Ultrasonic bone scalpel and robot-assisted ultrasonic bone dynamic system

Abstract

The present application provides an ultrasonic bone knife and a robot-assisted ultrasonic bone power system, wherein the ultrasonic bone knife includes an ultrasonic horn and a first end and a second end arranged at both ends of the ultrasonic horn, the first end having a first end outer diameter, the second end having a second end outer diameter, and the second end outer diameter is greater than the first end outer diameter. The ultrasonic horn also includes at least one diameter expansion section, the diameter expansion section includes a first section and a second section arranged along the longitudinal axis of the ultrasonic horn, wherein the first section has a first outer diameter, the second section has a second outer diameter, and the second outer diameter is greater than the first outer diameter. The ultrasonic horn of the ultrasonic bone knife of this embodiment is composed of a plurality of diameter expansion sections, and has the characteristic that the outer diameters of the plurality of sections gradually increase along their axis, therefore, the amplitude of the vibration generated by the ultrasonic transducer can be gradually amplified via the ultrasonic horn of the above structure, and a larger hole can be drilled.

Description

Technical Field

[0001] The present application relates to ultrasonic medical instruments, and in particular to ultrasonic osteotome and robot-assisted ultrasonic bone power system. Background Art

[0002] Ultrasonic surgical systems, such as ultrasonic bone power systems, have been widely used in surgical operations. Ultrasonic bone power systems are usually composed of two parts: an ultrasonic transducer and an ultrasonic bone cutter including an ultrasonic horn. The ultrasonic transducer is used to convert the alternating current signal into the vibration energy of piezoelectric ceramics. The ultrasonic horn further amplifies the amplitude of the piezoelectric ceramic vibration and drives the tip of the ultrasonic bone cutter to vibrate. These vibrations generate local heat energy and vibration energy in the target tissue to be cut or drilled (such as bone tissue, etc.), thereby promoting the cutting of the target tissue.

[0003] Traditional ultrasonic bone knives need to match the output port of the ultrasonic transducer, so the diameter of their ultrasonic horn is small. If the tissue is processed by drilling alone, only small holes can be drilled. When encountering surgeries that require larger drilling holes, such as cranial drilling to implant electrodes, traditional ultrasonic bone knives can only be achieved by cutting, but this method has poor cutting accuracy and a certain probability of operating errors. Summary of the invention

[0004] According to one aspect of the present invention, there is provided an ultrasonic bone knife for opening a hole, the ultrasonic bone knife comprising an ultrasonic transformer and a first end and a second end arranged at both ends of the ultrasonic transformer, the first end being used to connect an ultrasonic transducer, the second end comprising a cutting portion, the first end having a first end outer diameter, the second end having a second end outer diameter, the second end outer diameter being greater than the first end outer diameter; the ultrasonic transformer comprising at least one diameter expansion section, the diameter expansion section comprising a first section arranged on one side of the first end along the longitudinal axis of the ultrasonic transformer and a second section arranged on one side of the second end along the longitudinal axis; wherein the first section has a first outer diameter, the second section has a second outer diameter, the second outer diameter being greater than the first outer diameter.

[0005] Optionally, the diameter expansion section is hollow, the first section has a first wall thickness, and the second section has a second wall thickness, and the second wall thickness is smaller than the first wall thickness.

[0006] Optionally, the diameter expansion section also includes a common contact plane section arranged between the first section and the second section for transmitting ultrasonic vibrations; wherein the wall thickness of the common contact plane section is greater than or equal to the first wall thickness, and / or the wall thickness of the common contact plane section is greater than or equal to the second wall thickness.

[0007] Optionally, the wall thickness of the common contact plane section is less than or equal to the sum of the first wall thickness and the second wall thickness.

[0008] Optionally, the first section has a first inner surface and the second section has a second outer surface; wherein the inner surface of the common contact plane section is continuous with the first inner surface, and / or wherein the outer surface of the common contact plane section is continuous with the second outer surface.

[0009] Optionally, the hollow portion of the expanded diameter section defines a fluid passage for guiding the fluid from the first end to the second end via the fluid passage.

[0010] Optionally, the ultrasonic horn includes at least a first diameter expansion section and a second diameter expansion section that are adjacently arranged, the first diameter expansion section is arranged on one side of the first end along the longitudinal axis of the ultrasonic horn, and the second diameter expansion section is arranged on one side of the second end along the longitudinal axis; the second section of the first diameter expansion section is connected to the first section of the second diameter expansion section; wherein the second outer diameter of the second section of the first diameter expansion section is smaller than the first outer diameter of the first section of the second diameter expansion section.

[0011] Optionally, the first wall thickness of the first section of the first diameter expansion section is greater than the first wall thickness of the first section of the second diameter expansion section; and / or the second wall thickness of the second section of the first diameter expansion section is greater than the second wall thickness of the second section of the second diameter expansion section; and / or the second wall thickness of the second section of the first diameter expansion section is less than the first wall thickness of the first section of the second diameter expansion section.

[0012] Optionally, the second section further has a second inner surface, wherein the second inner surface of the second section of the first expanded diameter section is continuous with the first inner surface of the first section of the second expanded diameter section.

[0013] Optionally, a cutting limiting boss is formed between the second end and a second section of the diameter expansion section connected to the second end.

[0014] Optionally, the second end portion outer diameter of the second end portion is smaller than the second outer diameter of the second section of the diameter expansion section connected to the second end portion, so as to form a cutting limiting boss.

[0015] Optionally, the second end outer diameter of the second end is equal to the second outer diameter of the second section of the diameter expansion section connected to the second end, and a convex ring is also provided on the outer side of the connection between the two to form a cutting limit boss.

[0016] Optionally, the second end portion has a second end portion wall thickness, and the second end portion wall thickness is smaller than a second wall thickness of a second section of the diameter expansion section connected to the second end portion.

[0017] Optionally, the ultrasonic horn comprises a fluid channel extending from the first end to the second end for directing the fluid from the first end to the second end.

[0018] Optionally, at least one through hole is provided on the second section of the diameter expansion section connected to the second end, for guiding the fluid in the fluid channel to the outer surface of the second end.

[0019] Optionally, the cutting portion includes a plurality of cutting teeth evenly distributed along the circumferential direction.

[0020] Optionally, the plurality of cutting teeth include triangular cutting teeth and / or rectangular cutting teeth.

[0021] Optionally, a surface of the first end portion is provided with a thread structure for being threadedly connected to an ultrasonic transducer.

[0022] Optionally, the second end is provided with at least one sensor for detecting a cutting parameter.

[0023] Optionally, the cutting parameters include any one or a combination of any two or more of the following parameters: cutting temperature; cutting depth; cutting pressure; cutting time; and cutting speed.

[0024] According to another aspect of the present invention, a robot-assisted ultrasonic bone power system is also provided, including an ultrasonic bone power system and a robot-assisted surgical system, wherein the ultrasonic bone power system is fixed to the end effector of the robot-assisted surgical system to control the movement of the ultrasonic bone power system through the robot-assisted surgical system, and the ultrasonic bone power system includes: an ultrasonic transducer for converting electrical energy into mechanical energy; and the above-mentioned ultrasonic bone knife, wherein the first end of the ultrasonic bone knife is connected to the ultrasonic transducer.

[0025] The ultrasonic horn of the ultrasonic bone cutter of the present invention is composed of a plurality of diameter extension sections, and has the characteristic that the outer diameters of the plurality of sections gradually increase along the longitudinal axis direction of the ultrasonic bone cutter. Therefore, the amplitude of the vibration generated by the ultrasonic transducer can be gradually amplified through the ultrasonic horn of the above structure, thereby improving the cutting effect of the cutting part on the target tissue. At the same time, based on the above characteristics, the outer diameter of the second end of the ultrasonic bone cutter is set to be larger than the outer diameter of the first end, and the drilling diameter of the cutting part can be increased without changing the size of the output interface of the ultrasonic transducer, so that the ultrasonic bone cutter can meet the needs of operations such as craniotomy that require large-diameter bone tissue drilling. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in the present application and should not be regarded as limiting the scope of the present application.

[0027] Figure 1 A schematic diagram of the appearance of an ultrasonic osteotome according to an embodiment of the present application is shown;

[0028] Figure 2 A side view of an ultrasonic osteotome according to one embodiment of the present application is shown;

[0029] Figure 3 A side cross-sectional view of an ultrasonic osteotome according to one embodiment of the present application is shown;

[0030] Figure 4 Shows Figure 3 A side cross-sectional view of a first diameter expansion section of the ultrasonic horn of the ultrasonic bone knife shown;

[0031] Figure 5 Shows Figure 3 A partial enlarged view of region A shown;

[0032] Figure 6 A schematic diagram of a robot-assisted ultrasonic bone power system according to one embodiment of the present application is shown.

[0033] Description of reference numerals:

[0034] 1 Ultrasonic bone dynamic system;

[0035] 10. Ultrasonic osteotome;

[0036] 100 Ultrasonic horn;

[0037] 110 first diameter expansion section;

[0038] 111 a first section of a first diameter expansion section;

[0039] 1111 a first inner surface of a first section of a first diameter expansion section;

[0040] 1112 a first outer surface of a first section of a first expanded diameter section;

[0041] 112 a second section of the first diameter expansion section;

[0042] 1121 a second inner surface of the second section of the first diameter expansion section;

[0043] 1122 a second outer surface of the second section of the first expanded diameter section;

[0044] 113 first common contact plane segment;

[0045] 1131 an inner surface of the first common contact plane segment;

[0046] 1132 an outer surface of the first common contact plane segment;

[0047] 120 second diameter expansion section;

[0048] 121 a first section of a second diameter expansion section;

[0049] 1211 a first inner surface of a first section of a second diameter expansion section;

[0050] 122 a second section of the second diameter expansion section;

[0051] 123 second common contact plane segment;

[0052] 130 cutting limiting boss;

[0053] 140 through hole;

[0054] 200 first end portion;

[0055] 210 thread structure;

[0056] 300 second end portion;

[0057] 310 cutting section;

[0058] 400 fluid channels;

[0059] 410 a first opening of a fluid passage;

[0060] 420 a second opening of the fluid passage;

[0061] 20 Ultrasonic transducer;

[0062] 2 Robotic-assisted surgery system. DETAILED DESCRIPTION

[0063] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present application. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0064] Refer to the following Figures 1 to 3 The ultrasonic osteotome 10 of the present invention is described in detail.

[0065] Figure 1 FIG. 1 shows a schematic diagram of the appearance of an ultrasonic osteotome 10 according to an embodiment of the present application. Figure 1 As shown, the ultrasonic bone knife 10 includes an ultrasonic transformer 100 and a first end 200 and a second end 300 arranged at both ends of the ultrasonic transformer 100, the first end 200 is used to connect the ultrasonic transducer 20, and the second end 300 includes a cutting part 310, and the cutting part 310 is used to cut or drill target tissue including bone tissue.

[0066] The ultrasonic horn 100 includes at least one expanded diameter section including a first section disposed on one side of the first end 200 along the longitudinal axis of the ultrasonic horn 100 and a second section disposed on one side of the second end 300 along the longitudinal axis.

[0067] Figure 2 A side view of an ultrasonic bone knife 10 according to an embodiment of the present application is shown. In this embodiment, the ultrasonic horn 100 includes two diameter expansion sections, namely a first diameter expansion section 110 and a second diameter expansion section 120. The first diameter expansion section 110 is arranged on one side of the first end 200 along the longitudinal axis of the ultrasonic horn 100, and the second diameter expansion section 120 is arranged on one side of the second end 300 along the longitudinal axis, that is, the first diameter expansion section 110 is closer to the first end 200 than the second diameter expansion section 120. Figure 2 In the figure, the interface between the two diameter expansion sections is represented by a dotted line, that is, the portion of the ultrasonic horn 100 on the right side of the dotted line is the first diameter expansion section 110, and the portion on the left side of the dotted line is the second diameter expansion section 120. It can be understood that in some other embodiments of the present invention, the ultrasonic horn 100 may also include three or more diameter expansion sections connected in sequence, and the protection scope of the present invention is not limited by the number of diameter expansion sections.

[0068] Each diameter expansion section includes at least two sections, namely, a first section and a second section, wherein the two sections are two cylindrical structures of different diameters arranged along the longitudinal axis of the ultrasonic horn 100, and the two sections can be directly connected together or indirectly connected via an additional section. For each diameter expansion section, the first section is closer to the first end 200 than the second section. Figure 3 A side cross-sectional view of an ultrasonic osteotome 10 according to an embodiment of the present application is shown. Figure 3 In the embodiment of the present invention, the first diameter expansion section 110 and the second diameter expansion section 120 each have their own first section and second section, and the two sections are indirectly connected via a common contact plane section between them. Figure 3 In the figure, the interface between the first section, the second section and the common contact plane section of each diameter expansion section is represented by a short dashed line. The first diameter expansion section 110 and the second diameter expansion section 120 are connected to each other in a manner that the second section 112 of the first diameter expansion section is connected to the first section 121 of the second diameter expansion section. It can be understood that the ultrasonic horn 100 with three or more diameter expansion sections can also be constructed in the above-mentioned "end-to-end" manner, that is, for two adjacent diameter expansion sections, the second section of the previous diameter expansion section is connected to the first section of the next diameter expansion section.

[0069] For each of the expanded diameter sections, the first section has a first outer diameter and the second section has a second outer diameter, the second outer diameter being greater than the first outer diameter. Figure 4 Shows Figure 3 The side cross-sectional view of the first diameter expansion section 110 of the ultrasonic horn 100 is shown. Taking the first diameter expansion section 110 as an example, the first section 111 of the first diameter expansion section has a first outer diameter d 11 The second section 112 of the first diameter expansion section has a second outer diameter d 12 , then d 12 Greater than d 11 For example, d 11 Can be 5mm, then d 12 In this embodiment, since the outer diameter of the second section of each diameter expansion section is larger than the first section, the ultrasonic horn 100 composed of multiple diameter expansion sections has the characteristic that the outer diameters of multiple sections gradually increase along the axis thereof.

[0070] Based on the above characteristics, for the entire ultrasonic horn 100, the first end 200 has a first end outer diameter, the second end 300 has a second end outer diameter, and the second end outer diameter is greater than the first end outer diameter. Figure 3 The first end outer diameter d1 can be equal to the output interface size of the ultrasonic transducer 20, the second end outer diameter d2 is equal to the outer diameter of the cutting portion 310 of the ultrasonic osteotome 10, and the second end outer diameter d2 is greater than the first end outer diameter d1. For example, d1 can be 3 mm, and d2 can be 12 mm or more.

[0071] In summary, the ultrasonic horn 100 of the ultrasonic bone cutter 10 of the present embodiment is composed of a plurality of diameter extension sections, and has the characteristic that the outer diameters of the plurality of sections gradually increase along the longitudinal axis of the ultrasonic bone cutter, therefore, the amplitude of the vibration generated by the ultrasonic transducer 20 can be gradually amplified through the ultrasonic horn 100 of the above structure, thereby improving the cutting effect of the cutting portion 310 on the target tissue. At the same time, based on the above characteristics, the outer diameter of the second end of the ultrasonic bone cutter 10 is set to be greater than the outer diameter of the first end, and the drilling diameter of the cutting portion 310 can be increased without changing the size of the output interface of the ultrasonic transducer 20, so that the ultrasonic bone cutter 10 can meet the needs of operations such as craniotomy that require large-diameter bone tissue drilling.

[0072] The diameter expansion section may be hollow, and its outer surface and the inner surface forming the hollow portion together define the wall of the diameter expansion section. The first section has a first wall thickness, and the second section has a second wall thickness, and the second wall thickness is less than the first wall thickness. Figure 4 Taking the first diameter expansion section 110 as an example, the second wall thickness t of the second section 112 is 12 smaller than the first wall thickness t of the first section 111 11For example, the first wall thickness t 11 It can be 0.8mm, the second wall thickness t 12 In this embodiment, by setting the second wall thickness to be smaller than the first wall thickness, the outer diameters of the multiple sections of the ultrasonic horn 100 gradually increase along its longitudinal axis while the wall thickness gradually decreases, forming a physical structure that is more conducive to amplitude enhancement.

[0073] As described above, the diameter expansion section further comprises a common contact plane section disposed between the first section and the second section for transmitting ultrasonic vibration. Figure 3 As shown, the first diameter expansion section 110 includes a first common contact plane section 113, and the second diameter expansion section 120 includes a second common contact plane section 123. The wall thickness of each common contact plane section is greater than the first wall thickness of the corresponding first section, and greater than the second wall thickness of the corresponding second section. Figure 4 As shown, continuing to take the first diameter expansion section 110 as an example, the wall thickness t of the first common contact plane section 113 is 13 Greater than the first wall thickness t of the first section 111 11 , and is also greater than the second wall thickness t of the second section 112 12 . This means that the cross-section of the wall of the first common contact plane section 113 and the cross-section of the wall of the first section 111 and the cross-section of the wall of the second section 112 all partially overlap. In other words, the wall of the first common contact plane section 113 and the wall of the first section 111 have a common cross-sectional area at the connection, and the wall of the first common contact plane section 113 and the wall of the second section 112 also have a common cross-sectional area at the connection, so the vibration generated by the first section 111 can be transmitted to the second section 112 via the above-mentioned common cross-sectional portion of the common contact plane section 113, thereby improving the vibration transmission effect of the ultrasonic horn 100.

[0074] In addition, the wall thickness of the common contact plane section is less than or equal to the sum of the first wall thickness and the second wall thickness. Figure 4 As shown, that is, t 13 ≤t 11 +t 12 The wall thickness of the first common contact plane section 113 is set to be no greater than the sum of the wall thicknesses of the two sections, so as to prevent the wall thickness of the common contact plane section from being too large and affecting the conduction of vibration.

[0075] As described above, the diameter expansion section can be hollow, so each section (including the common contact plane section) has two surfaces, inner and outer. Specifically, the first section can have its first inner surface and first outer surface, and the second section can have its second inner surface and second outer surface. The inner surface of the common contact plane section is continuous with the first inner surface, and / or the outer surface of the common contact plane section is continuous with the second outer surface. Figure 4 As shown, in the first diameter expansion section 110, the inner surface 1131 of the first common contact plane section is continuous with the first inner surface 1111 of the first diameter expansion section, that is, the first common contact plane section 113 and the first section 111 have the same inner diameter. The outer surface 1132 of the first common contact plane section is also continuous with the second outer surface 1122 of the first diameter expansion section, that is, the common contact plane section 113 and the second section 112 have the same outer diameter. The above structure makes the structural transition of the outer diameter expansion from the first section 111 to the second section 112 smooth, thereby improving the structural stability of the ultrasonic horn 100.

[0076] The hollow portion of the expanded diameter section further defines a fluid channel 400 for guiding the fluid from the first end 200 to the second end 300 via the fluid channel 400. The fluid channel 400 may have a first opening 410 at the first end 200 and a second opening 420 at the second end 300, and the second opening 420 is larger than the first opening 410.

[0077] Furthermore, the second outer diameter of the second section 112 of the first diameter expansion section is smaller than the first outer diameter of the first section 121 of the second diameter expansion section. Figure 3 As shown, d 12 <d 21 This arrangement enables each section of the ultrasonic horn 100 to have a structural feature in which the outer diameter increases absolutely and sequentially along the direction from the first end 200 to the second end 300, so that the ultrasonic horn 100 has a more regular shape.

[0078] Figure 5 Shows Figure 3 The enlarged view of the A area shown in FIG. Figure 4 and Figure 5 , the first wall thickness t of the first section 111 of the first diameter expansion section 11 The first wall thickness t of the first section 121 is greater than that of the second diameter expansion section. 21 The second wall thickness t of the second section 112 of the first diameter expansion section 12 The second wall thickness t of the second section 122 is greater than that of the second diameter expansion section. 22(The thickness is too small and is not shown in the figure.) The above arrangement makes each diameter expansion section of the ultrasonic horn 100 have a structural feature that the wall thickness gradually decreases from the first end 200 to the second end 300, thereby making the internal structure of the ultrasonic horn 100 more regular. At the same time, this physical structure with gradually thinning walls is more conducive to the conduction of vibration and the amplification of amplitude. Figure 5 As shown, the second wall thickness t of the second section 112 of the first diameter expansion section 12 smaller than the first wall thickness t of the first section 121 of the second diameter expansion section 21 Although the wall thickness of each diameter expansion section gradually decreases along the direction from the first end 200 to the second end 300, the thickness of the first section in two adjacent diameter expansion sections can be slightly greater than the thickness of the second section connected thereto, so as to appropriately slow down the trend of thinning of the wall of the ultrasonic horn 100, thereby improving the structural stability of the ultrasonic horn 100.

[0079] In addition, if Figure 5 As shown, the second inner surface 1121 of the second section of the first diameter expansion section is continuous with the first inner surface 1211 of the first section of the second diameter expansion section. That is, the second section of the first diameter expansion section and the first section of the second diameter expansion section have the same inner diameter.

[0080] A cutting limit boss 130 is formed between the second end 300 and the second section of the diameter expansion section connected to the second end 300. The cutting limit boss 130 is used to limit the cutting depth of the cutting portion 310 on the target tissue to prevent the ultrasonic bone knife 10 from sinking too deep into the target tissue.

[0081] In some embodiments of the present invention, the outer diameter of the second end portion of the second end portion 300 is smaller than the second outer diameter of the second section of the diameter expansion section connected to the second end portion 300, so as to form a cutting limiting boss 130. Figure 3 As shown, taking the ultrasonic osteotome 10 with two diameter expansion sections as an example, the second end outer diameter d2 of the second end 300 is smaller than the second outer diameter d 22 The above outer diameter difference forms a step portion at the connection between the two, and the step portion constitutes a cutting limit boss 130.

[0082] In some other embodiments of the present invention, the outer diameter of the second end portion of the second end portion 300 may also be equal to the second outer diameter of the second section of the diameter expansion section connected to the second end portion 300, and a convex ring is provided on the outer side of the connection between the two to form a cutting limit boss 130. Figure 3 For example, the ultrasonic bone cutter 10 shown in FIG. 1 may have a second end outer diameter d2 of the second end 300 that is equal to the second outer diameter d2 of the second section 122 of the second diameter extension section. 22That is to say, the outer surface of the connecting portion between the second end portion 300 and the second section 122 is continuous, and a convex ring is further provided on the continuous surface to form a cutting limiting boss 130 .

[0083] The second end portion 300 has a second end portion 300 wall thickness, and the second end portion 300 wall thickness is smaller than the second wall thickness of the second section of the diameter expansion section connected to the second end portion 300. Figure 3 Taking the ultrasonic bone cutter 10 as an example, the wall thickness of the second end 300 is smaller than the second wall thickness of the second section 122 of the second diameter expansion section, so that the wall of the ultrasonic bone cutter 10 is further thinned at the second end 300.

[0084] The ultrasonic horn 100 includes a fluid channel 400 extending from the first end 200 to the second end 300, for guiding the fluid from the first end 200 to the second end 300. As described above, each diameter expansion section is hollow, and the hollow parts of all diameter expansion sections are interconnected to form a complete fluid channel 400 extending from the first end 200 to the second end 300. Preferably, the axis of the fluid channel 400 coincides with the longitudinal axis of the ultrasonic bone knife 10 (or ultrasonic horn 100). Since the cutting portion 310 needs high-frequency vibration in the working state, the temperature of the cutting portion 310 and the target tissue around it is relatively high. The upper fluid channel 400 can allow a liquid such as a coolant to flow from the first end 200 to the second end 300, and cool the cutting portion 310 to prevent the target tissue from being burned by high temperature.

[0085] At least one through hole 140 is provided on the second section of the diameter expansion section connected to the second end 300, for guiding the fluid in the fluid channel 400 to the outer surface of the second end 300. Figure 1 , Figure 2 As shown, a through hole 140 is provided on the second section 122 of the second diameter extension section, which connects the fluid channel 400 and the outside of the ultrasonic osteotome 10. The through hole 140 is preferably arranged at a position of the second section 122 close to the boss 130, so as to guide the fluid to a range close to the target tissue. In this embodiment, the number of through holes 140 is 2, and they are respectively arranged at the two end points of a diameter of the circular cross section of the second section 122, so as to guide the fluid from two opposite directions, thereby increasing the coverage of the outflowing fluid.

[0086] The cutting portion 310 includes a plurality of cutting teeth evenly distributed along the circumference, wherein the plurality of cutting teeth include triangular cutting teeth and / or rectangular cutting teeth.

[0087] The surface of the first end portion 200 is further provided with a thread structure 210 for being threadedly connected to the ultrasonic transducer 20 .

[0088] During the working process of the ultrasonic bone cutter 10, it is necessary to continuously pay attention to the state of the target tissue to understand the cutting / drilling degree of the ultrasonic bone cutter 10. Therefore, in this embodiment, the second end 300 is provided with at least one sensor (not shown) for detecting cutting parameters. Specifically, the cutting parameters include any one or any combination of two or more of the following parameters: cutting temperature; cutting depth; cutting pressure; cutting time; and cutting speed. The corresponding sensors may include: a temperature sensor for measuring temperature, a position sensor for measuring position information, a pressure sensor for measuring pressure, and a timer for recording time, etc.

[0089] According to another aspect of the present invention, a robot-assisted ultrasonic bone power system is also provided, which includes an ultrasonic bone power system 1 and a robot-assisted surgical system 2, wherein the ultrasonic bone power system 1 is fixed to the end effector of the robot-assisted surgical system 2 to control the movement of the ultrasonic bone power system 1 through the robot-assisted surgical system 2.

[0090] The ultrasonic bone power system 1 includes: an ultrasonic transducer 20 for converting electrical energy into mechanical energy and the ultrasonic bone cutter 10, wherein the first end 200 of the ultrasonic bone cutter 10 is connected to the ultrasonic transducer 20. The working principle of the ultrasonic bone cutter 10 of this embodiment is: the ultrasonic transducer 20 is mechanically and acoustically coupled to the ultrasonic bone cutter 10 through the first end 200 to transmit the ultrasonic vibration generated by the ultrasonic transducer 20 to the ultrasonic horn 100, and the ultrasonic horn 100 conducts the ultrasonic vibration to the cutting part 310, while amplifying the amplitude of the ultrasonic vibration, so that the cutting part 310 can achieve a larger area of ​​drilling. After cutting the target tissue, liquid can be poured into the first end 200 of the ultrasonic bone cutter 10, and the liquid reaches the vicinity of the second end 300 through the liquid channel and flows out from the through hole 140 to cool the cutting part 310 and the target tissue.

[0091] The robot-assisted surgery system 2 includes a base and a robotic arm, the robotic arm is mounted on the base, the ultrasonic bone power system 1 is detachably connected to the movable end of the robotic arm, and the robotic arm is used to control the position of the cutting end of the ultrasonic bone power system 1, the spatial angle and the force applied to the bone tissue to be cut; the actuator is communicatively connected to the ultrasonic bone power system 1, and is used to control the cutting power of the ultrasonic bone power system 1. The actuator can control the output power of the ultrasonic bone power system 1 according to the remaining cutting thickness, density, adjacent tissue type, etc. of the bone tissue. The robot-assisted ultrasonic bone power system of the present invention improves the safety and accuracy of orthopedic surgery, especially minimally invasive orthopedic surgery system.

[0092] It should be understood that in this specification, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships or dimensions that are based on the orientations or positional relationships or dimensions shown in the accompanying drawings, and these terms are used only for the convenience of description and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present application.

[0093] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third" may explicitly or implicitly include one or more of the feature. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0094] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0095] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0096] This specification provides many different embodiments or examples that can be used to implement the present application. It should be understood that these different embodiments or examples are purely exemplary and are not intended to limit the scope of protection of the present application in any way. Those skilled in the art can conceive of various changes or replacements based on the disclosure of the specification of the present application, which should all be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection defined by the attached claims.

Claims

1. An ultrasonic bone knife for opening a hole, the ultrasonic bone knife comprising an ultrasonic horn and a first end and a second end arranged at both ends of the ultrasonic horn, the first end being used to connect an ultrasonic transducer, the second end comprising a cutting portion, It is characterized in that The first end portion has a first end portion outer diameter, the second end portion has a second end portion outer diameter, and the second end portion outer diameter is greater than the first end portion outer diameter; The ultrasonic horn includes at least one diameter expansion section, the diameter expansion section including a first section arranged on one side of the first end along the longitudinal axis of the ultrasonic horn and a second section arranged on one side of the second end along the longitudinal axis; The first section has a first outer diameter, the second section has a second outer diameter, and the second outer diameter is greater than the first outer diameter.

2. The ultrasonic osteotome according to claim 1, characterized in that: The expanded diameter section is hollow, the first section has a first wall thickness, and the second section has a second wall thickness, which is smaller than the first wall thickness.

3. The ultrasonic osteotome according to claim 2, characterized in that: The diameter expansion section further includes a common contact plane section disposed between the first section and the second section for transmitting ultrasonic vibration; Wherein, the wall thickness of the common contact plane segment is greater than or equal to the first wall thickness; and / or The wall thickness of the common contact plane section is greater than or equal to the second wall thickness.

4. The ultrasonic osteotome according to claim 3, characterized in that: The wall thickness of the common contact plane section is less than or equal to the sum of the first wall thickness and the second wall thickness.

5. The ultrasonic osteotome according to claim 3, characterized in that: The first section has a first inner surface, and the second section has a second outer surface; Wherein, the inner surface of the common contact plane segment is continuous with the first inner surface, and / or Wherein, the outer surface of the common contact plane segment is continuous with the second outer surface.

6. The ultrasonic osteotome according to claim 2, characterized in that: The hollow portion of the expanded diameter section defines a fluid passage for guiding fluid from the first end portion to the second end portion via the fluid passage.

7. The ultrasonic osteotome according to claim 5, characterized in that: The ultrasonic horn comprises at least a first diameter expansion section and a second diameter expansion section which are adjacently arranged. The first diameter expansion section is arranged on one side of the first end portion along the longitudinal axis of the ultrasonic horn, and the second diameter expansion section is arranged on one side of the second end portion along the longitudinal axis; The second section of the first expanded diameter section is connected to the first section of the second expanded diameter section; The second outer diameter of the second section of the first diameter expansion section is smaller than the first outer diameter of the first section of the second diameter expansion section.

8. The ultrasonic osteotome according to claim 7, characterized in that: The first wall thickness of the first section of the first diameter expansion section is greater than the first wall thickness of the first section of the second diameter expansion section; and / or The second wall thickness of the second section of the first diameter expansion section is greater than the second wall thickness of the second section of the second diameter expansion section; and / or The second wall thickness of the second section of the first expanded diameter section is smaller than the first wall thickness of the first section of the second expanded diameter section.

9. The ultrasonic osteotome according to claim 8, characterized in that: The second section also has a second inner surface, The second inner surface of the second section of the first diameter expansion section is continuous with the first inner surface of the first section of the second diameter expansion section.

10. The ultrasonic osteotome according to any one of claims 1 to 9, characterized in that: A cutting limiting boss is formed between the second end and a second section of the diameter expansion section connected to the second end.

11. The ultrasonic osteotome according to claim 10, characterized in that: The second end portion outer diameter of the second end portion is smaller than the second outer diameter of the second section of the diameter expansion section connected to the second end portion, so as to form the cutting limiting boss.

12. The ultrasonic osteotome according to claim 10, characterized in that: The second end portion outer diameter of the second end portion is equal to the second outer diameter of the second section of the diameter expansion section connected to the second end portion, and a convex ring is further provided on the outer side of the connection between the two to form the cutting limit boss.

13. The ultrasonic osteotome according to claim 10, characterized in that: The second end portion has a second end portion wall thickness that is smaller than a second wall thickness of a second section of the expanded diameter section connected to the second end portion.

14. The ultrasonic osteotome according to any one of claims 1 to 9, characterized in that: The ultrasonic horn includes a fluid channel extending from the first end to the second end for directing a fluid from the first end to the second end.

15. The ultrasonic osteotome according to claim 14, characterized in that: At least one through hole is provided on the second section of the diameter expansion section connected to the second end portion, for guiding the fluid in the fluid channel to the outer surface of the second end portion.

16. The ultrasonic osteotome according to any one of claims 1 to 9, characterized in that: The cutting portion includes a plurality of cutting teeth uniformly distributed along the circumferential direction.

17. The ultrasonic osteotome according to claim 16, characterized in that: The plurality of cutting teeth include triangular cutting teeth and / or rectangular cutting teeth.

18. The ultrasonic osteotome according to any one of claims 1 to 9, characterized in that: The surface of the first end portion is provided with a thread structure for being threadedly connected to the ultrasonic transducer.

19. The ultrasonic osteotome according to any one of claims 1 to 9, characterized in that: The second end is provided with at least one sensor for detecting a cutting parameter.

20. The ultrasonic osteotome according to claim 19, characterized in that: The cutting parameters include any one or any combination of two or more of the following parameters: Cutting temperature; Cutting depth; Cutting pressure; Cutting time; and Cutting speed.

21. A robot-assisted ultrasonic bone power system, comprising an ultrasonic bone power system and a robot-assisted surgery system, wherein the ultrasonic bone power system is fixed to an end effector of the robot-assisted surgery system so that the movement of the ultrasonic bone power system is controlled by the robot-assisted surgery system. It is characterized in that The ultrasonic bone power system comprises: Ultrasonic transducers for converting electrical energy into mechanical energy; and According to any one of claims 1-20, the first end of the ultrasonic bone knife is connected to the ultrasonic transducer.

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