Ultrasonic scalpel and minimally invasive surgical robot using the same

Abstract

The present invention discloses an ultrasonic scalpel and a minimally invasive surgical robot using the ultrasonic scalpel, comprising: a scalpel head, a shank body, a scalpel seat and a transducer group connected in sequence; wherein the scalpel seat is equipped with an instrument driving mechanism; the shank body comprises an outer tube and an inner tube built in the outer tube and suitable for axial movement; the scalpel seat comprises a sleeve having a hollow inner cavity penetrating its two axial ends and connected to the transducer group and an adapter sleeved on the outer side of the sleeve and suitable for axial movement along the sleeve; the instrument driving mechanism comprises a support and limit assembly and a power structure arranged on the support and limit assembly for driving the sleeve to rotate and a lever for driving the adapter to move along the axial direction of the sleeve. The present invention can optimize the use performance of the ultrasonic scalpel used in the minimally invasive surgical robot, and can reduce the overall instrument cost of the surgical instrument used in the patient's surgery by reusing the shank body and the scalpel head, thereby reducing the patient's surgical cost, and has significant clinical value.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an ultrasonic scalpel and a minimally invasive surgical robot using the ultrasonic scalpel. Background Art

[0002] In the process of robot-assisted minimally invasive surgery, a dedicated channel is usually established through a cannula. The doctor uses a slender minimally invasive surgical instrument to enter the dedicated channel to perform surgical operations in the human abdominal cavity. Among minimally invasive surgical instruments, the ultrasonic knife is a new type of surgical cutting and hemostasis device, which consists of the main unit, handle connection line, transducer, blade, foot pedal and other main components. The main unit converts 50Hz or 60Hz current into 55.5kHz high-frequency alternating current and transmits it to the transducer through the connecting wire.

[0003] During the use of the ultrasonic scalpel, it is usually necessary to perform opening and closing movements and rotational movements to achieve specific cutting and hemostasis operations. Specifically, the use of the ultrasonic scalpel is inseparable from the blade rod assembly directly connected to it, and the ultrasonic scalpel instrument box connected to the blade rod assembly; wherein a driving mechanism for driving the guide rod assembly is provided in the ultrasonic instrument box.

[0004] In this regard, for example, the patent with publication number CN114469268A discloses a surgical instrument driving mechanism, which specifically includes an adapter for coupling surgical instruments, a rotating mechanism for driving the adapter to rotate, and a lever for the adapter to achieve lifting and lowering, wherein the adapter, the rotating mechanism itself, and the lever are all installed between the bottom plate and the upper mounting plate used in conjunction, that is, the stability of the structure of the adapter, the rotating mechanism, and the lever during use is achieved through the cooperation of the bottom plate and the upper mounting plate, thereby ensuring the smooth operation of the adapter, the rotating mechanism, and the lever. However, it is found through actual use that although the above-mentioned surgical instrument driving mechanism can achieve the driving of the surgical instrument operation, it is also inevitable that the following defects may exist:

[0005] First, the upper mounting plate is subjected to the force at the lever shaft of the lever. Under the premise that the structural size is limited and the structural strength of the upper mounting plate cannot be improved by increasing the thickness, the upper mounting plate will be deformed due to the above-mentioned force factors, thereby affecting the upper mounting plate and directly affecting the stability and transmission accuracy of other structures connected to it. Secondly, in the structure where the lever is directly fixed to the upper mounting plate through a conventional shaft, it is difficult to avoid a gap between the shaft and the shaft hole, and the existence of this gap will further affect the transmission accuracy of the overall drive mechanism.

[0006] In general, the driving structure of minimally invasive surgical instruments has high requirements for the accuracy of the overall structure, because it is necessary to avoid deviations in surgical operations caused by structural errors in the driving mechanism itself. From the perspective of the processing technology itself and the assembly technology itself, there is a cumulative effect between the errors in the production, processing and assembly of any structure. Therefore, for the driving structure of driving minimally invasive surgical instruments, the more parts there are, the greater the possible production errors and assembly errors are, which makes it difficult to ensure the reliability and accuracy of the overall structure. Therefore, on the one hand, for the purpose of reducing costs, and on the other hand, for the purpose of improving structural reliability and accuracy, simplifying the structure as much as possible to achieve the required functions is the direction of continuous research and development efforts.

[0007] In addition, for the knife rod assembly, a liquid-conducting ultrasonic knife head is disclosed in the publication number CN108784788A, including a clamp rod outer tube, an inner tube body is provided in the clamp rod outer tube, which is axially relatively movably connected to the clamp rod outer tube, a waveguide rod is provided in the inner tube body, and the front end of the waveguide rod extends beyond the front ends of the clamp rod outer tube and the inner tube body to form a knife rod head, a clamp head is provided between the front end of the inner tube body and the front end of the clamp rod outer tube, the clamp head and the knife rod head are arranged opposite to each other, the rear end of the clamp head is hinged to the front end of the clamp rod outer tube, and the hinge axis therebetween is a static hinge axis, the rear end of the clamp head is hinged to the front end of the inner tube body, and the hinge axis therebetween is a dynamic hinge axis, the static hinge axis and the dynamic hinge axis are parallel to each other and are respectively located on both sides of the knife rod head, and the side portion of the front end of the inner tube body is provided with a liquid-conducting structure connecting the inner side and the outer side of the inner tube body.

[0008] The inner and outer tubes of the ultrasonic scalpel disclosed in the above document are hinged together by the forceps head. The inner and outer tubes should be relatively still in the radial direction, otherwise a torsional force will be generated, which will have an adverse effect on the structure of the scalpel head. There is no problem when it is used in manual laparoscopic surgery (the doctor will rotate the ultrasonic scalpel as a whole during manual surgery), but when it is used in minimally invasive surgical robots, there will be the following technical defects:

[0009] 1. In a minimally invasive surgical robot, the ultrasonic scalpel cannot rotate as a whole, and the outer tube cannot be directly fixed to the instrument box housing, making it difficult to ensure that the inner and outer tubes are relatively stationary in the radial direction;

[0010] 2. In minimally invasive surgical robots, the rotation of the blade head is achieved by rotating the blade rod, and the existing technology has failed to solve the problem of how to rotate the inner and outer tubes at the same time.

[0011] Therefore, the overall structure of the ultrasonic scalpel disclosed in the prior art has poor overall performance when used in minimally invasive surgical robots. Summary of the invention

[0012] The first objective of the present invention is to provide an ultrasonic scalpel to achieve the technical effect of optimizing the performance of an ultrasonic scalpel used in a minimally invasive surgical robot.

[0013] The second objective of the present invention is to provide a minimally invasive surgical robot to achieve the technical effect of optimizing the performance of the minimally invasive surgical robot.

[0014] The ultrasonic knife of the present invention is implemented as follows:

[0015] An ultrasonic knife, comprising: a knife head, a knife rod body, a knife seat and a transducer group connected in sequence; wherein the knife seat is equipped with an instrument driving mechanism; the knife rod body comprises an outer tube and an inner tube built in the outer tube and suitable for axial movement;

[0016] The tool holder comprises a sleeve having a hollow inner cavity penetrating through both ends of the axial direction and connected to the transducer group, and an adapter sleeved on the outside of the sleeve and suitable for axial movement along the sleeve; the sleeve is suitable for simultaneously driving the outer tube and the inner tube to perform circumferential rotational movement;

[0017] The instrument driving mechanism comprises a support and limit assembly, a power structure arranged on the support and limit assembly for driving the sleeve to rotate, and a lever for driving the adapter to move along the axial direction of the sleeve.

[0018] In an optional embodiment of the present invention, the transducer group includes a transducer connector connected to the sleeve and a transducer connection seat connected to the transducer connector; wherein

[0019] The transducer connector is detachably connected to the sleeve via a split tenon.

[0020] In an optional embodiment of the present invention, the support and limit assembly comprises: a bottom plate and a mounting seat and a support seat convexly arranged on the top end surface of the bottom plate; wherein

[0021] The mounting seat has a receiving cavity for accommodating an opening and closing gear meshed with the lever, and a notch groove communicating with the receiving cavity is prefabricated on the side wall of the mounting seat.

[0022] In an optional embodiment of the present invention, a vertically distributed transverse axial hole and a longitudinal limiting hole are opened in the support seat; the transverse axial hole is used to support the rotating shaft of the lever, and the longitudinal limiting hole is used to accommodate an elastic member with one end suitable for abutting the rotating shaft.

[0023] In an optional embodiment of the present invention, the mounting seat is snap-fitted with the opening and closing gear.

[0024] In an optional embodiment of the present invention, the adapter is connected to the inner tube by at least one connector penetrating through the side wall of the sleeve so that the adapter drives the inner tube to move axially in the outer tube;

[0025] The side wall of the sleeve is formed with a movable groove suitable for the connecting piece to pass through;

[0026] When the adapter moves along the axial direction of the sleeve, the engaging member is adapted to move along the movable groove.

[0027] In an optional embodiment of the present invention, the outer tube is interference fit with the inner cavity wall of the sleeve.

[0028] In an optional embodiment of the present invention, the outer wall of the sleeve is also integrally formed with or assembled with a toothed ring; and

[0029] The outer wall of the sleeve is also sleeved with a bearing.

[0030] In an optional embodiment of the present invention, a first installation cavity and a second installation cavity for use in conjunction with each other are formed inside the bottom plate; wherein

[0031] The first mounting cavity is used for assembling the bearing and the gear ring, and the second mounting cavity is used for assembling the power structure; and

[0032] The power structure adopts a rotating gear that meshes with the toothed ring.

[0033] The minimally invasive surgical robot of the present invention is implemented as follows:

[0034] A minimally invasive surgical robot comprises: the ultrasonic scalpel.

[0035] Compared with the prior art, the beneficial effects of the present invention are: the ultrasonic scalpel of the present invention and the minimally invasive surgical robot using the ultrasonic scalpel, through the coordinated cooperation between the sleeve, the adapter, the inner tube and the outer tube, make the inner tube and the outer tube not only rotate together with the sleeve, but the inner tube itself can also make axial movement relative to the outer tube. When the shank body with such a structure is used in a minimally invasive surgical robot, the overall operational flexibility is better.

[0036] In addition, for the overall inner tube and outer tube, the outer tube is connected to the sleeve through the matching of the outer tube and the sleeve, and the inner tube is connected to the adapter. The matching of the adapter and the sleeve allows the inner tube and the outer tube to maintain relative stillness in the radial dimension, completely eliminating sliding friction, thereby avoiding relative torsion between the two in the radial dimension, thereby effectively ensuring the transmission accuracy and service life of the tool rod body during the application process of the tool head movement drive process.

[0037] Furthermore, the support and limit assembly used in the present application can directly support the opening and closing gear and the lever for the mounting seat and the support seat, and the upper mounting plate used in the prior art is no longer needed. Under such a structure, the use of the upper mounting plate is reduced, the overall structure is simplified, and the cost of production, processing and assembly can be reduced simultaneously. Compared with the structure in the prior art in which the upper mounting plate and the bottom plate are used to jointly fix the opening and closing gear, the present application can not only avoid the problem of poor accuracy caused by the matching error between multiple parts, but also greatly reduce the difficulty of processing. For the structure in which the upper mounting plate is used to fix the opening and closing gear and the rotating gear at the same time, it is necessary to strictly ensure the processing accuracy of the mounting holes on the upper mounting plate so that the two mounting holes can accurately match the opening and closing gear and the rotating gear at the same time. The situation in which the opening and closing gear and the rotating gear of the present application are respectively fixed to the bottom plate can reduce the difficulty of installation. Furthermore, the present application eliminates the use of an upper mounting plate, so that on the basis of the same structural dimensions, the present application can increase the thickness of the overall base plate, thereby reducing the probability of base plate deformation, thereby improving the stability of the overall structure and the overall service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is the overall structure diagram of the ultrasonic knife of the present invention;

[0039] Figure 2 The figure is a diagram showing the overall structure of the blade rod body, the blade seat and the transducer assembly of the ultrasonic blade of the present invention;

[0040] Figure 3 It is an exploded structural diagram of the blade rod body, the blade seat and the transducer assembly of the ultrasonic blade of the present invention;

[0041] Figure 4 It is a diagram showing the matching structure of the sleeve, adapter, inner tube, appearance and transducer connector of the ultrasonic scalpel of the present invention;

[0042] Figure 5 for Figure 4 E-direction cross-sectional schematic diagram;

[0043] Figure 6 It is a cross-sectional schematic diagram of the sleeve of the ultrasonic scalpel of the present invention;

[0044] Figure 7 is a schematic diagram of a transducer connector of an ultrasonic scalpel of the present invention;

[0045] Figure 8 is a schematic diagram of an adapter of an ultrasonic scalpel of the present invention;

[0046] Fig. 9 This is a first-view overall structural diagram of the support and limit assembly of the ultrasonic scalpel of the present invention;

[0047] Fig.10 It is a second perspective overall structural diagram of the support and limit assembly of the ultrasonic knife of the present invention;

[0048] Fig.11 It is an exploded structural diagram of the support and limit assembly of the ultrasonic knife of the present invention;

[0049] Fig.12 It is a structural diagram of a mounting base and a supporting base of a supporting and limiting assembly of an ultrasonic knife of the present invention;

[0050] Fig.13 The partial structure diagram of the support and limit assembly of the ultrasonic knife of the present invention is shown in FIG. Figure 1 ;

[0051] Fig.14 for Fig.13 A schematic cross-sectional view in the direction of B;

[0052] Fig.15 The partial structure diagram of the support and limit assembly of the ultrasonic knife of the present invention is shown in FIG. Figure 2 ;

[0053] Fig.16 for Fig.15 A schematic cross-sectional view in the direction of D;

[0054] Fig.17 for Fig.15 A schematic cross-sectional view in the direction of C;

[0055] Fig.18 It is a structural schematic diagram of an opening and closing gear used in conjunction with the supporting and limiting assembly of the ultrasonic knife of the present invention;

[0056] Fig.19 It is a schematic structural diagram of a rotating gear used in conjunction with the supporting and limiting assembly of the ultrasonic knife of the present invention;

[0057] Fig. 20 It is a structural schematic diagram of a code piece used in conjunction with the support and limit assembly of the ultrasonic knife of the present invention;

[0058] Fig.21 It is a schematic structural diagram of a support rod used in conjunction with the support and limiting assembly of the ultrasonic knife of the present invention. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] Embodiment 1:

[0061] See also Figures 1 to 21 As shown, the present invention provides an ultrasonic knife, comprising: a knife head 8, a knife rod body 1, a knife seat 2 and a transducer group connected in sequence; wherein the knife seat 2 is equipped with an instrument driving mechanism 8; the knife rod body 1 comprises an outer tube 11 and an inner tube 12 built in the outer tube 11 and suitable for axial movement. The cooperation between the knife rod body 1 and the knife seat 2 is used to realize the opening and closing and rotational movement of the knife head 8.

[0062] It should be noted that the inner tube 12 here is a built-in structure relative to the outer tube 11. The built-in structure only means that from the radial dimension, the inner tube 12 is inside and the outer tube 11 is outside, and it does not mean that the entire inner tube 12 is located inside the outer tube 11 from the axial dimension. That is to say, from the axial dimension, at least one axial end of the inner tube 12 can be located outside the outer tube 11. The interior of the inner tube 12 here is a vibration rod 13. Through one or a pair of cutting surfaces 131 formed on the axial outer side wall of the vibration rod 13, under this structure, the outer wall surface of the entire vibration rod 13 is no longer a circular structure, and a matching surface conforming to the above-mentioned cutting surface 131 is formed in the inner cavity of the inner tube 12, so that the entire vibration rod 13 cannot rotate in the inner tube 12. The vibration rod 13 is connected to the transducer group, receives the energy provided by the transducer group to vibrate at a high frequency, and cooperates with the openable and closable forceps head in the cutter head 8, thereby realizing the function of the cutter head 8 to cut tissue.

[0063] Regarding the instrument driving mechanism, it includes a support and limit assembly, a power structure provided on the support and limit assembly for driving the sleeve 21 to rotate, and a lever 600 for driving the adapter 22 to move along the axial direction of the sleeve 21. The lever 600 used in this embodiment is provided with a reinforcing rod 603 between two forked rods 602 to increase the rigidity of the lever 600, prevent deformation, and further improve the transmission accuracy; in addition, a tooth portion 601 with a 45-degree angle is provided, and the lever ratio is set to 1:1, so as to facilitate control.

[0064] To further explain in detail, regarding the knife holder 2, it includes a sleeve 21 with a roughly cylindrical structure. It should be noted that this embodiment, in conjunction with the accompanying drawings, takes a sleeve 21 with a circular cross section as an example. Of course, the cross section of the sleeve 21 here can also be replaced with a rectangular or irregular shape. From the perspective of general conventional use, which is convenient and conducive to processing and forming, the cross section of the sleeve 21 is designed to be circular. Regardless of the shape of the sleeve 21 in cross section, since the adapter 22 is sleeved on the outside of the sleeve 21, as long as the shape of the inner cavity of the adapter 22 is matched with the shape of the sleeve 21, the sleeve 21 can be connected with each other.

[0065] Based on the sleeve 21 with a circular cross section, it has a hollow inner cavity, and both ends of the axial direction are openings that penetrate the hollow inner cavity. The adapter 22 and the sleeve 21 can also move along the axial direction of the sleeve 21 when they are in a sleeve-fitting state, that is, the radial dimension between the adapter 22 and the sleeve 21 is a relatively static matching state, that is, the adapter 22 cannot rotate in the radial dimension relative to the sleeve 21.

[0066] Furthermore, the sleeve 21 is connected to the transducer group, and the sleeve 21 is also suitable for driving the outer tube 11 and the inner tube 12 to rotate in the circumferential direction at the same time. Generally speaking, in one case, the sleeve 21 here can be fixedly connected to the transducer group, so that when the sleeve 21 rotates, the transducer group can move synchronously with the sleeve 21. Specifically, since the amplitude of the rotational movement required to be performed by the ultrasonic knife inside the human body is relatively small, even if the transducer group rotates synchronously with the sleeve 21, the rotation amplitude generated is also within a small range, so it will not affect the normal use of the transducer group. In another case, the sleeve 21 can also cooperate with the transducer group in rotation, so that when the sleeve 21 rotates, the transducer group will not produce synchronous movement, and the adapter 22, the inner tube 12 and the outer tube 11 will all rotate with the rotation of the sleeve 21.

[0067] On the basis of the above structure, it should be noted that, in addition to being able to rotate with the self-rotation of the sleeve 21, the adapter 22 and the inner tube 12 are also connected to the inner tube 12 through at least one connector 23 that penetrates the side wall of the sleeve 21 so that the adapter 22 drives the inner tube 12 to move axially in the outer tube 11. The axial movement of the inner tube 12 in the outer tube 11 will drive the cutter head 8 to open and close. Specifically, the up and down movement of the inner tube 12 will drive the cutter head 8 (the pliers head in the cutter head 8, and the vibration rod 13 are generally stationary) to open and close.

[0068] In summary, when the adapter 22 moves along the axial direction of the sleeve 21, the inner tube 12 will also make synchronous axial movement. In this way, for the overall ultrasonic knife, during use, the adapter 22 and the inner tube 12 can not only move in the axial dimension, but also rotate in the radial dimension, while the sleeve 21 and the outer tube 11 can only rotate in the radial dimension. The movement process of each component of this embodiment is realized through the following structure. This embodiment is only illustrated by a specific feasible solution in combination with the accompanying drawings.

[0069] First, the connector 23 is a screw or a pin, and positioning holes 24 for fitting and fixing the connector 23 are respectively provided on the side walls of the adapter 22 and the inner tube 12. That is, the adapter 22 and the inner tube 12 are linked and matched by the connector 23, so that the adapter 22 and the inner tube 12 maintain good synchronization during the use of the ultrasonic scalpel.

[0070] Since the inner tube 12 is built into the sleeve 21, and the adapter 22 is sleeved on the outside of the sleeve 21, in order to enable the connector 23 to connect the inner tube 12 and the adapter 22 at the same time, a movable groove 25 suitable for the connector 23 to penetrate is formed on the side wall of the sleeve 21 in this embodiment. Regarding the movable groove 25 here, it is necessary to explain that the general shape of the movable groove 25 is distributed along the axial direction of the sleeve 21, that is, the entire movable groove 25 has a certain length, so the movable groove 25 is not only used to realize the penetration of the connector 23, but also can provide the connector 23 with the axial movement of the adapter 22. The required activity space, that is, when the adapter 22 moves along the axial direction of the sleeve 21, the connector 23 is suitable for moving along the movable groove 25. In this regard, the movable groove 25 here can be rectangular or waist-shaped, and of course it can also be other shapes, that is, as long as the movable groove 25 can provide the required space for the connector 23 to move, it can meet the use requirements of this embodiment.

[0071] Secondly, on the basis of the above structure, in order to keep the inner tube 12 and the outer tube 11 relatively still in the radial dimension through the cooperation between the adapter 22 and the sleeve 21, so as to avoid the relative torsion between the two in the radial dimension, the side wall of the sleeve 21 of this embodiment is also provided with, for example but not limited to, two limit grooves 26 distributed along its axial direction and recessed in the axial direction of the sleeve 21, and the cross section of the limit groove 26 in the radial dimension can be selected, for example but not limited to, an arc shape. The limit groove 26 here can be formed on the side wall surface provided with the movable groove 25, or it can be set to avoid the side wall surface provided with the movable groove 25, and this embodiment does not make an absolute limitation on this. On this basis, the inner wall of the adapter 22 is also provided with a limit block 27 distributed along its axial direction and protruding in the axial direction of the adapter 22, which is one-to-one adapted to the limit groove 26. Under such a structure, the cooperation between the adapter and the sleeve 21 cannot produce relative rotation in the radial dimension.

[0072] On the basis of the above structure, it should be further explained that the limit groove 26 can not only prevent the change joint and the sleeve 21 from rotating in the radial dimension, but also improve the convenience of processing the movable groove 25 when the movable groove 25 in the above structure is formed in the limit groove 26.

[0073] Furthermore, regarding the cooperation between the outer tube 11 and the sleeve 21, the present embodiment adopts an interference fit mode, specifically, the outer tube 11 and the inner cavity wall of the sleeve 21 are interference fit. For example, the interference fit mode here is a case where it is easy to process. The shaft end of the outer tube 11 inserted into the sleeve 21 is recessed with at least two clamping grooves 14; and at least two clamping blocks are formed on the inner cavity wall of the sleeve 21, which are one-to-one and interference fit with the clamping grooves 14. It should be noted that the number of the clamping grooves 14 and the clamping blocks here can also be other numbers. The accompanying drawings of the present embodiment only take the case of two clamping grooves 14 and two clamping blocks as an example, but it is not an absolute limitation. In addition, the setting of the clamping grooves 14 and the clamping blocks here can also be exchanged, that is, a clamping block is formed on the outer tube 11, and a clamping groove 14 is formed on the inner wall of the sleeve 21. This situation can also meet the use requirements of the present embodiment.

[0074] In addition, regarding the sleeve 21 of this embodiment, this embodiment also has the following designs:

[0075] First, a toothed ring 28 is integrally formed or assembled on the outer wall of the sleeve 21. The design of the toothed ring 28 here facilitates the sleeve 21 to be matched with a power structure for driving the sleeve 21 to rotate.

[0076] Secondly, the outer wall of the sleeve 21 is also equipped with a bearing 5, so that the sleeve 21 can be assembled to the supporting structure through the bearing 5 to achieve the fixation of the sleeve 21 in the radial dimension.

[0077] As for the adapter 22 of the present embodiment, considering that the adapter 22 needs to drive the inner tube 12 to move axially along the sleeve 21, which requires the movement of the lever 600, an annular groove 29 is formed on the outer wall of the adapter 22 for matching the lever 600, so that the lever 600 can cooperate with the annular groove 29 to drive the adapter 22 to move.

[0078] Next, the cooperation mode between the transducer group and the sleeve 21 of this embodiment will be described:

[0079] The transducer assembly includes a transducer connector 3 connected to the sleeve 21 and a transducer connection seat 4 connected to the transducer connector 3; the transducer connection seat 4 can be selected to adopt any mature means in the prior art, and this embodiment does not make an absolute limitation on this. As for the transducer connector 3, it is detachably connected to the sleeve 21 through a split tenon.

[0080] In more detail, the end of the sleeve 21 for connecting the transducer connector 3 has a conical connector 6 protruding therefrom; specifically, the outer diameter of the conical connector 6 gradually decreases along the sleeve 21 toward the transducer connector 3; and the outer diameter of the cone bottom of the conical connector 6 is smaller than the outer diameter of the sleeve 21; the design of the conical connector 6 here can improve the convenience and efficiency of assembly and disassembly of the sleeve 21 and the transducer connector 3.

[0081] On the basis of the above structure, a positioning groove 61 with an inner diameter smaller than the outer diameter of the cone bottom of the conical connector 6 is formed at the junction of the conical connector 6 and the sleeve 21 of this embodiment. The split tenon includes a plurality of tenons 31 with equal axial lengths enclosing a cylindrical structure. The specific number of tenons 31 is not absolutely limited in this embodiment, and a separation groove 32 is formed between each two adjacent tenons 31; and a positioning protrusion 33 suitable for being embedded in the positioning groove 61 is formed on the inner wall of each tenon 31. Here, the separation groove 32 formed between the two adjacent tenons 31 allows the conical connector 6 of the transducer connector 3 and the sleeve 21 to be appropriately deformed during assembly, and after the transducer structure and the sleeve 21 are assembled in place, the positioning protrusion 33 will be just stuck in the positioning groove 61. Under such a structure, the anti-slip effect between the transducer connector 3 and the sleeve 21 is achieved by the cooperation of the positioning protrusion 33 and the positioning groove 61. In summary, the disassembly and assembly process between the split tenon and the sleeve 21 adopted in this embodiment is a simple plug-in and pull-out operation. Medical staff under this operation mode can implement it without training, and the implementation process does not require the cooperation of multiple people, that is, one person can complete it, which improves the convenience of using the overall structure.

[0082] It should be noted that the tightness of the split tenon formed by the multiple tenons 31 and the conical connector 6 in this embodiment determines whether the transducer group and the sleeve 21 can rotate relative to each other or not. Since the matching structure formed between the transducer group and the sleeve 21 here can rotate relative to each other or not, it meets the use requirements of this embodiment. Therefore, this embodiment does not make an absolute limitation on the tightness of the split tenon and the conical connector 6.

[0083] What needs to be explained about the above structure is that, for the multiple tenons 31, in the present embodiment, it is only necessary to keep the axial lengths of the multiple tenons 31 equal, and as for the width in the circumferential direction, the multiple tenons 31 can be the same or more than the same; similarly, for the multiple dividing grooves 32, the specific groove spacing size of each dividing groove 32 can be the same or more than the same, and the present embodiment does not make an absolute limitation on this.

[0084] In addition, it is necessary to explain that the split tenon and sleeve 21 used in this embodiment are a detachable connection structure. Under such a structure, during the separation of the split tenon and sleeve 21, the outer tube 11 and the inner tube 12 can be separated from the transducer group together with the knife holder 2. During this process, the vibration rod 13 connected to the transducer group will also be synchronously separated from the inner tube 12 and the outer tube 11. After completing the above disassembly operation, the outer tube 11 and the inner tube 12 together with the knife holder 2 and the vibration rod 13 connected to the transducer group are disinfected respectively, so as to facilitate the reuse of the above structure after disinfection and reassembly. In this process, the cutter head 8 can also be disinfected and reused along with the disassembly of the cutter bar body 1. It is found through actual use that the cutter bar body 1 and the cutter head 8 here can be reused about 5 times after disinfection. With such a design, the detachable structure of the forked tenon and the sleeve 21 connecting the blade rod body 1 in the ultrasonic knife of this embodiment can facilitate the disinfection and reuse of the blade rod body 1 and the blade head 8, thereby reducing the overall instrument cost of the surgical instrument during the patient's surgery, thereby reducing the patient's surgical cost, and therefore has significant clinical value.

[0085] The support and limit assembly used in this embodiment includes: a bottom plate 100, and a mounting seat 200 and a support seat 300 protruding from the top surface of the bottom plate 100. The mounting seat 200 and the support seat 300 here can be directly integrally formed with the bottom plate 100, or can be fixed to the bottom plate 100 by additional riveting or screw fastening, that is, as long as the mounting seat 200 and the support seat 300 can be firmly supported and fixed on the bottom plate 100, the use requirements of this embodiment are met.

[0086] Next, in conjunction with the accompanying drawings, the first is the mounting base 200:

[0087] In terms of layout position, the mounting seat 200 is located in a corner of the base plate 100 so that the setting of the mounting seat 200 does not affect the layout of the lever 600 assembly on the base plate 100. In terms of overall shape, the mounting seat 200 is a columnar structure as a whole. From the perspective of looking down at the base plate 100, the cross-section of the external shape of the mounting seat 200 can be circular or elliptical, or rectangular, or irregular, and this embodiment does not make an absolute limitation. In order to enable the mounting seat 200 of this embodiment to be used to accommodate the opening and closing gear 400 of the surgical instrument drive mechanism, this mounting seat 200 has a receiving cavity 201 for accommodating the opening and closing gear 400 of the surgical instrument drive mechanism. From the perspective of looking down at the base plate 100, the cross-section of the receiving cavity 201 can be circular, and of course it can also be rectangular, that is, as long as the opening and closing gear 400 can rotate smoothly in the receiving cavity 201, the use requirements of this embodiment can be met. The accompanying drawings of this embodiment only take the overall mounting seat 200 as a cylindrical structure as an example.

[0088] On the basis of the above structure, it should be noted that the opening and closing gear 400 cooperates with the mounting seat 200 through the following structure:

[0089] Generally speaking, the mounting seat 200 and the opening and closing gear 400 are snap-fitted, and the snap-fitted structure can be installed without the use of auxiliary tools.

[0090] In detail, the opening and closing gear 400 includes an integrally formed cylindrical gear body 401 and a first forked lock tongue located at one of the axial ends of the cylindrical gear body 401; after the opening and closing gear 400 and the mounting seat 200 are assembled in place, the cylindrical gear body 401 is integrally accommodated in the accommodating cavity 201 of the mounting seat 200.

[0091] Furthermore, the first split lock tongue includes a columnar connecting portion 402 integrally connected to the columnar gear body 401, a plurality of axial notches 403 spaced apart on the columnar connecting portion 402, and a conical head 404 formed at one end of the columnar connecting portion 402 away from the columnar gear body 401; wherein the outer diameter of the columnar connecting portion 402 is smaller than that of the columnar gear body 401, and the axial notches 403 extend to the conical head 404. In addition, the outer diameter of the conical bottom surface of the conical head 404 is larger than the outer diameter of the columnar connecting portion 402.

[0092] Based on the cooperation with the first split lock tongue, an opening 205 for the first split lock tongue to pass through is provided at the top end of the mounting seat 200 away from the bottom plate 100 and connected to the receiving cavity 201. More specifically, a limiting portion 202 is integrally formed at the top end of the mounting seat 200 away from the bottom plate 100; the limiting portion 202 has a limiting cavity 203 connected to the receiving cavity 201 and the opening 205; the inner diameter of the limiting cavity 203 is smaller than that of the receiving cavity 201, so that an L-shaped connecting surface 206 is formed between the limiting cavity 203 and the receiving cavity 201.

[0093] In this regard, when the opening and closing gear 400 is matched with the mounting seat 200, the columnar connecting portion 402 is suitable for clearance matching with the limiting cavity 203; and the conical bottom surface of the conical head 404 is pressed against the opening 205, and the axial end of the columnar gear body 401 facing the first split lock tongue is in contact with the L-shaped connecting surface 206. Under such a structure, when the opening and closing gear 400 and the mounting seat 200 are assembled, the first split lock tongue only needs to use the axial notch 403 to make the conical head 404 of the first split lock tongue produce a slight deformation to pass through the limiting cavity 203, and after the conical head 404 extends out of the opening 205 and then returns to normal, the conical bottom surface of the conical head 404 can be pressed against the opening 205, and under such a structure, the opening and closing gear 400 and the mounting seat 200 are assembled in place. It should be noted here that the opening and closing gear 400 is an integrated plastic structure. After being assembled with the mounting base 200, there is a little room for movement between the opening and closing gear 400 and the bottom plate 100, so the opening and closing gear 400 can rotate smoothly without worrying about the adverse effects of friction.

[0094] Through the above structure, the overall opening and closing gear 400 is assembled in the receiving cavity 201 of the mounting seat 200. In this regard, in order to make the opening and closing gear 400 cooperate with the tooth portion 601 of the lever 600, this embodiment pre-formed a notch groove 207 connecting to the receiving cavity 201 on the side wall of the mounting seat 200, so that the tooth portion 601 of the lever 600 can be matched with the opening and closing gear 400 through the notch groove 207.

[0095] Based on the design of the above-mentioned notch groove 207, the present embodiment has also made the following improvements: the notch groove 207 is extended along the axial direction of the opening and closing gear 400 to form a protective plate 208 protruding toward the support seat 300; and the notch groove 207 is formed with a pair of protective plates 208 on both sides of the edge to form a clearance fit with the tooth portion 601 of the lever 600. The pair of protective plates 208 here can not only play a role in limiting the tooth portion 601 of the lever 600, so that the motion trajectory of the lever 600 under the action of the opening and closing gear 400 is limited by the pair of protective plates 208, thereby ensuring the accuracy of the motion trajectory of the lever 600; and the protective plates 208 here can also play a role in strengthening the mounting seat 200 to ensure the use strength of the overall mounting seat 200.

[0096] Next, the support base 300 is described in detail:

[0097] The support seat 300 is provided with a transverse shaft hole 301 and a longitudinal limit hole 302 which are vertically distributed, and the transverse shaft hole 301 and the longitudinal limit hole 302 are in a through structure; the transverse shaft hole 301 is a through hole structure, and the longitudinal limit hole 302 is a blind hole structure. The transverse shaft hole 301 is used to support the rotating shaft 502 of the lever 600 assembly of the surgical instrument drive mechanism, and the longitudinal limit hole 302 is used to accommodate an elastic member whose one end is suitable for abutting the rotating shaft 502. The elastic member here is, for example, but not limited to, a spring 501. In the preferred case here, the elastic member abuts against the middle part of the rotating shaft 502. In this embodiment, the rotating shaft 502 is arranged in the support seat 300, eliminating the upper mounting plate in the prior art. During the movement of the lever 600, the position of the fulcrum of the lever 600 will not change, thereby improving the transmission accuracy.

[0098] Based on the above structure, during the assembly process, the elastic part is first installed into the longitudinal limit hole 302, and then the rotating shaft 502 is installed into the transverse shaft hole 301, and when installing the rotating shaft 502, the rotating shaft 502 can be pressed against the elastic part. In this way, a certain pre-tightening force can be applied to the rotating shaft 502 through the elastic part, that is, the gap between the rotating shaft 502 and the transverse shaft hole 301 is eliminated through the supporting effect of the elastic part on the rotating shaft 502, thereby further ensuring the transmission accuracy.

[0099] Next, it is to be explained that the present embodiment further forms a first mounting cavity 701 and a second mounting cavity 702 for use in conjunction with each other inside the bottom plate 100; wherein the first mounting cavity 701 is used to assemble the knife seat 2, and the second mounting cavity 702 is used to assemble the rotating gear 802. The rotating gear 802 cooperates with the driving box to rotate the rotating gear 802. It should be explained that the rotating gear 802 here is an integrated plastic structure, and the rotating gear 802 can rotate smoothly in the second mounting cavity 702. The rotating gear 802 is meshed and connected with the toothed ring 28 of the outer wall of the sleeve 21, so that the rotating gear 802 drives the sleeve 21 to rotate.

[0100] For the rotating gear 802 and the second mounting cavity 702, in order to improve the convenience and efficiency of assembly, the rotating gear 802 is fixedly engaged with the second mounting cavity 702. For this engaging assembly method, this embodiment takes an example with reference to the accompanying drawings, and a second split lock tongue 803 for engaging with the second mounting cavity 702 is integrally formed on the rotating gear 802. For the specific matching structure of the second split lock tongue 803 and the second mounting cavity 702, reference can be made to the structure of the first split lock tongue and the mounting seat 200, and the specific detailed structure will not be repeated here.

[0101] Compared with the supporting and limiting components in the prior art, the present embodiment eliminates the use of the upper mounting plate, so that on the basis of the same structural dimensions, the present embodiment can increase the thickness of the overall bottom plate 100, thereby reducing the probability of deformation of the bottom plate 100 and further improving the stability of the overall structure. In this regard, in order to avoid the increase in the thickness of the bottom plate 100 and the simultaneous increase in the weight of the bottom plate 100, the present embodiment provides a plurality of weight-reducing grooves 101 at intervals on the bottom plate 100. In this way, the overall bottom plate 100 can take into account both the weight and the structural stability.

[0102] In addition, a button 102 is also provided on the bottom plate 100, and the button 102 can enable the instrument box of the instrument driving mechanism to be removed from the isolation plate (not shown in the figure). It can be understood that the shell of the instrument box that is matched with the bottom plate 100 has a part that cooperates with the button 102, so that the button 102 can rotate.

[0103] In summary, for the ultrasonic scalpel of this embodiment, the opening and closing gear 400 rotates to drive one end of the lever 600 to move vertically, so that the adapter 22 and the inner tube 12 at the other end of the lever 600 move in opposite directions, thereby realizing the opening and closing of the blade head 8. The rotating gear 802 directly cooperates with the toothed ring 28 to drive the sleeve 21 to rotate, thereby realizing the rotation of the blade head 8. The above can complete the two-degree-of-freedom movement required during the use of the blade head 8.

[0104] Embodiment 2:

[0105] On the basis of the ultrasonic scalpel of Example 1, the ultrasonic scalpel provided in this embodiment further makes the following structural improvements: when the length of the sleeve 21 is limited, based on the fact that the transducer connector 3 is sleeved on the outside of the conical connector 6, in order to avoid the transducer structure sleeved with the conical connector 6 from affecting the adapter 22 and being interfered with by the transducer connector 3 when it moves along the axial direction of the sleeve 21 toward the transducer connector 3, in this embodiment, an annular avoidance groove 7 is formed axially on the inner wall of the adapter 22 from the adapter 22 toward the axial end of the transducer connector 3, and the axial depth of the avoidance groove 7 is less than the axial length of the adapter 22, so that when the adapter 22 moves to the transducer connector 3, the transducer connector 3 will partially extend into the avoidance groove 7 of the adapter 22.

[0106] Embodiment 3:

[0107] Based on the ultrasonic scalpel of Example 1 or Example 2, the ultrasonic scalpel provided in this embodiment further has the following structural improvements:

[0108] The base plate 100 supporting the position limiting assembly is also provided with a code piece 904 and an indicator light 903. The base plate 100 is correspondingly prefabricated with a code seat 901 for matching the code piece 904 and an indicator seat 902 for matching the indicator light 903.

[0109] Among them, the marking piece 904 is fixed in the marking seat 901 through the cooperation of the support rod 905 and the retaining spring, and a retaining spring groove 9053 for assembling the retaining spring is prefabricated on the support rod 905; and the support rod 905 also cooperates with the driving box to drive the marking piece 904 to rotate to change the state of the indicator light 903, so that the state of the indicator light 903 is used to prompt that the number of uses of the tool head 8 connected to the tool rod body 1 has reached the upper limit.

[0110] In more detail, the marking piece 904 has a hollow inner cavity, which includes a support rod hole 9041 that is roughly waist-shaped and at least one roughly rectangular convex groove 9042 that penetrates the support rod hole 9041. The support rod hole 9041 is used to match the support rod 905. On the outer wall of the marking piece 904, a baffle 9043 that is roughly T-shaped and two stop teeth 9045 that are spaced apart are formed. The baffle 9043 is used to block the signal of the sensor, thereby changing the state of the indicator light 903, and the stop teeth 9045 cooperate with the marking seat formed on the bottom plate 100 to play a mechanical limit. Specifically, when the number of uses of the cutter head 8 connected to the cutter bar body 1 reaches the upper limit, the drive box can be controlled to rotate so that the transmission member of the support rod 905 rotates, further driving the marking piece 904 to rotate, and the baffle 9043 on the marking piece 904 blocks (or does not block) the sensor, generating a signal change, thereby changing the state of the indicator light 903.

[0111] On the basis of the above structure, the support rod 905 includes a rod body matched with the support hole 9041 and a convex rib 9051 provided on at least one side of the rod body and plugged with the convex rib groove 9042. Here, the convex rib 9051 cooperates with the convex rib groove 9042 of the code piece to play a positioning and limiting role, thereby reducing the movement gap between the support rod 905 and the code piece 904. It should be noted that the number of convex ribs 9051 and convex rib grooves 9042 in this embodiment can be the same, one or two or more, or the number of convex ribs 9051 and convex rib grooves 9042 can be different, for example, there are two convex rib grooves 9042 and only one convex rib 9051. In this case, the convex rib 9051 can be plugged into any convex rib groove 9042. The attached drawings of this embodiment only take the case where a ridge 9051 is provided on one side of the rod body as an example. Here, a single ridge 9051 can realize the limiting effect of the cooperation between the support rod 905 and the marking piece 904, and one ridge 9051 can reduce the difficulty of processing compared with two ridges 9051.

[0112] In summary, for the support and limit assembly of the present embodiment, the layout of the mounting seat 200, the support seat 300, the first mounting cavity 701, the second mounting cavity 702, the code seat 901 and the indicator seat 902 on the overall base plate 100 is optimized, and the mounting seat 200, the support seat 300 and the indicator seat 902 are external structures relative to the base plate 100, while the first mounting cavity 701, the second mounting cavity 702 and the code seat 901 are internal structures relative to the base plate 100. Such a design structure of coordinated internal and external structures can reduce the problem of unexpected interference between the components on the base plate 100 and improve the compactness of the overall structure. Therefore, compared with the prior art, the base plate 100 of the present embodiment can effectively improve the overall space utilization of the base plate 100 without affecting the external volume of the overall support and limit assembly structure, thereby optimizing the overall functionality of the surgical instrument drive mechanism using the support and limit assembly of the present embodiment, and making its performance in a specific minimally invasive surgical robot more perfect.

[0113] Embodiment 4:

[0114] Based on the ultrasonic scalpel of Example 1 or Example 2 or Example 3, this embodiment provides a minimally invasive surgical robot, including the ultrasonic scalpel of Example 1 or Example 2 or Example 3.

[0115] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0116] In the description of the present invention, it is necessary to understand that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0117] In the present invention, 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 or an electrical connection; 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 the present invention can be understood according to specific circumstances.

[0118] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invention product is usually placed when used, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the present invention, unless otherwise clearly specified and limited, the first feature above or below the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, the first feature above, above and above the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature below, below and below the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

Claims

1. An ultrasonic scalpel, characterized in that it comprises: A cutter head, a cutter bar body, a cutter seat and a transducer group are connected in sequence; wherein the cutter seat is equipped with an instrument drive mechanism; the cutter bar body comprises an outer tube and an inner tube built into the outer tube and suitable for axial movement; The tool holder comprises a sleeve having a hollow inner cavity penetrating through both ends of the axial direction and connected to the transducer group, and an adapter sleeved on the outside of the sleeve and suitable for axial movement along the sleeve; the sleeve is suitable for simultaneously driving the outer tube and the inner tube to perform circumferential rotational movement; The instrument driving mechanism includes a support and limit assembly, a power structure provided on the support and limit assembly for driving the sleeve to rotate, and a lever for driving the adapter to move along the axial direction of the sleeve; The support and limit assembly comprises: a bottom plate, a mounting seat and a support seat convexly arranged on the top surface of the bottom plate; wherein the mounting seat has a receiving cavity for accommodating an opening and closing gear meshed with the lever, and a notch groove communicating with the receiving cavity is prefabricated on the side wall of the mounting seat; The split gear comprises an integrally formed cylindrical gear body and a first split lock tongue located at one of the axial ends of the cylindrical gear body; the first split lock tongue comprises a cylindrical connecting portion integrally connected to the cylindrical gear body, a plurality of axial notches spaced apart on the cylindrical connecting portion, and a conical head formed at one end of the cylindrical connecting portion away from the cylindrical gear body; wherein the outer diameter of the cylindrical connecting portion is smaller than that of the cylindrical gear body; an opening communicating with the receiving cavity and suitable for the first split lock tongue to pass through is provided at the top end of the mounting seat away from the bottom plate; The support seat is provided with a transverse shaft hole and a longitudinal limit hole which are vertically distributed; the transverse shaft hole is used to support the rotating shaft of the lever, and the longitudinal limit hole is used to accommodate an elastic member whose one end is suitable for abutting against the rotating shaft; The adapter is connected to the inner tube by at least one connector penetrating the side wall of the sleeve so that the adapter drives the inner tube to move axially in the outer tube; The side wall of the sleeve is formed with a movable groove suitable for the connecting piece to pass through; When the adapter moves along the axial direction of the sleeve, the engaging member is adapted to move along the movable groove.

2. The ultrasonic scalpel according to claim 1, characterized in that: The transducer group includes a transducer connector connected to the sleeve and a transducer connection seat connected to the transducer connector; wherein The transducer connector is detachably connected to the sleeve via a split tenon.

3. The ultrasonic scalpel according to claim 1, characterized in that: The mounting seat is engaged with the opening and closing gear.

4. The ultrasonic scalpel according to claim 1, characterized in that: The outer tube is interference-fitted with the inner cavity wall of the sleeve.

5. The ultrasonic scalpel according to claim 1, characterized in that: The outer wall of the sleeve is also integrally formed with or assembled with a toothed ring; and The outer wall of the sleeve is also sleeved with a bearing.

6. The ultrasonic scalpel according to claim 1, characterized in that: A first installation cavity and a second installation cavity for use together are formed inside the bottom plate; The first mounting cavity is used for assembling the bearing and the gear ring, and the second mounting cavity is used for assembling the power structure; and The power structure adopts a rotating gear that meshes with the toothed ring.

7. A minimally invasive surgical robot, comprising: The ultrasonic scalpel according to any one of claims 1 to 6.

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