed difference coefficient. B/D is the transmission ratio between the first driving gear13and the first driven gear23, which may be a ratio of the number of teeth of the gears, or the reciprocal of the radius ratio. A/C is the transmission ratio between the second driving gear14and the second driven gear24, which may be the ratio of the number of teeth of the gears, or the reciprocal of the radius ratio.

From the above formula, it can be seen that the first driven gear23rotates faster than the second driven gear24by N1. The transmission sleeve25and the second driven gear24rotate synchronously and have the same rotation speed, i.e., the first driven gear23rotates faster than the transmission sleeve25by N1. Since the second driven gear24and the first driven gear23are axially fixed, the speed difference between the first driven gear23and the transmission sleeve25causes the transmission sleeve25to move forward or backward through the thread of the first driven gear23(the forward or backward movement is achieved by changing the rotation direction of the motor). Due to the axial fixation between the inner cutter tube22and the transmission sleeve25, the forward or backward movement of the inner cutter tube22is achieved.

The speed of the first driven gear23may be higher than or lower than the speed of the second driven gear24. The speed of the driven gears and the rotation direction of the motor jointly determine whether the inner cutter tube22moves forward or backward.

The output speed N2of the inner cutter tube22is as follows:

which is the same as the speed of the second driven gear24.

The speed of forward and backward movement of the inner cutter tube22is related to the speed difference between the two driven gears and the pitch of the thread. The feed rate V of the inner cutter tube22is as follows:

where P2is the pitch of the outer thread of the transmission sleeve25or the pitch of the inner thread of the first driven gear23. The transmission sleeve25has the same pitch as the first driven gear23.

When the first driven gear23rotates one turn relative to the second driven gear24, the inner cutter tube22moves forward by one pitch P. Since the speed difference coefficient between the first driven gear23and the second driven gear24is

the second driving gear14, the first driving gear13, and the motor all rotate Y turns, where

The first driven gear23and the second driven gear24are one turn apart, and the inner cutter tube22moves forward by pitch P2.

When the axial movement distance of the inner cutter tube22is L, the second driving gear14, the first driving gear13, and the motor all rotate X circles, then

The first driven gear23rotates

turns, and the second driven gear24rotates

turns. Therefore, in the case that the axial movement distance of the inner cutter tube22is known, the corresponding number of rotations of the motor can be calculated. By counting with a Hall sensor, the motor stops rotating after the specified number of rotations is reached. When there are multiple stages of gear transmission, the transmission ratio can be calculated in a similar way.

To facilitate the doctor's intuitive operation, the minimum unit for adjusting the opening length of the sampling window21aalong the axial direction is E, i.e., the inner cutter tube22can be moved along the axial direction by one minimum unit E at a time. The value of the minimum unit E ranges from 0.1 mm to 2 mm, such as 0.1 mm, 1 mm, 1.5 mm, 2 mm, etc. It is possible to move several minimum units in succession. For example, when the minimum adjustment unit of the window opening length of a biopsy surgical device is 0.1 mm, each movement can increase or decrease by 0.1 mm, and several 0.1 mm can be continuously increased or decreased. The minimum unit of each biopsy surgical device has a unique value. The distance of each movement is the same, achieving a continuous and fine adjustment of the movement distance, so as to achieve a continuous adjustment of the actual opening length of the sampling window21a.

During the adjustment process, the final parameter of the window opening length, such as 25 mm, may be directly input. Alternatively, incremental parameters may be input, such as increasing or decreasing 5 mm on the basis of the original window opening length.

During the operation of the biopsy surgical device, before and during puncture, the inner cutter tube22moves to the frontmost position to close the sampling window21a. After the puncture is in place, the motor11drives the inner cutter tube22to move backward according to the sampling size requirement until the actual opening length of the sampling window21acorresponds to the input value. Then, the tissue is sucked into the sampling window21afrom the back end of the inner cutter tube22through a negative pressure device. After this, the inner cutter tube22is driven to move forward and rotate at a high speed to cut off the tissue and accommodate it at the front end of the inner cutter tube22, and the sampling is completed.

In this embodiment, the position of the inner cutter tube22can be continuously adjusted between completely covering the sampling window21aand completely exposing the sampling window21a, thereby adjusting the actual opening length of the sampling window21a, and achieving continuous forward and backward adjustment of the inner cutter tube22. Therefore, the opening length of the sampling window21acan be adjusted in real time and continuously according to the sampling requirements, so as to meet precise resection needs of different sizes of lesions. In specific embodiments, the minimum opening can be only 5 mm, which meets the needs for precise resection of tiny lesions and preserves surrounding normal tissues to the greatest extent. The maximum opening can reach 30 mm, allowing for a larger sample size to be obtained in a single resection, improving resection efficiency, reducing surgical time, and meeting the surgical needs of larger lesions.

In an embodiment, a control device for adjusting an opening size of a sampling window of a biopsy surgical device includes an obtaining module, a distance calculation module, a rotation number calculation module, and a control module. The obtaining module is configured to obtain input instructions, which at least include a setting value of a sampling window opening length. The distance calculation module is configured to determine an axial movement distance of the inner cutter tube according to the current position of the inner cutter tube and the set value of the opening length. The rotation number calculation module is configured to calculate the number of rotations of the motor corresponding to the axial movement distance of the inner cutter tube according to a transmission relationship of the transmission mechanism. The control module is configured to control the motor to rotate according to the number of rotations, causing the inner cutter tube to move axially and achieving the target opening length of the sampling window.

Specific features of the control device for adjusting an opening size of a sampling window of a biopsy surgical device can be referred to the features of the method for adjusting an opening size of a sampling window of a biopsy surgical device, which will not be repeated here. The modules in the above-mentioned control device for adjusting an opening size of a sampling window of a biopsy surgical device may be implemented in whole or in part by software, hardware, and combinations thereof. Each of the above modules may be embedded in or independent of a processor of a computer device in a form of hardware, or may be stored in a memory of the computer device in a form of software, so as to be called by the processor to perform the operations corresponding to the above modules. It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical function division. In actual implementation, there may be other division manners.

In an embodiment, a non-transitory computer-readable storage medium is provided, in which a computer program is stored. The computer program, when executed by a processor, the steps of the methods in the above embodiments are implemented.

Anyone familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed in the present application shall be covered by the claims of the present application.