A distal integrated multi-degree-of-freedom ultrasonic knife

Abstract

The invention discloses a distal integrated multi-degree-of-freedom ultrasonic knife, which comprises a distal ultrasonic knife connected in sequence, a serpentine joint, a hollow long straight rod and an instrument box. The distal ultrasonic knife includes an ultrasonic knife shell with a variable diameter sliding channel inside, clamping pliers connected with the left and right outer walls of the front end of the ultrasonic knife shell through connecting pins, and an ultrasonic knife installed in the ultrasonic knife shell through a flange. The variable-diameter sliding channel also includes sequentially connected T-shaped push rods, springs and wires for realizing the opening and closing action of the clamping pliers. The ultrasonic scalpel of the present invention has four degrees of freedom of deflection motion in two mutually perpendicular directions, rotary motion around the axis of the hollow long straight rod, and opening and closing motion of clamping forceps, and has the advantages of higher operational flexibility and Larger treatment space, easy to control and adjust the direction and angle of the knife head at the end of the ultrasonic scalpel contacting tissue, convenient processing and manufacturing, and wider application range.

Description

technical field [0001] The invention relates to the technical field of surgical instruments, in particular to a distal integrated multi-degree-of-freedom ultrasonic knife. Background technique [0002] Ultrasonic scalpel is a precise and efficient energy surgical instrument. It has many advantages such as less intraoperative bleeding, less postoperative complications, less adhesion to tissues, and less smoke generation. It has been widely used in traditional minimally invasive surgery and robot-assisted surgery. in minimally invasive surgery. An important advantage of robot-assisted minimally invasive surgery is that doctors can flexibly manipulate surgical instruments with multi-motion joints to complete complex surgical actions through surgical robots, which has the advantages of high surgical precision and convenient operation. However, due to the limitations of mechanical vibration propagation characteristics, longitudinal vibration ultrasonic energy cannot be transmitt...

AI Technical Summary

Problems solved by technology

However, due to the limitations of mechanical vibration propagation characteristics, longitudinal vibration ultrasonic energy cannot be transmitted in a bending manner. Therefore, the ultrasonic scalpels currently used in traditional minimally invasive surgery and robot-assisted minimally invasive surgery all adopt rigid long straight blade structures and only have The two degrees of freedom of the axis rotation of the rod itself and the opening and closing of the end jaws lead to severe restrictions on its flexibility in surgical operations and the treatment space in the patient's body, which makes it unattractive in some complex operations in the body. Especially in robotic-assisted minimally invasive surgery

[0003] Compared with other multi-degree-of-freedom surgical instruments used in robot-assisted minimally invasive surgery, the ultrasonic scalpel currently used in robot-assisted minimally invasive surgery lacks the distal wrist joint, resulting in the direction and angle of its contact with organs or tissues during surgery. Restricted, the inability to correctly control the direction and angle of the ultrasonic knife head acting on the tissue will have a great impact on the safety of the operation, including increasing the risk of accidental injury or accidental bleeding of the tissue around the lesion

[0004] At present, some ultrasonic knives have been proposed to address the above problems, such as the terminal multi-degree-of-freedom ultrasonic knife disclosed in the patent CN106175879A, which realizes multi-degree-of-freedom by adjusting the rotation angle of the end knife head and two piezoelectric ceramic drivers by rotating the drive assembly Although it can solve the above problems, the silicon crystal cutter head it uses has the disadvantages of high brittleness and easy cracking under high stress, which has certain surgical safety risks, and there is a gap between the silicon crystal cutter head and the piezoelectric ceramic driver. The connection method filled with conductive glue has the disadvantages of poor electromechanical coupling and energy transmission, and high energy loss at the connection between the cutter head and the piezoelectric ceramic driver.

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