Control method and transducer for a medical system, medical system
By adding an excitation control component to the transducer, the problems of low efficiency and safety hazards caused by external foot pedal control are solved, and efficient and safe excitation control of ultrasonic surgical instruments is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CORNERSTONE TECH (SHENZHEN) LTD
- Filing Date
- 2024-12-30
- Publication Date
- 2026-06-30
AI Technical Summary
Existing ultrasound medical devices require external foot pedal control during surgery, which increases surgical steps, reduces efficiency, occupies space, and poses safety hazards.
An excitation control component is added to the transducer, which directly controls the excitation of ultrasonic surgical instruments through an input device and a signal transmitter, replacing the external foot pedal, simplifying the structure and improving space utilization.
It simplifies the structure of the medical system, improves the space utilization of the operating room, reduces the risk of accidents, and enhances surgical efficiency and safety.
Smart Images
Figure CN122297035A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of medical device technology, and more specifically to a control method and transducer for a medical system, and a medical system. Background Technology
[0002] In modern medicine, ultrasound medical devices are widely used in various minimally invasive surgeries. In certain scenarios during surgical procedures using surgical robots, such as for ultrasonic scalpel self-checks or cleaning, the ultrasound medical device typically requires an external foot pedal to activate the ultrasonic scalpel. The insertion and removal of the external foot pedal increases surgical steps and reduces efficiency. Furthermore, the external foot pedal requires cable connections, taking up operating room space and potentially posing safety hazards.
[0003] Therefore, there is a need to provide a control method and transducer for a medical system, and a medical system in general, to at least partially solve the above problems. Summary of the Invention
[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.
[0005] To at least partially address the aforementioned problems, a first aspect of this application provides a transducer for converting electrical energy into acoustic energy to supply to ultrasonic surgical instruments, the transducer including an excitation control assembly comprising:
[0006] An input device, wherein the input device is configured to receive user input and generate an excitation control signal based on the user input, and
[0007] A signal transmitter sends an excitation control signal to an energy generator, the excitation control signal being used by the energy generator to control the excitation of the ultrasonic surgical instrument.
[0008] Optionally, the input device includes a movable button and a first sensor element, the first sensor element being connected to the button and moving with the button; the signal transmitter includes a second sensor element, the first sensor element generating the excitation control signal between the first sensor element and the second sensor element as the button moves predetermined; or
[0009] The input device includes a button and a mechanical switch. The mechanical switch is connected to the button and moves with the button. The mechanical switch generates the excitation control signal as the button moves in a predetermined manner.
[0010] Optionally, the transducer includes a housing, the input device is disposed on the outer surface of the housing, and the housing separately seals the internal components of the transducer; or the input device and the housing together seal the internal components of the transducer.
[0011] A second aspect of this application provides a medical system comprising a surgical robot, an energy generator, an ultrasonic surgical instrument, and the aforementioned transducer, wherein the ultrasonic surgical instrument is mounted on the surgical robot, the energy generator is connected to the ultrasonic surgical instrument via the transducer, and the energy generator includes a controller for controlling the excitation of the ultrasonic surgical instrument.
[0012] According to the transducer of the first aspect and the medical system of the second aspect of this application, by adding an excitation control component to the transducer, the excitation of the ultrasonic scalpel can be directly controlled by the excitation control component on the transducer instead of an external foot pedal, which simplifies the structure of the medical system, improves the space utilization of the operating room, and reduces the risk of accidents.
[0013] Optionally, the controller is configured to perform excitation control of the ultrasonic surgical instrument in a non-surgical procedure based on the excitation control signal.
[0014] Optionally, the controller is configured to perform a self-test procedure or a cleaning procedure for the ultrasonic surgical instrument based on the excitation control signal.
[0015] Optionally, the controller is configured to stop the excitation of the ultrasonic surgical instruments in a surgical procedure controlled by the surgical robot.
[0016] A third aspect of this application provides a control method for a medical system, the medical system including a surgical robot, an energy generator, an ultrasonic surgical instrument, and a transducer, wherein the ultrasonic surgical instrument is mounted on the surgical robot, the energy generator is connected to the ultrasonic surgical instrument through the transducer, and the energy generator and the transducer are communicatively connected, the control method for the medical system including:
[0017] The input device of the transducer receives user input and generates and transmits excitation control signals based on the user input;
[0018] The transducer's signal transmitter transmits the excitation control signal to the energy generator;
[0019] The controller of the energy generator controls the excitation of the ultrasonic surgical instrument based on the excitation control signal.
[0020] According to the control method of the medical system in the third aspect of this application, by adding an excitation control component to the transducer, the excitation of the ultrasonic scalpel is directly controlled by the excitation control component on the transducer instead of an external foot pedal. This simplifies the structure of the medical system, improves the space utilization of the operating room, and reduces the risk of accidents. The excitation control of the ultrasonic surgical instrument is performed through the excitation control component on the transducer, which facilitates control by the nurse at the robotic arm next to the patient. Through the collaboration between the doctor and the nurse, surgical efficiency can be improved. Optionally, the excitation control signal is used for the excitation control of the ultrasonic surgical instrument in non-surgical procedures.
[0021] Optionally, the excitation control signal is used to indicate excitation for self-testing or cleaning of the ultrasonic surgical instrument, and the energy generator starts the self-testing procedure or the cleaning procedure of the ultrasonic surgical instrument based on the excitation control signal.
[0022] Optionally, the excitation control signal instructs the cessation of excitation of the ultrasonic surgical instruments in a surgical procedure controlled by the surgical robot.
[0023] A fourth aspect of this application provides a control method for a medical system in a non-surgical procedure. The medical system includes a surgical robot, an energy generator, an ultrasonic surgical instrument, and a transducer. The ultrasonic surgical instrument is mounted on the surgical robot, and the surgical robot controls the energy output of the ultrasonic surgical instrument during a surgical procedure. The energy generator is connected to the ultrasonic surgical instrument via the transducer, and the energy generator and transducer are communicatively connected. The control method for the medical system includes:
[0024] The input device of the transducer receives user input;
[0025] The transducer's signal transmitter generates and transmits an excitation signal to the energy generator based on the user input;
[0026] The energy generator performs a self-test procedure or a cleaning procedure on the ultrasonic surgical instrument based on the excitation signal.
[0027] According to the control method of the medical system in the fourth aspect of this application, the excitation control of the ultrasonic surgical instruments in non-surgical procedures is performed by an excitation control component set on the transducer, which is convenient for the nurse at the robotic arm next to the patient to control. Through the cooperation between the doctor and the nurse, the efficiency of the operation can be improved. Attached Figure Description
[0028] The following drawings, illustrating embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings illustrate embodiments of this application and their descriptions, serving to explain the principles of this application. In the drawings,
[0029] Figure 1 This is a schematic diagram of a medical system according to some embodiments of this application;
[0030] Figure 2 for Figure 2 A schematic diagram of a robotic arm in a medical system and ultrasonic surgical instruments mounted on the robotic arm;
[0031] Figure 3 for Figure 2 A schematic diagram of a transducer installed on an ultrasonic surgical instrument;
[0032] Figure 4 This is a schematic diagram of the ultrasonic surgical instruments, transducers, and energy generators according to some embodiments of this application;
[0033] Figure 5 This is a partial cross-sectional schematic diagram of a transducer according to some embodiments of this application;
[0034] Figure 6 Control methods for medical systems according to some embodiments of this application;
[0035] Figure 7 This application describes a control method for a medical system in a non-surgical procedure, as described in some embodiments of the present application. Detailed Implementation
[0036] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with embodiments of this application.
[0037] In this document, ordinal numbers such as “first” and “second” used in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.
[0038] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.
[0039] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.
[0040] Reference Figures 1-5 This application provides a medical system including a surgical robot 1, an ultrasonic surgical instrument 100, a transducer 300, and an energy generator 200.
[0041] The surgical robot 1 is a robot that can be remotely controlled to perform surgical procedures. It can include three parts: a doctor's console 10, a patient-side operating device 20, and an imaging system 30.
[0042] The doctor's control console 10 is the main operating device, featuring a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's control console 10 also has other control switches that are easily accessible by hand or foot for various functional operations and human-computer interaction.
[0043] The patient-side manipulation device 20 is a slave manipulation device and may include at least one robotic arm 21. The robotic arm 21 has several connecting arms, with adjacent connecting arms moving relative to each other with specific degrees of freedom. This allows the end effector of the robotic arm 21 to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the surgical instrument). The end effector of the robotic arm 21 is used to hold surgical instruments or endoscopes. The surgical instruments include ultrasonic surgical instruments 100. Ultrasonic surgical instruments 100 can perform surgery using ultrasonic energy, offering advantages such as high precision, low trauma, and rapid recovery. The ultrasonic surgical instruments 100 can change position as the robotic arm 21 moves.
[0044] The imaging system 30 includes a display screen, an endoscope controller, system electronics, and an image processor. The imaging system 30 can be set up independently, integrated into the doctor's console 10, or integrated into the patient-side operating device 20.
[0045] An ultrasonic surgical instrument 100 is mounted on the robotic arm 21 of the patient-side operating device 20. The ultrasonic surgical instrument 100 may be an ultrasonic scalpel used for cutting and / or coagulating tissue. In other embodiments of this application, the ultrasonic surgical instrument 100 may also be an ultrasonic bone scalpel; or the ultrasonic surgical instrument 100 may be a composite instrument incorporating electrosurgical functions. The ultrasonic surgical instrument 100 is provided with a cutting head or working end suitable for ultrasonic energy transmission, enabling the ultrasonic surgical instrument 100 to perform surgery using ultrasonic energy.
[0046] An energy generator 200 is mounted on the carriage of the imaging system 30. The energy generator 200 is used to generate and transmit energy to the ultrasonic surgical instrument 100. The energy generator 200 also includes a controller for controlling the excitation and energy output of the ultrasonic surgical instrument 100.
[0047] The transducer 300 is connected between the energy generator 200 and the ultrasonic surgical instrument 100 to convert electrical energy into acoustic energy and supply it to the ultrasonic surgical instrument 100.
[0048] The following is in conjunction with the appendix Figure 5 The structure of transducer 300 is described in detail.
[0049] The transducer 300 includes an excitation control component 320. The excitation control component 320 includes an input device 321 and a signal transmitter 322. The input device 321 receives user input and generates an excitation control signal based on the user input. The input device 321 may include, for example, a button 3211, a touch panel, etc. When a doctor presses the corresponding area on the button 3211 or touch panel, the input device 321 generates an excitation control signal based on the detected user input. The signal transmitter 322 sends the excitation control signal to the energy generator 200, which is used by the energy generator 200 to control the excitation of the ultrasonic surgical instrument 100. After receiving the excitation control signal, the energy generator 200 controls the excitation of the ultrasonic surgical instrument 100 or stops the excitation. Optionally, the communication connection between the signal transmitter 322 and the energy generator 200 includes, but is not limited to, wireless communication technologies such as Bluetooth and Wi-Fi; signals can also be transmitted via a signal line.
[0050] In some embodiments of this application, the generation of the excitation control signal is non-contact. The input device 321 includes a movable button 3211 (e.g., moving in the direction indicated by the arrow in the figure) and a first sensor element 3212. The first sensor element 3212 is fixedly connected to the button 3211 and moves with the button 3211. The signal transmitter 322 includes a second sensor element 3213, which is used to detect the movement of the first sensor element 3212. The first sensor element 3212 and the second sensor element 3213 together constitute a distance detection sensor or presence sensor. The distance detection sensor can be, but is not limited to, a Hall sensor, a capacitive sensor, or an inductive sensor. The user changes the relative position or distance between the first sensor element 3212 and the second sensor element 3213 by operating the button 3211, causing a change in the signal sensed by the second sensor element 3213, thereby triggering the generation of the excitation control signal.
[0051] In some other embodiments of this application, the excitation control signal is generated by contact. The input device 321 includes a button 3211 and a mechanical switch. The mechanical switch is connected to the button 3211 and moves with the button 3211. The mechanical switch conducts a switching circuit as the button 3211 moves in a predetermined manner, thereby generating an excitation control signal.
[0052] The mechanical switch is connected to the button 3211 or located at the end of the travel of the button 3211. Optionally, the mechanical switch may be, but is not limited to, a micro switch or a slide switch.
[0053] In some embodiments of this application, the input device 321 is disposed on the outer surface of the housing 310, and the housing 310 separately seals the internal components of the transducer 300. For example... Figure 5 As shown, button 3211 and first sensor element 3212 are located outside housing 310, while second sensor element 3213 is located inside housing 310. First sensor element 3212 is a passive sensor, such as a magnet. Movement of button 3211 and first sensor element 3212 does not affect the sealing performance of housing 310.
[0054] In some other embodiments of this application, the input device 321 is disposed on the outer surface of the housing 310, and the input device 321 and the housing 310 together seal the internal components of the transducer 300. Optionally, the outer surface of the input device 321 is integrally formed with the housing 310.
[0055] The ultrasonic transducer 300 can be used with disposable ultrasonic instruments or reusable ultrasonic instruments. The ultrasonic transducer 300 itself is reusable; by incorporating a simple energy control component into the ultrasonic transducer 300 for repeated use, the cost per use can be reduced.
[0056] The excitation control signal is specifically the excitation signal of the ultrasonic surgical instrument 100 or the excitation stop signal of the ultrasonic surgical instrument 100.
[0057] The excitation signal of the ultrasonic surgical instrument 100 can be used in non-surgical procedures / non-ultrasound treatment procedures. The controller is configured to perform excitation control of the ultrasonic surgical instrument 100 in non-surgical procedures based on the excitation control signal.
[0058] The activation control of the ultrasonic surgical instrument 100 during surgical procedures is controlled via the physician's console 10. A surgical procedure refers to performing surgery on a patient using the ultrasonic surgical instrument 100. For example, the ultrasonic scalpel 100 may be used for tissue cutting and coagulation. Non-therapeutic procedures may include, for example, a self-test procedure to confirm the proper functioning of the ultrasonic scalpel 100 or an ultrasonic scalpel cleaning procedure. An ultrasonic scalpel cleaning procedure, for example, involves placing the ultrasonic scalpel 100 in water and activating it to vibrate and remove surface tissue.
[0059] In some embodiments, the user interface of the transducer 300 receives user input and generates an excitation signal for the ultrasonic surgical instrument 100 based on the user input. After the energy generator 200 receives the excitation signal, the controller executes a self-test procedure or a cleaning procedure for the ultrasonic surgical instrument 100 based on the excitation control signal. After the surgical procedure performed by the ultrasonic surgical instrument 100 controlled by the surgical robot 1 is completed, the user executes the cleaning procedure for the ultrasonic surgical instrument 100 through the control components on the transducer 300. After the cleaning procedure is completed, the user waits to proceed to the next surgical procedure.
[0060] According to the above embodiment, the excitation control of the ultrasonic surgical instrument 100 (e.g., in non-surgical procedures) is performed by an excitation control component 320 disposed on the transducer 300, which facilitates control by the nurse at the robotic arm 21 next to the patient. Furthermore, the excitation control component 320 disposed on the transducer 300 facilitates self-inspection or cleaning of the ultrasonic scalpel by the nurse at the robotic arm 21 next to the patient.
[0061] The excitation stop signal of the ultrasonic surgical instrument 100 can be used in non-surgical procedures / non-ultrasonic treatment procedures.
[0062] In some embodiments, the user interface of the transducer 300 receives a first user input and generates an excitation signal for the ultrasonic surgical instrument 100 based on the first user input. After the energy generator 200 receives the excitation signal, the controller excites the ultrasonic scalpel 100 based on the excitation signal to execute an ultrasonic scalpel self-test program or an ultrasonic scalpel cleaning program. The user interface of the transducer 300 receives a second user input and generates an excitation stop signal for the ultrasonic surgical instrument 100 based on the second user input. After the energy generator 200 receives the excitation stop signal, the controller stops the excitation of the ultrasonic scalpel 100 based on the excitation stop signal to end the ultrasonic scalpel self-test program or the ultrasonic scalpel cleaning program.
[0063] Optionally, the ultrasonic scalpel excitation stop signal can be used alone, without necessarily in conjunction with the excitation signal.
[0064] The excitation and stop signal of the ultrasonic surgical instrument 100 can also be used in surgical procedures / ultrasonic therapy procedures. Ultrasonic therapy procedures can include surgical procedures such as ultrasonic cutting and coagulation.
[0065] In some embodiments, the activation and energy control of the ultrasonic surgical instrument 100 during a surgical procedure are performed by the controller of the surgeon's console 10 of the surgical robot 1. When the ultrasonic surgical instrument 100 has been activated to perform a surgical procedure, surgically manipulating tissue (e.g., cutting or coagulation), if a malfunction occurs (e.g., cutting or coagulation fails) or if other conditions are determined to require stopping the activation of the ultrasonic scalpel 100, the user (e.g., a nurse) can operate via input device 321 to generate an activation stop signal for the ultrasonic scalpel 100 via a signal generator and send it to the energy generator 200. The controller of the energy generator 200 stops the activation of the ultrasonic surgical instrument 100 in the surgical procedure controlled by the surgical robot 1 based on the activation stop signal. After the ultrasonic scalpel activation stops, the surgical procedure is terminated for troubleshooting or emergency treatment.
[0066] According to the above implementation, the excitation of the ultrasonic surgical instrument 100 in the surgical procedure is stopped by the excitation control component 320 set on the transducer 300, which facilitates the nurse at the robotic arm 21 next to the patient to stop the surgical procedure and troubleshoot or rescue the patient.
[0067] This application also provides control methods for the aforementioned medical system.
[0068] Please refer to Figure 6 The control method of the medical system in the first aspect of this application includes:
[0069] Step 101: The input device 321 of the transducer 300 receives user input and generates and transmits an excitation control signal based on the user input;
[0070] Step 102: The signal transmitter 322 of the transducer 300 transmits an excitation control signal to the energy generator 200;
[0071] Step 103: The controller of the energy generator 200 controls the excitation of the ultrasonic surgical instrument 100 based on the excitation control signal.
[0072] In some embodiments, the excitation control of the ultrasonic surgical instrument 100 during a surgical procedure is controlled via a physician console 10. A surgical procedure refers to performing surgery on a patient using the ultrasonic surgical instrument 100. For example, an ultrasonic scalpel 100 may be used for procedures such as tissue cutting and coagulation. The excitation control signal in step 101 is used for the excitation control of the ultrasonic surgical instrument 100 in non-surgical procedures. The controller in step 103 is configured to control the excitation or deactivation of the ultrasonic surgical instrument 100 based on the excitation control signal.
[0073] Non-treatment procedures could include, for example, a self-test procedure to confirm that the ultrasonic scalpel 100 is functioning properly, or a cleaning procedure. The ultrasonic scalpel cleaning procedure, for example, involves placing the ultrasonic scalpel 100 in water and, after excitation, vibrating to remove surface tissue. That is, the excitation control signal in step 101 instructs the excitation for self-testing or cleaning of the ultrasonic surgical instrument 100, and the energy generator 200 initiates the self-test procedure or cleaning procedure of the ultrasonic surgical instrument 100 based on the excitation control signal.
[0074] In some embodiments, the user interface of the transducer 300 receives user input and generates an excitation signal for the ultrasonic surgical instrument 100 based on the user input. After the energy generator 200 receives the excitation signal, the controller executes a self-test procedure or a cleaning procedure for the ultrasonic surgical instrument 100 based on the excitation control signal. After the self-test procedure is completed, the surgical robot 1 controls the excitation and energy output of the ultrasonic surgical instrument 100.
[0075] After the surgical procedure performed by the surgical robot 1 and the ultrasonic surgical instrument 100 is completed, the user executes the cleaning procedure of the ultrasonic surgical instrument 100 through the control component on the transducer 300. After the cleaning procedure is completed, the user waits to enter the next surgical procedure.
[0076] In some embodiments, the user interface of the transducer 300 receives a first user input and generates an excitation signal for the ultrasonic surgical instrument 100 based on the first user input. After the energy generator 200 receives the excitation signal, the controller excites the ultrasonic scalpel 100 based on the excitation signal to execute an ultrasonic scalpel self-test program or an ultrasonic scalpel cleaning program. The user interface of the transducer 300 receives a second user input and generates an excitation stop signal for the ultrasonic surgical instrument 100 based on the second user input. After the energy generator 200 receives the excitation stop signal, the controller stops the excitation of the ultrasonic scalpel 100 based on the excitation stop signal to end the ultrasonic scalpel self-test program or the ultrasonic scalpel cleaning program.
[0077] Optionally, the ultrasonic scalpel excitation stop signal can be used alone, without necessarily in conjunction with the excitation signal.
[0078] According to the above embodiment, the excitation control of the ultrasonic surgical instrument 100 (e.g., in non-surgical procedures) is performed by an excitation control component 320 disposed on the transducer 300, which facilitates control by the nurse at the robotic arm 21 next to the patient. Furthermore, the excitation control component 320 disposed on the transducer 300 facilitates self-inspection or cleaning of the ultrasonic scalpel by the nurse at the robotic arm 21 next to the patient.
[0079] In some other embodiments, the excitation control signal in step 101 is an excitation stop signal, which instructs the cessation of excitation of the ultrasonic surgical instrument 100 in a surgical procedure controlled by the surgical robot 1. The ultrasonic treatment procedure may be a surgical procedure such as ultrasonic cutting or coagulation. The controller is configured to stop the excitation of the ultrasonic surgical instrument 100 based on the excitation stop signal.
[0080] The activation and energy control of the ultrasonic surgical instrument 100 during a surgical procedure are executed by the controller of the surgeon's console 10 of the surgical robot 1. When the ultrasonic surgical instrument 100 is activated to perform a surgical procedure, surgically manipulating tissue (e.g., cutting or coagulation), if a malfunction occurs (e.g., cutting or coagulation failure) or if other conditions are determined to require stopping the activation of the ultrasonic scalpel 100, the user (e.g., a nurse) can operate via input device 321 to generate an activation stop signal for the ultrasonic scalpel 100 via a signal generator and send it to the energy generator 200. The controller of the energy generator 200 stops the activation of the ultrasonic surgical instrument 100 in the surgical procedure controlled by the surgical robot 1 based on the activation stop signal. After the ultrasonic scalpel 100 activation stops, the surgical procedure is terminated for troubleshooting or emergency treatment.
[0081] According to the above implementation, the excitation of the ultrasonic surgical instrument 100 in the surgical procedure is stopped by the excitation control component 320 set on the transducer 300, which facilitates the nurse at the robotic arm 21 next to the patient to stop the surgical procedure and troubleshoot or rescue the patient.
[0082] Please refer to Figure 7 The second aspect of this application provides a control method for a medical system in a non-surgical procedure, the control method comprising:
[0083] Step 201: The input device 321 of the transducer 300 receives user input;
[0084] Step 202: The signal transmitter 322 of the transducer 300 generates and transmits an excitation signal to the energy generator 200 based on the user input;
[0085] Step 203: The energy generator 200 executes the self-test procedure or the cleaning procedure of the ultrasonic surgical instrument 100 based on the excitation signal.
[0086] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “setup” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.
[0087] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.
Claims
1. A control method for a medical system, characterized in that, The medical system includes a surgical robot, an energy generator, ultrasonic surgical instruments, and a transducer. The ultrasonic surgical instruments are mounted on the surgical robot. The energy generator is connected to the ultrasonic surgical instruments via the transducer, and the energy generator and the transducer are communicatively connected. The control method of the medical system includes: The input device of the transducer receives user input and generates and transmits excitation control signals based on the user input; The transducer's signal transmitter transmits the excitation control signal to the energy generator; The controller of the energy generator controls the excitation of the ultrasonic surgical instrument based on the excitation control signal.
2. The control method for the medical system as described in claim 1, characterized in that: The excitation control signal is used for the excitation control of the ultrasonic surgical instruments in non-surgical procedures.
3. The control method for the medical system as described in claim 1, characterized in that: The excitation control signal is used to indicate excitation for self-testing or cleaning of the ultrasonic surgical instrument, and the energy generator starts the self-testing procedure or the cleaning procedure of the ultrasonic surgical instrument based on the excitation control signal.
4. The control method for the medical system as described in claim 1, characterized in that: The excitation control signal instructs the ultrasonic surgical instruments in the surgical procedure controlled by the surgical robot to stop excitation.
5. A control method for a medical system in a non-surgical procedure, characterized in that, The medical system includes a surgical robot, an energy generator, ultrasonic surgical instruments, and a transducer. The ultrasonic surgical instruments are mounted on the surgical robot, which controls the excitation and energy output of the ultrasonic surgical instruments during surgical procedures. The energy generator is connected to the ultrasonic surgical instruments via the transducer, and the energy generator and the transducer are communicatively connected. The control method of the medical system includes: The input device of the transducer receives user input; The transducer's signal transmitter generates and transmits an excitation signal to the energy generator based on the user input; The energy generator performs a self-test procedure or a cleaning procedure on the ultrasonic surgical instrument based on the excitation signal.
6. A transducer for converting electrical energy into acoustic energy to supply ultrasonic surgical instruments, characterized in that, The transducer includes an excitation control component, which includes: An input device, wherein the input device is configured to receive user input and generate an excitation control signal based on the user input, and A signal transmitter sends an excitation control signal to an energy generator, the excitation control signal being used by the energy generator to control the excitation of the ultrasonic surgical instrument.
7. The transducer as described in claim 6, characterized in that, The input device includes a movable button and a first sensor element, the first sensor element being connected to the button and moving with the button; the signal transmitter includes a second sensor element, the first sensor element generating the excitation control signal between the first sensor element and the second sensor element as the button moves in a predetermined manner. or The input device includes a button and a mechanical switch. The mechanical switch is connected to the button and moves with the button. The mechanical switch generates the excitation control signal as the button moves in a predetermined manner.
8. The transducer as described in claim 6, characterized in that, The transducer includes a housing, and the input device is disposed on the outer surface of the housing. The housing alone seals the internal components of the transducer; or the input device and the housing together seal the internal components of the transducer.
9. A medical system, characterized in that, The device includes a surgical robot, an energy generator, an ultrasonic surgical instrument, and a transducer as described in any one of claims 6 to 8, wherein the ultrasonic surgical instrument is mounted on the surgical robot, the energy generator is connected to the ultrasonic surgical instrument via the transducer, and the energy generator includes a controller for controlling the excitation of the ultrasonic surgical instrument.
10. The medical system as described in claim 9, characterized in that: The controller is configured to perform excitation control of the ultrasonic surgical instrument in a non-surgical procedure based on the excitation control signal.
11. The medical system as described in claim 9, characterized in that: The controller is configured to perform a self-test procedure or a cleaning procedure for the ultrasonic surgical instrument based on the excitation control signal.
12. The medical system as described in claim 9, characterized in that: The controller is configured to stop the excitation of the ultrasonic surgical instruments in a surgical procedure controlled by the surgical robot.