Ultrasonic bone knife head and robot-assisted ultrasonic bone power system using the same

Abstract

The present disclosure relates to an ultrasonic bone knife blade and a robot-assisted ultrasonic bone power system using the blade. The ultrasonic bone knife blade includes a blade end located at the distal end of the blade, the blade end is formed into a flat structure and is provided with a cutting portion, the cutting portion includes a distal portion, a first side portion and a second side portion, the first side portion and the second side portion are symmetrically arranged relative to the longitudinal axis of the blade end portion in the width direction of the blade end portion; the cutting portion also includes a plurality of protrusions formed near the distal portion, the plurality of protrusions protrude outwardly from the first side portion and the second side portion symmetrically relative to the longitudinal axis in the width direction of the blade end portion; a recessed portion is formed on the distal portion and is concave inwardly toward the proximal direction of the blade end portion.

Description

Technical Field

[0001] The present disclosure relates to an ultrasonic bone knife head, in particular to an ultrasonic bone knife head suitable for use with a surgical robot, and a robot-assisted ultrasonic bone power system using the ultrasonic bone knife head. Background Art

[0002] Ultrasonic orthopedic surgery technology uses ultrasonic frequencies to activate or excite the transducer, convert electrical energy into mechanical energy, and drive the blade to complete bone tissue cutting. Ultrasonic bone knives have the unique advantage of "cutting hard but not soft", which greatly improves the safety of orthopedic surgery and has been widely used in surgical operations.

[0003] The current research hotspot is to use surgical robots to automatically complete surgeries under the doctor's planning, and this is also true for the development of orthopedic surgery. Human hands have the advantages of being relatively flexible in operation and being able to accurately control the cutting direction, angle, etc. and make timely adjustments according to actual conditions. However, at the same time, they also have the disadvantages of low control accuracy for cutting depth and cutting speed, especially the problem of poor control in the longitudinal direction. When the human hand operates the ultrasonic bone power system to cut through the bone, it is easy to cause damage to other tissues under the bone due to excessive longitudinal force, which poses a certain risk. Therefore, it is necessary to use robots to assist in orthopedic surgery to improve surgical accuracy and thus improve surgical safety.

[0004] Existing ultrasonic bone knife heads are all invented based on the structural characteristics and operating habits of human hands. Therefore, most of the heads are shaped to be easy to hold, apply force and control by hand, such as a sheet-shaped structure close to that of an ordinary scalpel. Such a head is not developed based on the structure and operating characteristics of a surgical robot and is not suitable for use with a surgical robot. In particular, since the operation of a surgical robot has the problems of relatively rigid movements and relatively poor flexibility, the use of existing ultrasonic bone knife heads suitable for manual operation is not conducive to giving full play to the advantages of the surgical robot in terms of strength, repeatability and accuracy. Moreover, surgical robots have higher requirements for the repeatability of the head and the performance of rapid cooling, timely discharge of bone chips and the like. Therefore, it is of great significance to design an ultrasonic bone knife head that meets the operating characteristics of a surgical robot. Summary of the invention

[0005] The purpose of the present disclosure is to provide an ultrasonic bone knife head, which is designed based on the structure and operating characteristics of a surgical robot and is therefore suitable for use with a surgical robot.

[0006] According to a first aspect of the present disclosure, an ultrasonic bone knife blade is provided, the ultrasonic bone knife blade head comprising a blade end portion located at the distal end of the blade head, the blade end portion being formed into a flat structure and provided with a cutting portion, the cutting portion comprising a distal portion, a first side portion and a second side portion, the first side portion and the second side portion being symmetrically arranged relative to the longitudinal axis of the blade end portion in the width direction of the blade end portion; the cutting portion also comprises a plurality of protrusions formed near the distal portion, the plurality of protrusions protrude outwardly from the first side portion and the second side portion symmetrically relative to the longitudinal axis in the width direction of the blade end portion; a recessed portion is formed on the distal portion and is concave inwardly toward the proximal direction of the blade end portion.

[0007] In the above-described first aspect of the present disclosure, the recess is symmetrical with respect to a longitudinal axis of the tool head end.

[0008] In the above-mentioned first aspect of the present disclosure, the concave portion has a constant radius of curvature or a gradually changing radius of curvature.

[0009] In the above first aspect of the present disclosure, the plurality of protrusions include a first protrusion and a second protrusion, the first protrusion is located at the junction of the distal end portion and the first side portion, and the second protrusion is located at the junction of the distal end portion and the second side portion.

[0010] In the above-mentioned first aspect of the present disclosure, the first protrusion is formed smoothly and continuously with the recess and the second protrusion.

[0011] In the above-mentioned first aspect of the present disclosure, the thickness of at least a portion of at least one of the distal end portion of the cutting portion, the first side portion, the second side portion and the protrusion is greater than the thickness of the non-cutting portion of the tool head end adjacent to the cutting portion.

[0012] In the above-described first aspect of the present disclosure, the thickness of the distal end portion, the first side portion, the second side portion, and the protrusion of the cutting portion is greater than the thickness of a non-cutting portion of the tip end portion adjacent to the cutting portion.

[0013] In the above-mentioned first aspect of the present disclosure, at least one of the distal end portion of the cutting portion, the first side portion, the second side portion and the protrusion has a first thickness portion and a second thickness portion with different thicknesses arranged alternately, and the thickness of the first thickness portion is greater than the thickness of the second thickness portion.

[0014] In the above-described first aspect of the present disclosure, the thickness of the second thickness portion is greater than the thickness of a non-cutting portion of the tip end portion adjacent to the cutting portion.

[0015] In the above-mentioned first aspect of the present disclosure, the cutting portion is at least partially provided with a toothed structure and / or a knurled structure.

[0016] In the above-mentioned first aspect of the present disclosure, the toothed structure and / or knurled structure of the cutting portion is / are arranged throughout the entire cutting portion.

[0017] In the first aspect of the present disclosure, the protrusion has a hook, trapezoid, square, triangle, arc shape or any combination of these shapes. In the first aspect of the present disclosure, the end of the ultrasonic bone knife head is a flat sheet structure.

[0018] In the above-mentioned first aspect of the present disclosure, the ultrasonic osteotome cutting head is provided with at least one guide groove for guiding liquid to the cutting portion.

[0019] In the above-mentioned first aspect of the present disclosure, the at least one guide groove guides the liquid to at least one of the distal end portion, the first and second side portions, and the protrusion of the cutting portion.

[0020] In the above-mentioned first aspect of the present disclosure, the ultrasonic bone cutting tool head is formed with at least one through hole penetrating along the thickness direction of the end of the cutting tool head.

[0021] In the above-mentioned first aspect of the present disclosure, the ultrasonic bone cutting tool head is formed as a through hole extending inside the cutting tool head end portion along the length direction of the cutting tool head end portion to the distal end portion.

[0022] In the above-mentioned first aspect of the present disclosure, the ultrasonic bone knife cutting head includes a cutting rod connected to the cutting head end, and the cutting head end and the cutting rod are formed in one piece.

[0023] In the above-described first aspect of the present disclosure, a distance between the first side portion and the second side portion in the width direction of the tool head end portion decreases toward the distal end portion.

[0024] In the above first aspect of the present disclosure, the maximum width defined by the plurality of protrusions along the width direction of the blade end is greater than or equal to the maximum width of the tissue contact portion of the ultrasonic osteotome blade along the width direction of the blade end.

[0025] In the above-mentioned first aspect of the present disclosure, the thickness of the cutting portion is greater than or equal to the maximum thickness of the tissue contacting portion of the ultrasonic osteotome cutting head.

[0026] In the above-mentioned second aspect of the present disclosure, a robot-assisted ultrasonic bone power system is provided, including an ultrasonic bone power system and a robot-assisted surgical system, the ultrasonic bone power system comprising: an ultrasonic transducer for converting electrical energy into mechanical energy; an ultrasonic bone knife for transmitting the mechanical energy to the bone to be cut; and a robot-assisted surgical system for assisting in completing surgical operations, wherein the ultrasonic bone knife has the above-mentioned ultrasonic bone knife head. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Below, the technical solution of the present disclosure is further described in detail in combination with the drawings and specific embodiments. The drawings exemplarily illustrate the embodiments and constitute a part of the specification, and together with the text description of the specification, are used to explain the exemplary implementation of the embodiments. The embodiments shown are for illustrative purposes only and do not limit the scope of protection of the claims. In all drawings, the same reference numerals refer to the same or similar elements. In the drawings:

[0028] Figure 1 is a stereoscopic view of an ultrasonic osteotome blade head according to a first embodiment of the present disclosure;

[0029] Figure 2 is a front view of the ultrasonic osteotome blade head according to the first embodiment of the present disclosure;

[0030] Figure 3A is a partially enlarged front view of the blade end of the ultrasonic bone knife blade of the first embodiment of the present disclosure, Figure 3B yes Figure 3A AA cross-section diagram, Figure 3C yes Figure 3A BB cross-section diagram;

[0031] Figure 4 is a stereoscopic view of an ultrasonic osteotome blade head according to a second embodiment of the present disclosure;

[0032] Figure 5 is a front view of an ultrasonic osteotome blade head according to a second embodiment of the present disclosure;

[0033] Figure 6 is a stereoscopic view of a blade end portion of an ultrasonic bone cutting blade according to a third embodiment of the present disclosure;

[0034] Figure 7 is a front view of a blade end portion of an ultrasonic bone cutting blade according to a third embodiment of the present disclosure;

[0035] Figure 8 is a stereoscopic view of a blade end portion of an ultrasonic bone cutting blade according to a fourth embodiment of the present disclosure;

[0036] Fig. 9 is a front view of a blade end portion of an ultrasonic bone cutting blade according to a fourth embodiment of the present disclosure;

[0037] Fig.10 is a stereoscopic view of a blade end portion of an ultrasonic bone cutting blade according to a fifth embodiment of the present disclosure;

[0038] Fig.11 is a stereoscopic view of an ultrasonic osteotome blade head according to a sixth embodiment of the present disclosure;

[0039] Fig.12is a schematic diagram of a robot-assisted ultrasonic bone power system of the present disclosure. DETAILED DESCRIPTION

[0040] First of all, it should be noted that the basic structure, function and advantages of the ultrasonic bone knife head will be specifically described in the following by way of example, but all the descriptions are only used for explanation and should not be understood as forming any limitation on the present disclosure. In addition, in the description of the present disclosure, the terms "upper", "lower", "front", "back", "left", "right", "top", "inside", "outside", "longitudinal", "lateral", "horizontal", "vertical", "width direction", "length direction", "thickness direction" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings and the description of the specification, which is only for the convenience of describing the present disclosure and simplifying the description, rather than explicitly or implicitly indicating or implying that the device or component involved must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as forming any limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and should not be understood as indicating or implying relative importance. In addition, "flat" is relative to shapes with greater thickness such as "square" and "cylindrical", and can have a certain thickness. "Flat" is relative to other non-planar structures such as "arc-shaped", and does not mean absolutely flat. "Distal" and "proximal" are defined relative to the operating mechanism of the ultrasonic bone knife. "Distal" refers to the end close to the blade head and away from the operating mechanism, and "proximal" refers to the end close to the operating mechanism and away from the blade head.

[0041] The present disclosure is further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0042] Figures 1 to 3C The ultrasonic bone cutting head of the first embodiment of the present disclosure is shown. Figure 1 is a stereoscopic view of the ultrasonic bone cutting tool head of the first embodiment, Figure 2 is a front view of the ultrasonic bone knife head of the first embodiment, Figure 3A FIG. 1 is a partially enlarged front view of the end of the ultrasonic bone knife blade of the first embodiment of the present disclosure. Figure 1 and Figure 2As shown, the ultrasonic bone knife blade of the first embodiment of the present disclosure includes a blade end 1. The blade end 1 is flat, specifically, it can be a flat sheet or a flat block or a flat hexagonal cross-section, preferably a flat sheet consisting of a blade portion 16, wherein the blade portion 16 includes a pair of planes that are substantially parallel to each other or have an angle of no more than 10° in the width direction of the blade end 1. The wedge shape with a certain angle helps the coolant flow along the blade portion 16 to the distal end 113 of the blade end 1, thereby helping to achieve a sufficient cooling effect. A cutting portion 11 is formed on the blade end 1 for contacting and cutting body tissues such as bones during cutting, and the cutting portion 11 is symmetrically arranged on the left and right sides of the blade portion 16 relative to the longitudinal axis A1 along the width direction of the blade end 1. The cutting portion 11 has a first side portion 111 located on one side in the width direction, a second side portion 112 located on the other side in the width direction, and a distal end portion 113 located at the farthest end of the blade. Preferably, a distance between the first side portion 111 and the second side portion 112 in the width direction of the tool head end portion 1 decreases toward the distal end portion 113 .

[0043] Since the cutting portion 11 is provided on both sides of the width direction of the blade end 1, the ultrasonic bone knife can perform a reciprocating cutting operation of the blade end 1 along the width direction. Further, since the distance between the first side portion 111 and the second side portion 112 of the cutting portion 11 in the width direction decreases toward the distal end portion 113, the resistance encountered by the blade is small when cutting, especially longitudinal cutting (i.e., the cutting direction is roughly parallel to the blade portion and perpendicular to the longitudinal axis A1). Furthermore, since the first side portion 111 and the second side portion 112 of the cutting portion 11 are symmetrical in the width direction, when performing the reciprocating cutting operation that the surgical robot is good at, especially when the blade needs to cut according to the planned path, high repeatability can be achieved through the symmetrical first side portion 111 and the second side portion 112.

[0044] In addition, a plurality of protrusions 12 are formed near the distal end 113 of the cutting portion 11, protruding outwardly from the first side portion 111 and the second side portion 112 symmetrically relative to the longitudinal axis A1 in the width direction of the blade end 1. Preferably, the protrusions 12 include a first protrusion 121 located at the junction of the distal end 113 and the first side portion 111, and a second protrusion 122 located at the junction of the distal end 113 and the second side portion 112. Further preferably, the maximum width of the protrusion 12 along the width direction of the blade end 1 is greater than or equal to the maximum width of the tissue contact portion of the ultrasonic bone knife blade along the width direction of the blade end. For example, if the entire blade end 1 may enter human tissue during the operation, the entire blade end 1 will be regarded as the tissue contact portion. In this way, when performing vertical cutting, which the surgical robot is good at, since the protrusion 12 is arranged near the distal end 113 and protrudes from the first side portion 111 and the second side portion 112 in the width direction, the coolant used to cool the cutting head will eventually reach the protrusion 12 along the blade portion 16 of the cutting head end 1, thereby ensuring the cooling effect of the cutting head, and the contact area between the cutting head and the cutting tissue is smaller, and the resistance of the cutting head to the movement in the tissue will also be reduced.

[0045] Preferably, the protrusion 12 can be formed into a hook shape, a trapezoidal shape, a square shape, a triangle shape, an arc shape, or any combination of these shapes. In addition, a recess 13 is formed at the distal end 113 of the cutting portion 11, which is concave in the proximal direction of the blade end 1. Preferably, the recess 13 is symmetrical with respect to the longitudinal axis A1 of the blade end 1, and the recess 13 has a constant radius of curvature or a gradual radius of curvature. When performing vertical cutting (i.e., cutting in which the cutting direction is roughly perpendicular to the tissue to be cut, i.e., cutting in which the cutting direction is roughly parallel to the longitudinal axis A1), which is good at the surgical robot, the concave structure of the distal end 113 of the cutting portion 11 reduces the contact area between the blade and the cutting tissue, especially the outer cortical bone and other tissues, and applies force more evenly, thereby improving the cutting efficiency and ensuring a higher cutting accuracy. Moreover, the concave structure forms a certain space between the distal end 113 and the cutting tissue, which is further conducive to the inflow of cooling liquid and the suction of tissue debris.

[0046] Preferably, the first protrusion 121 located at one side of the distal end 113, the recess 13 located at the middle of the distal end 113 and the second protrusion 122 located at the other side of the distal end 113 are smoothly and continuously formed on the distal end 113, that is, the first corner composed of the first protrusion 121 and the recess 13 and the second corner composed of the second protrusion 122 and the recess 13 are respectively formed on the left and right sides of the distal end of the cutter head end 1, and the first corner, the second corner and the recess 13 are smoothly formed as one body, which is further conducive to the rapid inflow of the coolant. While ensuring the cutting accuracy and improving the cooling effect, it also reduces the manufacturing difficulty of the cutter head end 1 and saves costs.

[0047] In addition, preferably, a tooth-like structure 14 is provided on the cutting portion 11. Further preferably, the tooth-like structure 14 can be formed as a sharp tooth structure, a square tooth structure, a hook-shaped tooth, etc. By forming the tooth-like structure 14, it is possible to prevent the blade from slipping during cutting, and the contact area between the cutting portion and the cut tissue can be further reduced. The tooth-like structure 14 can be provided only on the first side portion 111 and the second side portion 112 of the cutting portion 11, or only on the distal end portion 113 of the cutting portion 11. Further preferably, the tooth-like structure 14 is provided throughout the entire cutting portion 11.

[0048] In addition, preferably, the cutting portion 11 may be formed into a structure in which at least a portion of at least one of the first side portion 111, the second side portion 112, the distal portion 113 and the protrusion 12 has a thickness greater than a thickness of a non-cutting portion adjacent thereto on the end portion 1 of the cutter head, such as the blade portion 16. Preferably, as Figure 3B and Figure 3C As shown, the thickness of the first side portion 111, the second side portion 112, the distal portion 113 and the protrusion 12 are all greater than the adjacent non-cutting portion. Further preferably, the thickness of the cutting portion 11 is greater than or equal to the maximum thickness of the tissue contact portion of the ultrasonic bone knife head. Alternatively, at least one of the first side portion 111, the second side portion 112, the distal portion 113 and the protrusion 12 of the cutting portion 11 has a first thickness portion and a second thickness portion of different thicknesses arranged alternately, the thickness of the first thickness portion is greater than the thickness of the second thickness portion, and the thickness of the second thickness portion is greater than the thickness of the non-cutting portion adjacent to the cutting portion at the end of the blade. On the one hand, the first thickness portion and the second thickness portion of different thicknesses arranged alternately form a channel for the cooling liquid to pass through, thereby being able to directly guide the cooling liquid to the tissue part being cut, thereby improving the cooling effect. On the other hand, the first thickness portion and the second thickness portion of different thicknesses arranged alternately also form a channel for the bone chips generated during the cutting process to pass through, which can more smoothly discharge the bone chips, thereby improving the cutting efficiency and cutting accuracy.

[0049] Since the cutting portion 11 has a relatively large thickness, at least one of the first side portion 111, the second side portion 112, the recess 13, and the protrusion 12 of the cutting portion 11 has a thickness difference with the blade portion 16. Therefore, the blade portion 16 and the cutting portion 11 form a structure with a height difference in the thickness direction. Therefore, when cutting, especially vertical cutting, the coolant will eventually be guided along the blade portion 16 to the cutting portion 11, and then flow to the cut tissue, which is beneficial to ensure that the cooling effect is achieved. In addition, since the thickness of the cutting portion is greater than or equal to the maximum thickness of the tissue contact portion of the ultrasonic bone knife blade, in this case, the contact area between the blade head and the cutting tissue is smaller, so the resistance of the blade head to move in the tissue will also be reduced.

[0050] In addition, the ultrasonic bone knife head of the first embodiment may also include a knife bar 2, which is connected to the knife head end 1 at the front, and a connection mechanism connected to other parts of the ultrasonic bone knife (such as the blade 3 or the ultrasonic device, etc.) is provided at the rear. The ultrasonic bone knife head can be an integrated structure or a split assembly structure. Alternatively, the ultrasonic bone knife head may not have a knife bar 2 and the knife head end 1 is directly connected to other parts of the ultrasonic bone knife, and the connection method may include threaded connection, clamping, clamping, etc.

[0051] Figures 4 to 5 The ultrasonic bone cutter head of the second embodiment of the present disclosure is shown. As shown in the figure, the ultrasonic bone cutter head of the second embodiment of the present disclosure is basically the same as the ultrasonic bone cutter head of the first embodiment of the present disclosure, except that a knurling structure 14' is provided on the cutting portion 11 of the end portion 1 of the cutter head. Preferably, the knurling structure 14' can be provided at the distal end of the end portion 1 of the cutter head so as to spread over the entire cutting portion 11. Moreover, the knurling structure 14' can also be provided together with the toothed structure 14 at different positions on the cutting portion 11. Similar to the toothed structure 14, the knurling structure 14' can prevent slipping during cutting, and can reduce the contact area between the end portion 1 of the cutter head and the cutting tissue, thereby improving the cutting efficiency. In addition, the knurling structure 14' is also easy to process.

[0052] Figure 6 to Figure 7 The ultrasonic bone cutting head of the third embodiment of the present disclosure is shown. Figures 8 to 9 The ultrasonic bone cutter head of the fourth embodiment of the present disclosure is shown. Compared with the ultrasonic bone cutter head of the first embodiment of the present disclosure, the ultrasonic bone cutter head of the third embodiment of the present disclosure is further formed with at least one guide groove on the cutter head for guiding the liquid to the cutting part 11 to further smoothly guide the cooling liquid. Figures 6 to 9A guide groove 151 is shown, and the guide groove 151 extends from the cutting portion 11 to the blade portion 16 on at least one side. In this way, when the ultrasonic bone knife head performs cutting, especially vertical cutting, the coolant from other mechanisms of the ultrasonic bone knife flows to the blade portion 16 due to gravity and is guided to the guide groove 151, and finally flows to the cutting portion 11 along the guide groove 151. Therefore, the guiding path of the coolant is optimized, and the cooling effect of the knife head is further guaranteed. The fourth embodiment is basically the same as the third embodiment, except that a knurling structure 14' is provided on the cutting portion 11 of the knife head end 1 of the fourth embodiment.

[0053] Alternatively, the guide groove 151 may be a structure of a groove connected to the blade portion 16 and opened only on the cutting portion 11. In other words, instead of opening a groove on the blade portion 16, only the guide groove 151 extending to the blade portion 16 may be formed on the cutting portion 11, thereby realizing the liquid guiding function by means of the height difference in the thickness direction between the cutting portion 11, the bottom of the guide groove 151 on the cutting portion 11, and the portion on the blade portion 16 connected to the guide groove 151. In this way, the guide groove 151 can be formed without forming a groove-shaped structure separately on the blade portion 16, which can simplify the processing and reduce the cost while realizing the liquid guiding effect. It should be understood that in addition to being able to realize the function of guiding the cooling liquid, the above-mentioned guide groove 151 can also guide the cut bone chips from the cutting portion to the blade portion 16, and the bone chips are flushed out by the cooling liquid or sucked out by a separately arranged suction device, thereby improving the cutting efficiency and cutting accuracy.

[0054] In addition, the ultrasonic bone cutter head can also be formed with a through hole 154 that penetrates along the thickness direction of the end of the cutter head, and the through hole 154 can be located at the slotted portion of the guide slot 151 or at its side. Figures 6 to 9 As shown, when the cooling liquid flows along the guide groove 151, it can flow out from the through hole 154 located on the guide groove 151 and extend to the cutting part 11 and directly reach the cutting tissue part, further enhancing the flow effect of the cooling liquid, strengthening the cooling effect, and also facilitating the discharge of tissue debris.

[0055] Fig.10: is a stereoscopic view of the blade end of the ultrasonic bone knife blade of the fifth embodiment of the present disclosure. The ultrasonic bone knife blade of the fifth embodiment is basically the same as the ultrasonic bone knife blade of the first to fourth embodiments of the present disclosure, except that the specific structure of the guide groove 152 provided at the blade end 1 is different. Specifically, the guide groove 152 is provided on the blade portion 16 and extends to the first side portion 111, the second side portion 112, the recess 13 and the protrusion 12 of the cutting portion 11. Providing a groove on the blade portion 16 can guide the coolant to the corresponding part of the cutting portion 11 more quickly along a prescribed path, thereby guiding the coolant to multiple different positions of the cutting portion 11 through the guide groove 152, further ensuring the cooling effect. The groove on the blade portion 16 can be formed by grooving or knurling.

[0056] Fig.11 The ultrasonic bone cutting head of the sixth embodiment of the present disclosure is shown. Fig.11 1 is a stereoscopic diagram showing the structure of the ultrasonic bone knife blade of the sixth embodiment of the present disclosure. The ultrasonic knife blade of the sixth embodiment is formed as a structure with a certain thickness at the blade end 1, and a liquid flow hole 153 extending from the inside of the blade end 1 along the length direction of the blade end 1 to the distal end 113. The liquid flow hole 153 can not only guide the cooling liquid to cool the cut tissue, but also suck out the tissue debris of the cut tissue.

[0057] By using the ultrasonic bone knife head in the above-mentioned embodiments, problems caused by insufficient flexibility of the surgical robot can be avoided, and its advantages in speed, force and repeatability control can be fully utilized to improve surgical efficiency and further improve the cooling effect.

[0058] The present disclosure also provides a robot-assisted ultrasonic bone dynamic system, such as Fig.12 As shown, the robot-assisted ultrasonic bone power system includes an ultrasonic transducer for converting electrical energy into mechanical energy, an ultrasonic bone knife 100 for transmitting the mechanical energy to the bone to be cut, and a robot-assisted surgical system 200 for assisting in completing the surgical operation. The ultrasonic bone knife of the robot-assisted ultrasonic bone power system uses the blade head of any of the above-mentioned embodiments of the present disclosure.

[0059] Although the embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it should be understood that the above-mentioned methods, systems and devices are merely exemplary embodiments or examples, and the scope of the present disclosure is not limited by these embodiments or examples, but only by the authorized claims and their equivalents. Various elements in the embodiments or examples may be omitted or replaced by their equivalents. Furthermore, the above-mentioned embodiments, examples and various elements therein may be appropriately combined in various ways according to the specific structure. It is important that with the evolution of technology, many of the elements described herein may be replaced by equivalent elements that appear after the present disclosure.

Claims

1. An ultrasonic bone knife head, the ultrasonic bone knife head comprising a knife head end portion located at the distal end of the knife head, the knife head end portion is formed into a flat structure and is provided with a cutting portion, characterized in that: The cutting portion includes a distal end portion, a first side portion, and a second side portion, wherein the first side portion and the second side portion are symmetrically arranged relative to a longitudinal axis of the cutter head end portion in a width direction of the cutter head end portion; The cutting portion further includes a plurality of protrusions formed near the distal end portion, the plurality of protrusions protruding outwardly from the first side portion and the second side portion symmetrically with respect to the longitudinal axis in a width direction of the blade end portion; The plurality of protrusions include a first protrusion and a second protrusion, wherein the first protrusion is located at the junction of the distal end portion and the first side portion, and the second protrusion is located at the junction of the distal end portion and the second side portion; and a maximum spacing between the first protrusion and the second protrusion along the width direction of the blade end portion is greater than or equal to a maximum width of a tissue contact portion of the ultrasonic bone knife blade along the width direction of the blade end portion; A recessed portion is formed on the distal end portion and is recessed inwardly toward the proximal end of the blade end portion; At least one of the distal end portion of the cutting portion, the first side portion, the second side portion and the protrusion has a first thickness portion and a second thickness portion with different thicknesses arranged alternately, the thickness of the first thickness portion is greater than the thickness of the second thickness portion, and the thickness of the second thickness portion is greater than the thickness of the non-cutting portion of the end portion of the blade head adjacent to the cutting portion.

2. The ultrasonic bone knife head according to claim 1, characterized in that: The recess is symmetrical with respect to a longitudinal axis of the tool head end.

3. The ultrasonic bone knife head according to claim 1, characterized in that: The concave portion has a constant radius of curvature or a gradually changing radius of curvature.

4. The ultrasonic bone cutting tool head according to claim 1, characterized in that: The first protrusion is formed to be smoothly continuous with the recess and the second protrusion.

5. The ultrasonic bone knife head according to claim 1, characterized in that: At least a portion of at least one of the distal end portion of the cutting portion, the first side portion, the second side portion, and the protrusion has a thickness greater than a thickness of a non-cutting portion of the tip end portion adjacent to the cutting portion.

6. The ultrasonic bone cutting head according to claim 5, characterized in that: The thickness of the distal end portion of the cutting portion, the first side portion, the second side portion, and the protrusion is greater than the thickness of a non-cutting portion of the tool tip end portion adjacent to the cutting portion.

7. The ultrasonic bone knife head according to claim 1, characterized in that: The second thickness portion has a thickness greater than a thickness of a non-cutting portion of the tip end portion adjacent to the cutting portion.

8. The ultrasonic bone cutting head according to claim 1, characterized in that: The cutting portion is at least partially provided with a toothed structure and / or a knurled structure.

9. The ultrasonic bone cutting tool head according to claim 8, characterized in that: The toothed structure and / or knurled structure of the cutting portion is arranged throughout the entire cutting portion.

10. The ultrasonic bone cutting head according to claim 1, characterized in that: The protrusion has a hook shape, a trapezoid shape, a square shape, a triangle shape, a circular arc shape, or any combination of these shapes.

11. The ultrasonic osteotome head according to any one of claims 1 to 10, characterized in that: The end of the ultrasonic bone knife head is a flat sheet-shaped structure.

12. The ultrasonic osteotome head according to any one of claims 1 to 10, characterized in that: The ultrasonic bone knife head is provided with at least one guide groove for guiding liquid to the cutting portion.

13. The ultrasonic osteotome head according to claim 12, characterized in that: The at least one guide groove guides the liquid to at least one of the distal end portion, the first and second side portions, and the protrusion of the cutting portion.

14. The ultrasonic osteotome head according to any one of claims 1 to 10, characterized in that: The ultrasonic bone knife head is formed with at least one through hole penetrating along the thickness direction of the end of the head.

15. The ultrasonic osteotome blade according to any one of claims 1 to 10, characterized in that: The ultrasonic bone cutting tool head is formed as a through hole inside the end portion of the cutting tool head and extending along the length direction of the end portion of the cutting tool head to the distal end portion.

16. The ultrasonic osteotome blade according to any one of claims 1 to 10, characterized in that: The ultrasonic bone knife head includes a knife rod connected to the end of the knife head, and the end of the knife head and the knife rod are formed in one piece.

17. The ultrasonic osteotome blade according to any one of claims 1 to 10, characterized in that: A distance between the first side portion and the second side portion in a width direction of the tool head end portion decreases toward the distal end portion.

18. The ultrasonic osteotome head according to any one of claims 1 to 10, characterized in that: The thickness of the cutting portion is greater than or equal to the maximum thickness of the tissue contacting portion of the ultrasonic osteotome blade.

19. A robot-assisted ultrasonic bone power system, comprising an ultrasonic bone power system and a robot-assisted surgery system, characterized in that: The ultrasonic bone power system comprises: Ultrasonic transducers for converting electrical energy into mechanical energy; An ultrasonic osteotome for transmitting the mechanical energy to the bone to be cut; and Robot-assisted surgery system used to assist in completing surgical operations. Wherein, the ultrasonic bone knife has the ultrasonic bone knife head as described in any one of claims 1-18.

Images