Multi-degree-of-freedom ultrasonic scalpel

Abstract

This invention discloses a multi-degree-of-freedom ultrasonic scalpel, comprising a base, an instrument rod, a transmission mechanism, a push-pull mechanism, and a scalpel head assembly. One end of the instrument rod is fixed to the base. The transmission mechanism includes a gear assembly and a lead screw and nut mechanism. The gear assembly is connected to an input shaft, which is fixed inside the base and externally connected to a drive device. One end of the lead screw and nut mechanism is located inside the base and connected to the output end of the gear assembly, while the other end extends into the instrument rod. The push-pull mechanism is located inside the instrument rod and is connected to the lead screw and nut mechanism to move along the length of the instrument rod under the drive of the lead screw and nut mechanism. The scalpel head assembly is located on the other end of the instrument rod and is connected to the push-pull mechanism to open or close the jaws under the action of the push-pull mechanism. This invention improves the structure of the ultrasonic scalpel, enhances the operational flexibility of the ultrasonic scalpel instrument, provides multiple degrees of freedom, simplifies the structure, and reduces production costs.

Description

Technical Field

[0001] This invention relates to the field of ultrasonic scalpel technology, and more particularly to a multi-degree-of-freedom ultrasonic scalpel. Background Technology

[0002] An ultrasonic scalpel, also known as an ultrasonic cutting and hemostatic scalpel, works by converting electrical energy into high-frequency mechanical energy through piezoelectric ceramics in a transducer. The high-frequency mechanical vibration of the scalpel shaft acts on the tissue, causing protein coagulation and achieving the effects of tissue dissection and blood vessel closure. Compared to traditional electrocautery, ultrasonic scalpels cause less damage to tissues and are therefore increasingly used in clinical practice.

[0003] The existing ultrasonic scalpel shank includes a shank body, an outer sleeve, a sliding block, a steel wire rope, and a clamping assembly. The outer sleeve is slidably fitted outside the shank body, the steel wire rope is located inside the outer sleeve, the clamping assembly is located at the front end of the outer sleeve, and the sliding block is slidably located inside the front end of the outer sleeve. The front end of the sliding block is hinged to the lower part of the root of the clamping assembly.

[0004] However, this ultrasonic scalpel structure, which uses a steel wire rope and sliding mechanism to push and pull the cutter head to open or close, is quite complex. It also requires a rope winding shaft and a wire guide structure to match the steel wire rope. During installation, the steel wire rope needs to be wound on the rope winding shaft and placed in the cutter bar, and then tied together with the sliding block. The whole installation process is very troublesome, and the manufacturing cost is relatively high. Summary of the Invention

[0005] The main objective of this invention is to provide a multi-degree-of-freedom ultrasonic scalpel, which aims to improve the ease of assembly, simplify the structure, and reduce manufacturing costs.

[0006] To achieve the above objectives, the present invention proposes a multi-degree-of-freedom ultrasonic scalpel, the ultrasonic scalpel comprising:

[0007] Base;

[0008] An instrument rod, one end of which is fixed to the base;

[0009] A transmission mechanism includes a gear assembly and a lead screw and nut mechanism. The gear assembly is disposed within the base, and its input end is connected to an input shaft. The input shaft is fixed within the base and adapted to connect to an external drive device. One end of the lead screw and nut mechanism is disposed within the base and connected to the output end of the gear assembly. The other end of the lead screw and nut mechanism extends into the instrument rod.

[0010] A push-pull mechanism, disposed within the instrument rod, is connected to the lead screw and nut mechanism to move along the length of the instrument rod under the drive of the lead screw and nut mechanism; and

[0011] A blade assembly is located at the other end of the instrument rod. The blade assembly is connected to the push-pull mechanism to open or close the jaws under the action of the push-pull mechanism.

[0012] Optionally, the lead screw and nut mechanism includes a drive screw and a drive nut sleeved on the drive screw. The base is provided with a mounting bracket, and a first bearing is fixed on the mounting bracket. The output end of the gear assembly is installed in the inner ring of the first bearing, and the drive nut is installed on the output end of the gear assembly.

[0013] Optionally, the gear assembly includes a driving gear and a driven gear meshing with the driving gear. The driving gear is connected to the input shaft, the driven gear has a slot, the driving nut is tightly fitted in the slot, and the driven gear is fitted with the inner ring of the first bearing.

[0014] Optionally, the input shaft is a cutter head chuck, the base is provided with a fixing frame, and both the base and the fixing frame are provided with a second bearing. The cutter head chuck passes through the second bearing and is connected to the drive gear.

[0015] Optionally, the cutter head chuck is fitted with a first retaining ring and / or a second retaining ring for restricting its axial movement. The first retaining ring is disposed on the fixed frame, and the second retaining ring is disposed on the drive gear.

[0016] Optionally, the push-pull mechanism is a pipe bending assembly, which includes a sleeve, a bend, a clamp, and a push-pull rod. The sleeve is fitted onto the bend, one end of the bend is fixed to the clamp, the other end of the bend is connected to the push-pull rod, the clamp is clamped and fixed to the inner shell of the cutter head assembly, and the push-pull rod is connected and fixed to the drive screw.

[0017] Optionally, the ultrasonic scalpel further includes a rope-winding rod with a pull rope wound around it and a bend assembly connected to the pull rope. The rope-winding rod is disposed inside the base, and the bend assembly is sleeved on the bend assembly and connected to the outer shell of the scalpel head assembly.

[0018] The bending head assembly is used to bend under the action of the pull rope and drive the cutter head assembly to swing.

[0019] Optionally, the elbow assembly includes at least a mounting base sleeved on the bend assembly and a conical block rotatably mounted on the mounting base, with the tension end of the pull rope tied to the conical block.

[0020] Optionally, the blade assembly includes a housing, an inner housing, a blade shank, and a blade head. The inner housing is movably disposed within the housing along the length of the housing and connected to the push-pull mechanism. One end of the blade shank is disposed within the inner housing. The fixed end of the blade head is hinged to the housing and connected to the inner housing, so as to open or close the jaws under the action of the inner housing.

[0021] Optionally, the blade assembly further includes a transducer disposed in the inner housing and connected to the blade holder, the transducer being adapted to be connected to the main unit of the ultrasonic scalpel via a cable.

[0022] In the technical solution of this invention, the multi-degree-of-freedom ultrasonic scalpel includes a base, an instrument rod, a transmission mechanism, a push-pull mechanism, and a scalpel head assembly. One end of the instrument rod is fixed to the base. The transmission mechanism includes a gear assembly and a lead screw and nut mechanism. The gear assembly is located inside the base, and its input end is connected to an input shaft. The input shaft is fixed inside the base and adapted to connect to an external drive device. One end of the lead screw and nut mechanism is located inside the base and connected to the output end of the gear assembly. The other end of the lead screw and nut mechanism extends into the instrument rod. The push-pull mechanism is located inside the instrument rod and is connected to the lead screw and nut mechanism to move along the length of the instrument rod under the drive of the lead screw and nut mechanism. The scalpel head assembly is located on the other end of the instrument rod and is connected to the push-pull mechanism to open or close the jaws under the drive of the push-pull mechanism. It is understood that the present invention uses a screw and nut mechanism for transmission, which is simpler to install than components such as wire ropes and winding shafts. During assembly, it is only necessary to first assemble the gear assembly, then tightly fit the drive nut into the slot of the gear assembly, put the drive nut on the drive screw, and then assemble the drive screw into the instrument rod and connect and fix it to the end of the push-pull mechanism. The assembly of the entire transmission mechanism is simpler, which improves the convenience of ultrasonic scalpel assembly, simplifies the transmission structure of ultrasonic scalpel, and reduces the cost of production and manufacturing. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of an embodiment of the multi-degree-of-freedom ultrasonic scalpel of the present invention;

[0025] Figure 2 This is an internal structural diagram of an embodiment of the multi-degree-of-freedom ultrasonic scalpel of the present invention;

[0026] Figure 3This is a cross-sectional view of an embodiment of the multi-degree-of-freedom ultrasonic scalpel of the present invention;

[0027] Figure 4 This is a diagram showing the internal structure of the base in one embodiment of the multi-degree-of-freedom ultrasonic scalpel of the present invention;

[0028] Figure 5 This is a structural diagram of the cutter head assembly in the open state in one embodiment of the multi-degree-of-freedom ultrasonic scalpel of the present invention;

[0029] Figure 6 This is a structural diagram of the cutter head assembly in a closed state in one embodiment of the multi-degree-of-freedom ultrasonic scalpel of the present invention;

[0030] Figure 7 This is a cross-sectional view of the cutter head assembly in one embodiment of the multi-degree-of-freedom ultrasonic scalpel of the present invention.

[0031] Explanation of icon numbers:

[0032] 10. Base; 20. Instrument rod; 30. Transmission mechanism; 40. Push-pull mechanism; 50. Cutter head assembly; 31. Gear assembly; 32. Screw and nut mechanism; 33. Cutter head chuck; 34. Elbow chuck; 321. Drive screw; 322. Drive nut; 101. Mounting bracket; 102. Fixing bracket; 311. Drive gear; 312. Driven gear; 103. First bearing; 331. First retaining ring; 332. Second retaining ring; 41. Sleeve; 42. Bend; 43. Chuck; 44. Push-pull rod; 60. Rope winding rod; 61. Pull rope; 70. Elbow assembly; 71. Mounting seat; 72. Conical block; 51. Outer shell; 52. Inner shell; 53. Cutter bar; 54. Cutter head; 55. Transducer; 104. Connection port.

[0033] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0035] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0036] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if the word "and / or" appears throughout the text, it means including three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0037] This invention proposes a multi-degree-of-freedom ultrasonic scalpel.

[0038] Reference Figures 1 to 4 In one embodiment of the present invention, the multi-degree-of-freedom ultrasonic scalpel includes a base 10, an instrument rod 20, a transmission mechanism 30, a push-pull mechanism 40, and a blade assembly 50. One end of the instrument rod 20 is fixed to the base 10. The transmission mechanism 30 includes a gear assembly 31 and a lead screw and nut mechanism 32. The gear assembly 31 is disposed within the base 10, and its input end is connected to an input shaft. The input shaft is fixed within the base 10 and is adapted to be connected to an external drive device. One end of the lead screw and nut mechanism 32 is disposed within the base 10 and connected to the output end of the gear assembly 31. The other end of the lead screw and nut mechanism 32 extends into the instrument rod 20. The push-pull mechanism 40 is disposed within the instrument rod 20 and is connected to the lead screw and nut mechanism 32 to move along the length of the instrument rod 20 under the drive of the lead screw and nut mechanism 32. The blade assembly 50 is disposed on the other end of the instrument rod 20 and is connected to the push-pull mechanism 40 to open or close the jaws under the drive of the push-pull mechanism 40.

[0039] In this embodiment, both the base 10 and the instrument rod 20 can be made of medical plastic material, and no specific limitation is made here.

[0040] In this embodiment, the gear assembly 31 of the transmission mechanism 30 may include two or more gears, which may be bevel gears, cylindrical gears, etc., and are not specifically limited here.

[0041] The screw and nut mechanism 32, also known as a helical transmission mechanism, is mainly used to convert rotary motion into linear motion or vice versa; in this invention, it serves the former. The nut circulation structure is mainly divided into internal circulation and external circulation, with the external circulation including helical groove type, insert type, and end cap type. In embodiments of this invention, the screw and nut mechanism 32 of the transmission mechanism 30 may include a drive screw 321 and a drive nut 322, with the drive nut 322 sleeved on the drive screw 321. Figures 1 to 3 As shown, for ease of assembly, the drive screw 321 can be positioned directly opposite the center of the instrument rod 20, so that it can be directly inserted into the instrument rod 20 after being installed in the base 10, without the need for other complex transmission components.

[0042] In this embodiment, the push-pull mechanism 40 can be a push-pull tube or rod, etc., and its material can be a flexible material, or a component or assembly of a combination of hard and flexible materials, so as to improve the bending ability, which is conducive to realizing the swing of the cutter head assembly 50, thereby improving the operational flexibility of the ultrasonic scalpel.

[0043] It is understood that the present invention uses a screw and nut mechanism 32 for transmission, which is simpler to install than components such as wire ropes and winding shafts. During assembly, it is only necessary to first assemble the gear assembly 31, then tightly fit the drive nut 322 into the slot of the gear assembly 31, put the drive nut 322 on the drive screw 321, and then assemble the drive screw 321 into the instrument rod 20 and connect and fix it to the end of the push-pull mechanism 40. The assembly of the entire transmission mechanism 30 is simpler, which improves the convenience of ultrasonic scalpel assembly, simplifies the transmission structure of ultrasonic scalpel, and reduces the cost of production and manufacturing.

[0044] Main reference Figure 4 In one embodiment, a mounting bracket 101 may be provided inside the base 10, and a first bearing 103 is fixed on the mounting bracket 101. The output end of the gear assembly 31 is installed in the inner ring of the first bearing 103, and a drive nut 322 is installed on the output end of the gear assembly 31. In this way, the convenience of assembly can be further improved, and the efficiency of mechanical energy transmission can be improved.

[0045] The first bearing 103 can be a D15 bearing or the like, and there are no restrictions here.

[0046] Furthermore, referring to Figure 2 and Figure 4 The gear assembly 31 may include a driving gear 311 and a driven gear 312 meshing with the driving gear 311. The driving gear 311 is connected to the input shaft, and the driven gear 312 has a slot in which a drive nut 322 is tightly fitted. The driven gear 312 is also fitted with the inner ring of the first bearing 103. Thus, only two gears are required, making installation more convenient and reducing manufacturing costs.

[0047] To facilitate the connection of external motors or other drive devices for automatic control of the opening and closing of the cutter head assembly 50, in one embodiment, such as... Figure 4 As shown, the input shaft can be a cutter head chuck 33, and a fixing frame 102 can be provided in the base 10. Both the base 10 and the fixing frame 102 are provided with a second bearing. The cutter head chuck 33 passes through the second bearing and is connected to the drive gear 311.

[0048] In this embodiment, a first retaining ring 331 and / or a second retaining ring 332 may be fitted onto the cutter head chuck 33 to restrict its axial movement. The first retaining ring 331 is disposed on the fixing frame 102, and the second retaining ring 332 is disposed on the drive gear 311. In this way, the cutter head chuck 33 can be prevented from shifting or misaligning under the vibration of the drive device such as the motor, or even falling off the fixing frame 102, effectively improving the stability of the cutter head chuck 33 assembly, thereby ensuring the stability of the ultrasonic scalpel in use.

[0049] Reference Figure 3 In one embodiment, the push-pull mechanism 40 can be a bending tube assembly, which includes a sleeve 41, a bending tube 42, a clamp 43, and a push-pull rod 44. The sleeve 41 is sleeved on the bending tube 42, one end of the bending tube 42 is fixed to the clamp 43, and the other end of the bending tube 42 is connected to the push-pull rod 44. The clamp 43 is clamped and fixed to the inner shell 52 of the cutter head assembly 50, and the push-pull rod 44 is connected and fixed to the drive screw 321.

[0050] In order to enable the blade assembly 50 to swing and improve the operational flexibility of the ultrasonic scalpel, the sleeve 41 can be made of soft rubber or the bend 42 can be made of a flexible and deformable material that can automatically recover, etc., without specific limitations.

[0051] Furthermore, to improve the controllability of the oscillation of the blade assembly 50 and to give the ultrasonic scalpel multiple degrees of freedom, based on the above embodiments, referring to... Figures 2 to 4 The multi-degree-of-freedom ultrasonic scalpel may also include a rope-winding rod 60 wound with a pull rope 61 and a bend assembly 70 connected to the pull rope 61. The rope-winding rod 60 is disposed inside the base 10, and the bend assembly 70 is sleeved on the bend assembly and connected to the outer shell 51 of the scalpel head assembly 50. The bend assembly 70 is used to bend under the action of the pull rope 61 and drive the scalpel head assembly 50 to swing.

[0052] In this embodiment, the number of rope rods 60 can be one, two, or more, and the number of pull ropes 61 can also be one, two, or more, which is not limited here.

[0053] In this embodiment, a bent chuck 34 serving as an input shaft can be installed inside the base 10. The bent chuck 34 is connected to the rope winding rod 60. The bent chuck 34 is suitable for connecting to external driving devices such as motors. In this way, the swing amplitude and direction of the cutter head assembly 50 can be adjusted by pulling the rope 61.

[0054] like Figure 2 As shown, in this embodiment, the elbow assembly 70 may include at least a mounting base 71 sleeved on the elbow assembly and a conical block 72 rotatably disposed on the mounting base 71, and the end of the pull rope 61 is tied to the conical block 72, which is not limited here.

[0055] It should be noted that when the elbow assembly 70 bends, the pipe bending assembly (i.e., the push-pull mechanism 40) can also bend synchronously. Due to the structural characteristics of the pipe bending 42, the pipe bending assembly can push and pull as guided by its end pipe bending 42 while bending, thereby adjusting the opening and closing state of the cutter head assembly 50.

[0056] Please refer to the following: Figure 3 , Figures 5 to 7 To improve the ease of operation of the ultrasonic scalpel, in one embodiment, the scalpel assembly 50 may include a housing 51, an inner housing 52, a scalpel bar 53, and a scalpel head 54. The inner housing 52 is movably disposed in the housing 51 along the length direction of the housing 51 and is connected to the push-pull mechanism 40. One end of the scalpel bar 53 is disposed in the inner housing 52. The fixed end of the scalpel head 54 is hinged to the housing 51 and connected to the inner housing 52, so as to open or close the jaws under the action of the inner housing 52.

[0057] In the prior art, the transducer 55 is generally set inside the base 10, which greatly restricts the structure of the transmission components inside the instrument rod 20. A rigid structure is required to ensure the high efficiency of energy transfer between the transducer 55 and the blade 54, but this sacrifices the flexibility of the ultrasonic scalpel.

[0058] In this regard, the present invention also makes an improvement:

[0059] Reference Figure 7 In one embodiment, the blade assembly 50 may further include a transducer 55, which is disposed in the inner housing 52 and connected to the blade shank 53. The transducer 55 is adapted to be connected to the main unit of the ultrasonic scalpel via a cable.

[0060] By integrating the transducer 55 into the blade assembly 50, this invention avoids the use of a rigid structure in the connection structure between the blade assembly 50 and the ultrasonic scalpel base 10. This allows for the installation of flexible and swinging structures within the ultrasonic scalpel's instrument rod 20 (i.e., it creates conditions for the installation of the aforementioned bend assembly and bend head assembly 70, etc.), which improves the operational flexibility of the ultrasonic scalpel instrument and ensures the high efficiency of energy transfer between the transducer 55 and the blade 54.

[0061] Furthermore, in this embodiment, such as Figure 3 and Figure 6As shown, the multi-degree-of-freedom ultrasonic scalpel may also include a wiring port 104, which is located on the base 10 and connected to the transducer 55 of the scalpel head assembly 50 via a cable. The wiring port 104 is suitable for connecting to an external host.

[0062] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A multi-degree of freedom ultrasonic blade, comprising: The ultrasonic knife comprises: a knife head assembly comprising an outer shell, an inner shell, a knife rod and a knife head; a base; an instrument rod, one end of which is fixed to the base; a transmission mechanism comprising a gear assembly and a screw nut mechanism, the gear assembly being arranged in the base and having an input end connected to an input shaft, the input shaft being fixed in the base and adapted to be externally connected to a driving device, one end of the screw nut mechanism being arranged in the base and connected to an output end of the gear assembly, the other end of the screw nut mechanism extending into the instrument rod; the screw nut mechanism comprises a driving screw and a driving nut sleeved on the driving screw, a mounting bracket is arranged in the base, a first bearing is fixed on the mounting bracket, the output end of the gear assembly is mounted in the inner ring of the first bearing, and the driving nut is mounted on the output end of the gear assembly; a push-pull mechanism arranged in the instrument rod, the push-pull mechanism being connected to the screw nut mechanism to move along the length direction of the instrument rod under the driving of the screw nut mechanism; the push-pull mechanism is a bent pipe assembly, the bent pipe assembly comprising a sleeve pipe, a bent pipe, a chuck and a push-pull rod, the sleeve pipe being sleeved on the bent pipe, one end of the bent pipe being fixed to the chuck, the other end of the bent pipe being connected to the push-pull rod, the chuck being fixedly connected to the inner shell of the knife head assembly, and the push-pull rod being fixedly connected to the driving screw; the knife head assembly being arranged at the other end of the instrument rod, the knife head assembly being connected to the push-pull mechanism to open or close the jaw under the driving of the push-pull mechanism; the inner shell being movably arranged in the outer shell along the length direction of the outer shell and being connected to the push-pull mechanism, one end of the knife rod being arranged in the inner shell, the fixed end of the knife head being hingedly connected to the outer shell and being connected to the inner shell to open or close the jaw under the driving of the inner shell; a winding rod around which a pull rope is wound and a elbow assembly connected to the pull rope, the winding rod being arranged in the base, and the elbow assembly being sleeved on the bent pipe assembly and being connected to the outer shell of the knife head assembly; the elbow assembly is used to bend the elbow under the action of the pull rope and drive the knife head assembly to swing; the elbow assembly at least comprises a mounting seat sleeved on the bent pipe assembly and a tapered block rotatably arranged on the mounting seat, and the pulling end of the pull rope is tied to the tapered block.

2. The ultrasonic blade of claim 1, wherein, The gear assembly comprises a driving gear and a driven gear engaged with the driving gear, the driving gear being connected to the input shaft, and the driven gear being provided with a slot hole, the driving nut being tightly fitted in the slot hole, and the driven gear being fitted and mounted with the inner ring of the first bearing.

3. The ultrasonic blade of claim 2, wherein, The input shaft is a knife head chuck, the base is provided with a fixing frame, the base and the fixing frame are both provided with a second bearing, and the knife head chuck is connected to the driving gear through the second bearing.

4. The ultrasonic blade of claim 3, wherein, First and / or second stop washers for limiting the axial movement of the knife head chuck are sleeved on the knife head chuck, the first stop washer being arranged on the fixing frame, and the second stop washer being arranged on the driving gear.

5. The ultrasonic shears of claim 1, wherein, The blade head assembly further includes a transducer disposed in the inner housing and connected to the blade bar, the transducer adapted to be connected to a main unit of the ultrasonic blade by a cable.

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