Medical ultrasonic knives, medical ultrasonic knife systems, and robotically assisted ultrasonic knife systems

Abstract

This application provides a medical ultrasonic scalpel, a medical ultrasonic scalpel system, and a robot-assisted ultrasonic scalpel system, belonging to the field of medical device technology. The medical ultrasonic scalpel includes a fluid flow sleeve and a scalpel shaft. The fluid flow sleeve includes a sleeve body and a first protrusion. The sleeve body has mounting cavities extending through opposite ends of the sleeve body. The first protrusion is located on the inner sidewall of the sleeve body. The scalpel shaft extends through the mounting cavity and is pivotally connected to the fluid flow sleeve. The scalpel shaft and the fluid flow sleeve are movable in the extension direction X. The outer sidewall of the scalpel shaft has a second protrusion. The first protrusion and the second protrusion cooperate such that when the fluid flow sleeve rotates in a first rotation direction, the first protrusion and the second protrusion are misaligned, allowing the fluid flow sleeve to move in the extension direction X. When the fluid flow sleeve rotates in a second rotation direction, the first protrusion and the second protrusion abut against each other, thereby driving the scalpel shaft to rotate in the second rotation direction, where the first rotation direction is opposite to the second rotation direction.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a medical ultrasonic scalpel, a medical ultrasonic scalpel system, and a robot-assisted ultrasonic scalpel system. Background Technology

[0002] With the development of ultrasound technology and its integration with modern medicine, medical ultrasonic scalpels are gradually being applied in surgical procedures. For example, medical ultrasonic scalpels can be used to cut, drill, or grind bone tissue to achieve the purpose of processing bone tissue.

[0003] During surgery, medical ultrasonic scalpels generate heat through friction with body tissues. In some surgeries, this frictional heat can damage cells and tissues, leading to postoperative complications and adverse effects. Therefore, when using medical ultrasonic scalpels, a fluid flow system is usually included to cool the friction hotspots on the scalpel shaft through a fluid flow sleeve.

[0004] In related technologies, both the fluid flow sleeve and the tool holder are mounted on the tool handle using a wrench. The wrench has a complex structure and is inconvenient to install and operate. Summary of the Invention

[0005] This application aims to at least address one of the technical problems existing in the background art. Therefore, one objective of this application is to provide a medical ultrasonic scalpel, a medical ultrasonic scalpel system, and a robot-assisted ultrasonic scalpel system to improve the problem of inconvenient installation and operation in related technologies.

[0006] An embodiment of the first aspect of this application provides a medical ultrasonic scalpel, comprising: a fluid flow sleeve including a sleeve body and a first protrusion, the sleeve body having mounting cavities extending through opposite ends of the sleeve body, the first protrusion being located on the inner sidewall of the sleeve body; a shank, the shank extending in the same direction as the fluid flow sleeve (X), the shank extending through the mounting cavity, the shank pivotally connected to the fluid flow sleeve, and the shank and the fluid flow sleeve being movable in the extension direction (X), the outer sidewall of the shank having a second protrusion; wherein, the first protrusion and the second protrusion cooperate such that when the fluid flow sleeve rotates in a first rotation direction, the first protrusion and the second protrusion are misaligned, so that the fluid flow sleeve can move in the extension direction (X), and when the fluid flow sleeve rotates in a second rotation direction, the first protrusion and the second protrusion abut against each other, thereby driving the shank to rotate in the second rotation direction, the first rotation direction being opposite to the second rotation direction.

[0007] In some embodiments, the sleeve body has at least one first mounting hole penetrating the sidewall of the sleeve body; the first protrusion includes a first portion and a second portion connected to each other, the first portion being located in the first mounting hole and connected to the sleeve body, the second portion being located in the mounting cavity, the second portion and the second protrusion being configured such that when the fluid flow sleeve rotates in a first rotation direction, the second protrusion pushes the second portion to move into the first mounting hole, and when the fluid flow sleeve rotates in a second rotation direction, the second portion abuts against the second protrusion.

[0008] In some embodiments, the second part includes a first surface and a second surface, both of which are parallel to the extension direction X; wherein the first surface is configured to cause the second part to move into the first mounting hole when a thrust applied to the first surface toward the second surface is greater than a first preset thrust value, and the second surface is configured to cause the fluid flow sleeve to move when a thrust applied to the second surface toward the first surface is greater than a second preset thrust value.

[0009] In some embodiments, the second protrusion includes a third surface and a fourth surface, both of which are parallel to the extension direction X; when the fluid flow sleeve rotates in a first rotation direction, the third surface is configured to apply a thrust toward the second surface to the first surface; when the fluid flow sleeve rotates in a second rotation direction, the fourth surface is configured to apply a thrust toward the first surface to the second surface.

[0010] In some embodiments, the rotation center axis of the fluid flow sleeve is located in the plane containing the second surface, and the rotation center axis of the fluid flow sleeve is offset from the plane containing the first surface.

[0011] In some embodiments, the sleeve body has two first mounting holes, which are symmetrically distributed circumferentially along the sidewall of the sleeve body, and the fluid flow sleeve includes two first protrusions that correspond one-to-one with the two first mounting holes.

[0012] In some embodiments, the fluid flow sleeve further includes: a protrusion connected to the outer side wall of the sleeve body, the protrusion being spaced apart from the first mounting hole.

[0013] In some embodiments, the sleeve body has a first mounting portion, and the tool holder has a second mounting portion connected to the first mounting portion.

[0014] In some embodiments, the first mounting portion includes a first thread located on the side wall of the sleeve body, and the second mounting portion includes a second thread located on the side wall of the tool holder, the second thread being threadedly connected to the first thread.

[0015] In some embodiments, the sleeve body has at least one second mounting hole penetrating the sidewall of the sleeve body, the first mounting portion includes an elastic sheet and a limiting protrusion connected to each other, the elastic sheet is located in the second mounting hole, and the limiting protrusion is located in the mounting cavity; the second mounting portion includes a boss located on the outer wall surface of the tool holder, the boss abutting against the limiting protrusion.

[0016] In some embodiments, one end of the scalpel has a third mounting portion, and one end of the cannula body has a fourth mounting portion. The medical ultrasonic scalpel includes a handle; wherein the handle has a fifth mounting portion connected to the third mounting portion and a sixth mounting portion connected to the fourth mounting portion, and both the fifth and sixth mounting portions are located at the end of the handle facing the scalpel.

[0017] In some embodiments, the third mounting portion includes a third thread located on the side wall of the tool holder, and the fifth mounting portion includes a fourth thread located on the side wall of the tool shank, the fourth thread being threadedly connected to the third thread.

[0018] In some embodiments, the fourth mounting portion includes a fifth thread located on the side wall of the sleeve body, and the sixth mounting portion includes a sixth thread located on the side wall of the tool holder, the sixth thread and the fifth thread being threadedly connected to each other.

[0019] In some embodiments, the inner wall of the sleeve body has a first mounting groove, the fourth mounting part includes an elastic ring, the outer ring of the elastic ring is fixedly connected to the first mounting groove, and the distance between the inner and outer rings of the elastic ring is greater than the depth of the first mounting groove; the outer wall of the end of the tool holder facing the tool bar has a second mounting groove, the second mounting groove is used to accommodate the elastic ring.

[0020] According to an embodiment of the second aspect of this application, a medical ultrasonic scalpel system is provided. The medical ultrasonic scalpel system includes a vibration source and a medical ultrasonic scalpel as described in any of the above embodiments; the vibration source is connected to the medical ultrasonic scalpel and is used to generate vibration.

[0021] According to an embodiment of the third aspect of this application, a robot-assisted ultrasonic scalpel system is provided. The robot-assisted ultrasonic scalpel system includes a robot-assisted surgical device and the medical ultrasonic scalpel system described in the above embodiments. The robot-assisted surgical device is connected to the medical ultrasonic scalpel in the medical ultrasonic scalpel system to control the movement of the medical ultrasonic scalpel.

[0022] The medical ultrasonic scalpel provided in this application embodiment can connect and disconnect the scalpel shaft and handle via a fluid flow sleeve, and simultaneously connect and disconnect the fluid flow sleeve and handle. During the installation of the medical ultrasonic scalpel, a wrench is unnecessary; the fluid flow sleeve functions as a wrench, reducing the tools required for installation. Furthermore, the complex structure of the fluid flow sleeve makes installation more convenient. Because repeated use of a wrench is eliminated, the installation and disassembly processes are faster, resulting in higher work efficiency. Attached Figure Description

[0023] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0024] Figure 1 This invention provides a schematic diagram of the structure of a medical ultrasonic scalpel according to an embodiment of this application.

[0025] Figure 2 It shows Figure 1 A schematic diagram of the cross-section of an ultrasonic scalpel used in Traditional Chinese Medicine;

[0026] Figure 3 This paper shows a schematic diagram of the structure of a fluid flow sleeve provided in an embodiment of this application;

[0027] Figure 4 It shows Figure 3 Schematic diagram of the cross-section of the liquid flow sleeve;

[0028] Figure 5 It shows Figure 4 Another perspective of the cross-sectional schematic diagram of the fluid flow sleeve in the diagram;

[0029] Figure 6 It shows Figure 3 Front view of the fluid flow sleeve;

[0030] Figure 7 It shows Figure 3 Top view of the fluid flow sleeve;

[0031] Figure 8 It shows Figure 3 Another cross-sectional schematic diagram of the liquid flow sleeve;

[0032] Figure 9 It shows Figure 1 Schematic diagram of the middle tool holder;

[0033] Figure 10 This invention provides a schematic diagram of the structure of a medical ultrasonic scalpel according to an embodiment of this application.

[0034] Figure 11 It shows Figure 10 A schematic diagram of the cross-section of an ultrasonic scalpel used in Traditional Chinese Medicine;

[0035] Figure 12 This illustration shows a schematic diagram of the structure of a medical ultrasonic scalpel provided in an embodiment of this application in another state;

[0036] Figure 13 It shows Figure 12 A schematic diagram of the cross-section of an ultrasonic scalpel used in Traditional Chinese Medicine;

[0037] Figure 14 This illustration shows a schematic diagram of the structure of a medical ultrasonic scalpel provided in an embodiment of this application in another state;

[0038] Figure 15 It shows Figure 14 A schematic diagram of the cross-section of an ultrasonic scalpel used in Traditional Chinese Medicine;

[0039] Figure 16 This illustration shows another cross-sectional schematic diagram of a medical ultrasonic scalpel provided in an embodiment of this application;

[0040] Figure 17 It shows Figure 16 A cross-sectional diagram of a traditional Chinese medicine ultrasonic scalpel in another state;

[0041] Figure 18 It shows Figure 16 A cross-sectional diagram of a traditional Chinese medicine ultrasonic scalpel in another state;

[0042] Figure 19 A cross-sectional schematic diagram of another fluid flow sleeve provided in an embodiment of this application is shown;

[0043] Figure 20 This invention provides a schematic diagram of another tool holder structure according to an embodiment of the present application.

[0044] Figure 21 A schematic diagram of another type of medical ultrasonic scalpel is shown;

[0045] Figure 22 It shows Figure 21 A schematic diagram of the cross-section of a medical ultrasonic scalpel;

[0046] Figure 23 A schematic diagram of a medical ultrasonic scalpel in another state is shown;

[0047] Figure 24 It shows Figure 23 A schematic diagram of the cross-section of a medical ultrasonic scalpel;

[0048] Figure 25 A cross-sectional schematic diagram of another fluid flow sleeve provided in an embodiment of this application is shown;

[0049] Figure 26 This invention provides a schematic diagram of another tool holder structure according to an embodiment of the present application.

[0050] Figure 27 This invention provides a schematic diagram of another medical ultrasonic scalpel according to an embodiment of the present application.

[0051] Figure 28A schematic diagram of another type of medical ultrasonic scalpel is shown;

[0052] Figure 29 It shows Figure 28 A schematic diagram of the cross-section of a medical ultrasonic scalpel;

[0053] Figure 30 A schematic diagram of a medical ultrasonic scalpel in another state is shown;

[0054] Figure 31 It shows Figure 30 A schematic diagram of the cross-section of a medical ultrasonic scalpel.

[0055] Explanation of reference numerals in the attached figures:

[0056] 100. Fluid flow sleeve; 101. Sleeve body; 111. Mounting cavity; 112. First mounting hole; 113. Fourth mounting part; 114. First mounting groove; 115. Elastic ring; 116. First mounting part; 117. Second mounting hole; 118. Elastic sheet; 119. Limiting protrusion; 102. First protrusion; 121. First part; 122. Second part; 1221. First surface; 1222. Second surface; 103. Protrusion; 200. Tool holder; 201. Third mounting part; 202. Second protrusion; 221. Third surface; 222. Fourth surface; 203. Second mounting part; 204. Boss; 205. Tool head; 300. Tool handle; 301. Fifth mounting part; 302. Sixth mounting part; 303. Second mounting groove. Detailed Implementation

[0057] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0058] Currently, judging from market trends, medical ultrasonic scalpels are increasingly being used in surgical procedures. Due to the characteristics of ultrasound, when a medical ultrasonic scalpel comes into contact with hard bone tissue, the bone is less prone to deformation, allowing for cutting or fragmentation at the contact point. Conversely, when the scalpel comes into contact with soft tissue, the soft tissue is bounced or deformed by the elasticity of the soft tissue and vibrates micro-vibrates with the scalpel's vibration, thus offsetting the energy at the scalpel shaft and preventing cutting or fragmentation. Therefore, especially for surgeries located near the bone-soft tissue interface, medical ultrasonic scalpels offer significant advantages in bone cutting. During surgery, the medical ultrasonic scalpel rubs against body tissues, generating heat. In most cases, this frictional heat can damage cells and tissues, leading to postoperative complications and adverse effects. Therefore, when using a medical ultrasonic scalpel, a fluid flow system is usually used to cool the friction hotspots of the scalpel shaft through a fluid flow sleeve.

[0059] In related technologies, medical ultrasonic scalpels include a handle, a shaft, and a fluid flow sleeve. The shaft is connected to the handle, and the fluid flow sleeve is fitted onto the shaft and connected to the handle. During the installation of a medical ultrasonic scalpel, a wrench is first used to connect the shaft to the handle, and then another wrench is used to connect the fluid flow sleeve to the handle. Using a wrench not only increases the number of tools required for installation, but the complex structure of the wrench also makes the installation process inconvenient.

[0060] To improve the convenience of installing a medical ultrasonic scalpel, this application provides a medical ultrasonic scalpel that can connect the fluid flow sleeve to the scalpel handle and simultaneously connect the scalpel shaft to the fluid flow sleeve, eliminating the need for a wrench and making the installation process more convenient.

[0061] This application provides a medical ultrasonic scalpel. Figure 1 A schematic diagram of the structure of a medical ultrasonic scalpel provided in an embodiment of this application is shown. Figure 2 It shows Figure 1 A schematic diagram of the cross-section of an ultrasonic scalpel used in Traditional Chinese Medicine. (See also...) Figure 1 and Figure 2 The medical ultrasonic scalpel includes a fluid flow sleeve 100 and a scalpel rod 200, with the extension direction X of the scalpel rod 200 being the same as the extension direction of the fluid flow sleeve 100.

[0062] Figure 3 A schematic diagram of the structure of a fluid flow sleeve provided in an embodiment of this application is shown. Figure 4 It shows Figure 3 A schematic diagram of the cross-section of the liquid flow sleeve. Figure 5 It shows Figure 4 Another perspective on the cross-sectional schematic diagram of the fluid flow sleeve in the diagram. Figure 6 It shows Figure 3 Front view of the fluid flow sleeve. Figure 7It shows Figure 3 Top view of the fluid flow sleeve. Figure 8 It shows Figure 3 A schematic diagram of another cross-section of the liquid flow sleeve. (Combined with...) Figures 3 to 8 The fluid flow sleeve 100 includes a sleeve body 101 and a first protrusion 102. The sleeve body 101 has mounting cavities 111 that extend through opposite ends of the sleeve body 101. The first protrusion 102 is located on the inner sidewall of the sleeve body 101.

[0063] Combination Figures 1 to 2 The tool holder 200 passes through the mounting cavity 111, and the tool holder 200 is pivotally connected to the fluid flow sleeve 100. The tool holder 200 and the fluid flow sleeve 100 are movable in the extension direction X of the fluid flow sleeve 100. Figure 9 It shows Figure 1 A schematic diagram of the middle tool holder. (See attached diagram.) Figure 9 The outer wall of the tool holder 200 has a second protrusion 202 corresponding to the first protrusion 102.

[0064] The first protrusion 102 and the second protrusion 202 cooperate so that when the fluid flow sleeve 100 rotates in the first rotation direction A, the first protrusion 102 and the second protrusion 202 are misaligned, so that the fluid flow sleeve 100 can move in the extension direction X. When the fluid flow sleeve 100 rotates in the second rotation direction B, the first protrusion 102 and the second protrusion 202 abut against each other, so as to drive the tool bar 200 to rotate in the second rotation direction B. The first rotation direction A and the second rotation direction B are opposite.

[0065] When using the medical ultrasonic scalpel provided in this embodiment, after the fluid flow sleeve 100 is fitted onto the scalpel handle 200, the fluid flow sleeve 100 is rotated. Assuming the rotation direction is the first rotation direction A, the second protrusion 202 is offset from the first protrusion 102. At this time, the fluid flow sleeve 100 can move along the extension direction X, connecting the fluid flow sleeve 100 to the scalpel handle. When disassembling the fluid flow sleeve 100 and the scalpel handle 200, the fluid flow sleeve 100 is first separated from the scalpel handle. Then, the fluid flow sleeve 100 is rotated. Assuming the rotation direction is the second rotation direction B, the first rotation direction A and the second rotation direction B are opposite directions. For example, the first rotation direction A can be counterclockwise, and the second rotation direction B can be clockwise. At this time, the second protrusion 202 abuts against the first protrusion 102, generating a pushing force on the first protrusion 102, which pushes the scalpel handle 200 to rotate, thereby disassembling the scalpel handle 200 from the scalpel handle.

[0066] The medical ultrasonic scalpel provided in this embodiment allows for the connection and disconnection of the scalpel shaft 200 from the handle, as well as the connection and disconnection of the fluid flow sleeve 100 from the handle. During the installation of the medical ultrasonic scalpel, a wrench is not required; the fluid flow sleeve 100 functions as a wrench, reducing the tools needed for installation. Furthermore, the fluid flow sleeve 100 has a simple structure, making installation more convenient. Because repeated use of a wrench is eliminated, the installation and disassembly processes are faster, resulting in higher work efficiency.

[0067] Combination Figures 1 to 6 The sleeve body 101 has at least one first mounting hole 112 penetrating the sidewall of the sleeve body 101. The first protrusion 102 includes a first part 121 and a second part 122 connected to each other. The first part 121 is located in the first mounting hole 112 and is connected to the sleeve body 101. The second part 122 is located in the mounting cavity 111. The second part 122 and the second protrusion 202 are configured such that when the fluid flow sleeve 100 rotates in the first rotation direction A, the second protrusion 202 pushes the second part 122 to move into the first mounting hole 112. When the fluid flow sleeve 100 rotates in the second rotation direction B, the second part 122 abuts against the second protrusion 202.

[0068] In this embodiment, after the fluid flow sleeve 100 is fitted onto the tool holder 200, the fluid flow sleeve 100 is rotated along the first rotation direction A. The second protrusion 202 abuts against the second part 122, and the second protrusion 202 generates a thrust on the second part 122. When the thrust is less than or equal to a certain thrust value (e.g., a first preset thrust value), the fluid flow sleeve 100 will drive the tool holder 200 to rotate. The rotation of the tool holder 200 causes the tool holder 200 to be threadedly connected to the tool shank. After the tool holder 200 is threadedly connected to the tool shank, the fluid flow sleeve 100 continues to rotate. At this time, since the tool holder 200 is already connected to the tool shank, it will not rotate with the fluid flow sleeve 100. This increases the force between the second protrusion 202 and the second part 122. When the thrust of the second protrusion 202 on the second part 122 exceeds a certain thrust value, the second part 122 moves into the first mounting hole 112, preventing the second protrusion from contacting the first protrusion 102 and thus preventing the application of thrust to the tool holder 200. The tool holder 200 will not rotate, while the fluid flow sleeve 100 can continue to rotate and connect with the tool shank. When disassembling the fluid flow sleeve 100 and the tool holder 200, first separate the fluid flow sleeve 100 from the tool holder, then rotate the fluid flow sleeve 100. Assume the rotation direction is the second rotation direction B, where the first rotation direction A is opposite to the second rotation direction B. For example, the first rotation direction A can be counterclockwise, and the second rotation direction B can be clockwise. When the second protrusion 202 abuts against the second part 122 of the first protrusion 102, the second protrusion exerts a pushing force on the second part 122, which pushes the tool holder 200 to rotate, thereby disassembling the tool holder 200 from the tool holder.

[0069] See Figure 8 The second part 122 includes a first surface 1221 and a second surface 1222, both of which are parallel to the extension direction X of the fluid flow sleeve 100. The first surface 1221 is configured to move the second part 122 into the first mounting hole 112 when a thrust applied to the first surface 1221 toward the second surface 1222 exceeds a first preset thrust value. The second surface 1222 is configured to move the fluid flow sleeve 100 when a thrust applied to the second surface 1222 toward the first surface 1221 exceeds a second preset thrust value.

[0070] In the embodiments of this application, the sleeve body 101 is a cylindrical structure. For example, the sleeve body 101 can be a cylindrical tube. For example, the sleeve body 101 can be a cylindrical tube with the same diameter in each part, or the sleeve body 101 can be formed by combining cylindrical tubes with different diameters.

[0071] In the embodiments of this application, the tool bar 200 passes through the mounting cavity 111 of the sleeve body 101 so that the fluid flow sleeve 100 is sleeved on the tool bar 200.

[0072] In the embodiments of this application, the first mounting hole 112 penetrates the side wall of the sleeve body 101 and communicates with the mounting cavity 111. The shape of the first mounting hole 112 can be set according to requirements; for example, the shape of the first mounting hole 112 can be rectangular.

[0073] In the embodiment of the application, one side of the first protrusion 102 is connected to the first mounting hole 112, that is, connected to the sleeve body 101, and the other sides of the first protrusion 102 are free, so that the first protrusion 102 can rotate around the side connected to the sleeve body 101.

[0074] In the embodiments of this application, the first protrusion 102 and the sleeve body 101 can be integrally formed, or the first protrusion 102 can be connected to the sleeve body 101 after the first mounting hole 112 is formed on the sleeve body 101, for example, the first protrusion 102 can be welded to the sleeve body 101.

[0075] In embodiments of this application, the shape of the first protrusion 102 can be determined according to the shape of the first mounting hole 112. For example, the first portion 121 of the first protrusion 102 can be a cuboid, and the second portion 122 is a protrusion of the first portion 121 and is located within the mounting cavity 111. Exemplarily, the second portion 122 can be a prism, the height direction of which is parallel to the extension direction X of the fluid flow sleeve 100, one side of which is connected to the first portion 121, and the other two sides of which are the first face 1221 and the second face 1222, respectively.

[0076] In the embodiments of this application, the first portion 121 and the second portion 122 are integral, together forming the first protrusion 102. In the accompanying drawings of this application, a dashed line is added between the first portion 121 and the second portion 122 to clearly show the first portion 121 and the second portion 122.

[0077] According to some embodiments of this application, the rotation center axis of the fluid flow sleeve 100 is located in the plane containing the second surface 1222, and the rotation center axis of the fluid flow sleeve 100 is offset from the plane containing the first surface 1221.

[0078] In the embodiments of this application, the plane containing the second surface 1222 passes through the center of the fluid flow sleeve 100, while the plane containing the first surface 1221 does not pass through the center of the fluid flow sleeve 100. Thus, a thrust F1 is applied to the first surface 1221 toward the second surface 1222 in the mounting cavity 111. This thrust F1 is perpendicular to the first surface 1221. The thrust F1 can be decomposed into a first component F11 and a second component F12, wherein the extension line of the first component F11 passes through the center of the fluid flow sleeve 100, that is, the first component F11 is parallel to the diameter of the fluid flow sleeve 100 at this location, and the second component F12 is perpendicular to the first component F11. Since the first component F11 points towards the first mounting hole 112, it is equivalent to giving the second part 122 a force toward the first mounting hole 112. When the first component F11 reaches a certain set force, it will push the second part 122 to move toward the first mounting hole 112. When the second part 122 moves into the first mounting hole 112, it is impossible to contact the second part 122, that is, it is impossible to apply a pushing force to the first surface 1221.

[0079] In the embodiments of this application, a thrust F2 is applied to the second surface 1222 toward the first surface 1221 in the mounting cavity 111. The thrust F2 is perpendicular to the second surface 1222. Since the plane where the second surface 1222 is located passes through the center of the fluid flow sleeve 100, that is, the thrust F2 has no component pointing to the outside of the fluid flow sleeve 100, the second part 122 will not move toward the first mounting hole 112 under the action of the thrust F2. When the thrust F2 is greater than the second preset thrust value, it will push the second part 122 to move along the direction of the thrust F2, thereby driving the fluid flow sleeve 100 to move.

[0080] It should be noted that, since the fluid flow sleeve 100 in this application is a cylindrical tube, the fluid flow sleeve 100 can rotate under the action of the thrust F2.

[0081] When using the fluid flow sleeve 100 provided in this embodiment of the application, a second protrusion 202 matching the first protrusion 102 is provided on the tool bar 200. After the fluid flow sleeve 100 is sleeved on the tool bar 200, the fluid flow sleeve 100 is rotated. Assuming that the rotation direction is the first rotation direction A, the second protrusion 202 abuts against the first surface 1221 of the first protrusion 102. The second protrusion 202 generates a thrust towards the second surface 1222 on the first surface 1221. When the thrust is less than or equal to the first preset thrust value, the fluid flow sleeve 100 will drive the tool bar 200 to rotate. The rotation of the tool bar 200 causes the tool bar 200 to be threadedly connected to the tool holder. After the tool holder 200 is threadedly connected to the tool shank, the fluid flow sleeve 100 continues to rotate. At this time, since the tool holder 200 is already connected to the tool shank, it will not rotate with the fluid flow sleeve 100. This increases the force between the second protrusion 202 and the first surface 1221. When the thrust of the second protrusion 202 on the first surface 1221 is greater than the first preset thrust value, the second part 122 moves into the first mounting hole 112, so that the second protrusion 202 can no longer contact the first protrusion 102 and no thrust is applied to the tool holder 200. The tool holder 200 will not rotate, while the fluid flow sleeve 100 can continue to rotate and connect with the tool shank. When disassembling the fluid flow sleeve 100 and the tool holder 200, first separate the fluid flow sleeve 100 from the tool holder, then rotate the fluid flow sleeve 100. Assume the rotation direction is the second rotation direction B, where the first rotation direction A is opposite to the second rotation direction B. For example, the first rotation direction A can be counterclockwise, and the second rotation direction B can be clockwise. When the second protrusion 202 abuts against the second surface 1222 of the first protrusion 102, the second protrusion 202 exerts a pushing force on the second surface 1222 towards the first surface 1221, which will push the tool holder 200 to rotate, thereby disassembling the tool holder 200 from the tool holder.

[0082] The medical ultrasonic scalpel provided in this embodiment can also connect and disconnect the scalpel rod 200 from the scalpel handle through the fluid flow sleeve 100, and can also connect and disconnect the fluid flow sleeve 100 from the scalpel handle. During the installation of the medical ultrasonic scalpel, there is no need to use a wrench, as the fluid flow sleeve 100 performs the function of a wrench, resulting in higher work efficiency.

[0083] In the embodiments of this application, the sleeve body 101 has two first mounting holes 112, which are symmetrically distributed circumferentially along the side wall of the sleeve body 101. The fluid flow sleeve 100 includes two first protrusions 102 corresponding to the two first mounting holes 112.

[0084] In the embodiments of this application, two first mounting holes 112 and two first protrusions 102 are provided. Even if one of them is damaged, the function of the fluid flow sleeve 100 can be retained. At the same time, when rotating the fluid flow sleeve 100, only half a turn is needed at most to make the second protrusion abut against the first protrusion 102, which is more labor-saving.

[0085] See Figure 3 , Figure 4 , Figures 6 to 8 The fluid flow sleeve 100 also includes a protrusion 103, which is connected to the outer wall of the sleeve body 101. The protrusion 103 is arranged at intervals with the first mounting hole 112.

[0086] In this embodiment, the protrusion 103 facilitates the rotation of the fluid flow sleeve 100, making it more convenient.

[0087] For example, the fluid flow sleeve 100 may include two protrusions 103, and the two first mounting holes 112 and the two protrusions 103 may be evenly distributed at intervals along the circumferential direction of the fluid flow sleeve 100.

[0088] In some embodiments of this application, the fluid flow sleeve 100 may be made of hard metal or plastic.

[0089] In some other embodiments of this application, the material of the part of the fluid flow sleeve 100 connected to the knife bar can be hard metal or plastic, and the end of the fluid flow sleeve 100 away from the fourth mounting part 113 can be made of soft silicone or other materials, so that the part of the fluid flow sleeve 100 that is easy to contact with bone tissue has better elasticity and reduces damage to bone tissue.

[0090] According to some embodiments of this application, see Figure 9 The second protrusion 202 includes a third surface 221 and a fourth surface 222, both of which are parallel to the extension direction X of the fluid flow sleeve 100. The third surface 221 is configured to apply a thrust toward the second surface 1222 to the first surface 1221, and the fourth surface 222 is configured to apply a thrust toward the first surface 1221 to the second surface 1222. This ensures that the shape of the second protrusion 202 matches that of the first protrusion 102, so that when the tool holder 200 rotates in two different directions, the second protrusion 202 has a portion that can contact the first protrusion 102.

[0091] In an embodiment of this application, the shank 200 has a cutting head 205 that extends out of the shank 200 for cutting bone tissue.

[0092] In the embodiments of this application, the tool bar 200 is pivotally connected to the fluid flow sleeve 100, so that the tool bar 200 and the fluid flow sleeve 100 can rotate relative to each other, and the rotation center axis is the same as the extension direction X of the fluid flow sleeve 100.

[0093] In the embodiments of this application, the second protrusion 202 may be integrally formed with the main body of the tool holder 200, or the second protrusion 202 may be welded together with the main body of the tool holder 200.

[0094] In the embodiments of this application, the second protrusion 202 may be a prism, the height direction of which is parallel to the extension direction X of the fluid flow sleeve 100, one side of which is connected to the main body of the tool holder 200, and two of the sides of which are the third side 221 and the fourth side 222, respectively.

[0095] In the embodiments of this application, during the rotation of the fluid flow sleeve 100 along the first rotation direction A, the third surface 221 will abut against the first surface 1221; during the rotation of the fluid flow sleeve 100 along the second rotation direction B, the fourth surface 222 will abut against the second surface 1222.

[0096] In the embodiments of this application, the number of second protrusions 202 is greater than or equal to 1 and less than or equal to 4.

[0097] For example, the outer wall of the tool holder 200 may have four second protrusions 202, which are symmetrically distributed at circumferential intervals along the tool holder 200. Each pair of adjacent first protrusions 102 has two second protrusions 202, so that when rotating the fluid flow sleeve 100, only a maximum of 1 / 4 turn is needed to make the second protrusions abut against the first protrusions 102, thus requiring less effort.

[0098] In the embodiments of this application, when installing the medical ultrasonic scalpel and the handle, the first protrusion 102 and the second protrusion 202 can cooperate to install and remove the medical ultrasonic scalpel and the handle without using a wrench, making the installation more convenient and requiring fewer tools during the installation process.

[0099] According to some embodiments of this application, one end of the tool holder 200 has a third mounting portion 201, and one end of the sleeve body 101 has a fourth mounting portion 113.

[0100] Figure 10 A schematic diagram of the structure of a medical ultrasonic scalpel provided in an embodiment of this application is shown. Figure 11 It shows Figure 10 A schematic diagram of the cross-section of an ultrasonic scalpel used in Traditional Chinese Medicine. Figure 12 This illustration shows a schematic diagram of the structure of a medical ultrasonic scalpel provided in an embodiment of this application in another state. Figure 13 It shows Figure 12 A schematic diagram of the cross-section of an ultrasonic scalpel used in Traditional Chinese Medicine. Figure 14 This illustration shows a schematic diagram of the structure of a medical ultrasonic scalpel provided in an embodiment of this application in another state. Figure 15 It shows Figure 14 A schematic diagram of the cross-section of an ultrasonic scalpel used in Traditional Chinese Medicine. Figure 16 This illustration shows another cross-sectional schematic diagram of a medical ultrasonic scalpel provided in an embodiment of this application. Figure 17 It shows Figure 16 A cross-sectional diagram of a traditional Chinese medicine ultrasonic scalpel in another state. Figure 18 It shows Figure 16 A schematic diagram of a cross-section of an ultrasonic scalpel used in Traditional Chinese Medicine under another condition. (See also...) Figures 10 to 18 The medical ultrasonic scalpel also includes a handle 300, which has a fifth mounting part 301 connected to the third mounting part 201 and a sixth mounting part 302 connected to the fourth mounting part 113. The fifth mounting part 301 and the sixth mounting part 302 are both located at the end of the handle 300 facing the scalpel 200.

[0101] In the embodiments of this application, the third mounting part 201 is used to connect with the fifth mounting part 301 of the tool holder 300, so that the tool bar 200 is connected to the tool holder 300.

[0102] In the embodiments of this application, the first mounting hole 112 and the fourth mounting portion 113 are arranged at intervals along the extension direction X of the fluid flow sleeve 100.

[0103] In the embodiments of this application, the fourth mounting part 113 is used to connect with the sixth mounting part 302 of the tool holder 300, so that the fluid flow sleeve 100 is connected to the tool holder 300.

[0104] According to some embodiments of this application, the third mounting part 201 includes a third thread on the side wall of the tool holder 200, and the fifth mounting part 301 includes a fourth thread on the side wall of the tool shank 300, the fourth thread and the third thread being threadedly connected to each other.

[0105] In the embodiments of this application, the third mounting portion 201 and the fifth mounting portion 301 are threadedly connected to achieve the connection between the tool holder 200 and the tool shank 300. For example, the third mounting portion 201 can be an external thread, and correspondingly, the fifth mounting portion 301 can be an internal thread.

[0106] The following is combined Figures 10 to 18 This section introduces the installation and disassembly of medical ultrasonic scalpels.

[0107] In the initial state, the first protrusion 102 and the second protrusion 202 may be in contact or not in contact.

[0108] Step S10: Install the tool holder 300 and the tool shank 200.

[0109] In one implementation of this application, the tool holder 200 can be directly rotated to thread the third mounting part 201 and the fifth mounting part 301 together, thereby connecting the tool holder 200 and the tool shank 300. Figure 10 and Figure 11 As shown.

[0110] In another implementation of this application, the fluid flow sleeve 100 can be rotated first along the first rotation direction A, such as... Figure 16 As shown, the first protrusion 102 contacts the second protrusion 202, and the third surface 221 abuts against the first surface 1221. At this time, the tool shank 200 is not connected to the tool holder 300, and will not obstruct the rotation of the tool shank 200. Under the drive of the fluid flow sleeve 100, the tool shank 200 rotates in the first rotation direction A, so that the third mounting part 201 and the fifth mounting part 301 are threadedly connected, realizing the connection between the tool shank 200 and the tool holder 300. Figure 10 and Figure 11 As shown. During this process, the fourth mounting part 113 and the sixth mounting part 302 gradually approach each other.

[0111] Step S20: Install the tool holder 300 and the fluid flow sleeve 100.

[0112] Continuing to rotate the fluid flow sleeve 100 along the first rotation direction A, since the cutter bar 200 is connected to the cutter shank 300, the cutter bar 200 cannot rotate, causing the force between the first protrusion 102 and the second protrusion 202 to increase. When the force between the first protrusion 102 and the second protrusion 202 exceeds the first preset thrust value, the second part 122 moves into the first mounting hole 112, and the first protrusion 102 and the second protrusion 202 cannot contact each other, thus not obstructing the rotation of the fluid flow sleeve 100. Figure 17 As shown. The tool holder 200 and the fluid flow sleeve 100 move relative to each other in the extending direction of the fluid flow sleeve 100, causing the fourth mounting part 113 to coincide with the sixth mounting part 302, and the tool holder 300 and the fluid flow sleeve 100 gradually connect together, as shown. Figure 12 and Figure 13 As shown. Continue until the tool holder 300 and the fluid sleeve 100 are fully connected, as... Figure 14 and Figure 15 As shown.

[0113] in, Figure 17 Compared to Figure 16 During rotation, a first protrusion 102 passes over at least two second protrusions 202.

[0114] Step S30: Disassemble the tool holder 300 and the fluid flow sleeve 100.

[0115] Rotate the fluid flow sleeve 100 along the second rotation direction B, causing the handle 300 and the fluid flow sleeve 100 to gradually move away from each other, and the medical ultrasonic scalpel... Figure 14 and Figure 15 The state gradually changed Figure 12 and Figure 13 The state continues until the tool holder 300 and the fluid sleeve 100 are completely separated, becoming... Figure 10 and Figure 11 The state.

[0116] Step S40: Disassemble the tool holder 300 and the tool shank 200.

[0117] Continue rotating the fluid flow sleeve 100 along the second rotation direction B, so that the first protrusion 102 contacts the second protrusion 202, and the fourth surface 222 abuts against the second surface 1222, as shown. Figure 18 As shown, when the thrust applied by the fourth surface 222 to the second surface 1222 is greater than the second preset thrust value, the fluid flow sleeve 100 drives the tool holder 200 to rotate, causing the tool holder 300 and the tool holder 200 to separate.

[0118] In the embodiments of this application, a program-identifiable chip can be built into one end of the fluid flow sleeve 100 facing the tool holder 300. When the fluid flow sleeve 100 is connected to the tool holder 300, information such as the model of the fluid flow sleeve 100 and the tool holder 200 can be identified.

[0119] The above installation and disassembly process is described using the threaded connection between the tool holder 300 and the fluid flow sleeve 100.

[0120] For example, see Figure 4 and Figure 5 The fourth mounting part 113 is the fifth thread on the side wall of the sleeve body 101. See also Figure 10 , Figure 11 , Figure 13 , Figure 14 , Figure 16 and Figure 17 When the fourth mounting part 113 is the fifth thread on the side wall of the sleeve body 101, the sixth mounting part 302 is the sixth thread on the side wall of the tool holder 300 that is threadedly connected to the fifth thread. Connecting the tool holder 300 and the fluid sleeve 100 by means of threads is more convenient, and the installation and disassembly process is simpler.

[0121] For example, the fifth thread can be an internal thread and the sixth thread can be an external thread.

[0122] In the embodiments of this application, the fifth mounting part 301 and the sixth mounting part 302 are both located at the end of the handle 300 facing the medical ultrasonic scalpel, which facilitates the connection between the handle 300 and the scalpel bar 200 and the fluid flow sleeve 100.

[0123] In other implementations, the tool holder 300 and the fluid flow sleeve 100 can be connected in other ways.

[0124] Figure 19 A cross-sectional schematic diagram of another fluid flow sleeve provided in an embodiment of this application is shown. See also Figure 19 The inner wall of the sleeve body 101 has a first mounting groove 114 and a fourth mounting part 113. Figure 19 (Not shown) includes an elastic ring 115, the outer ring of which is fixedly connected to a first mounting groove 114, wherein the distance between the inner and outer rings of the elastic ring 115 is greater than the depth of the first mounting groove 114.

[0125] Figure 20 A schematic diagram of another tool holder provided in an embodiment of this application is shown. Figure 21 A schematic diagram of another medical ultrasonic scalpel is shown. Figure 22 It shows Figure 21 A schematic diagram of the cross-section of a medical ultrasonic scalpel. Figure 23 A schematic diagram of a medical ultrasonic scalpel in another configuration is shown. Figure 24 It shows Figure 23 A cross-sectional schematic diagram of a medical ultrasonic scalpel. When the fourth mounting part 113 includes the elastic ring 115, the outer side wall of the end of the scalpel 300 facing the medical ultrasonic scalpel has a second mounting groove 303, which is configured to accommodate the elastic ring 115.

[0126] In the embodiments of this application, in the above-described structure, before installation, a portion of the elastic ring 115 is located within the first mounting groove 114. Because the distance between the inner and outer rings of the elastic ring 115 is greater than the depth of the first mounting groove 114, another portion of the elastic ring 115 protrudes outside the first mounting groove 114. When the tool holder 300 is connected to the tool shank 200, the fluid flow sleeve 100 is pushed towards the side of the tool holder 300 along the extending direction X, causing another portion of the elastic ring 115 to enter the second mounting groove 303. That is, the elastic ring 115 is wrapped by the first mounting groove 114 and the second mounting groove 303. Simultaneously, the elastic ring 115 blocks the movement between the tool holder 300 and the fluid flow sleeve 100, connecting the tool holder 300 and the fluid flow sleeve 100.

[0127] In this embodiment, since the elastic ring 115 is elastic and deformable, when disassembling the tool holder 300 and the tool bar 200, the fluid flow sleeve 100 is pushed away from the tool holder 300 along the extension direction X of the fluid flow sleeve 100. When the force pushing the fluid flow sleeve 100 is large enough, the elastic ring 115 is deformed and the elastic ring 115 is dislodged from the second mounting groove 303, thereby realizing the disassembly of the tool holder 300 and the fluid flow sleeve 100.

[0128] It should be noted that during surgery using a medical ultrasonic scalpel, the force on the fluid flow sleeve 100 is very small and will not cause the scalpel handle 300 to separate from the fluid flow sleeve 100.

[0129] In the embodiments of this application, the elastic ring 115 may be a rubber ring, a silicone ring, or a spring ring.

[0130] See Figure 4 and Figure 5 The sleeve body 101 also has a first mounting part 116, and along the extension direction X of the fluid flow sleeve 100, the first mounting hole 112 is located between the fourth mounting part 113 and the first mounting part 116.

[0131] See Figure 2 When the sleeve body 101 has a first mounting part 116, the end of the cutter bar 200 near the first mounting part 116 has a second mounting part 203 connected to the first mounting part 116.

[0132] In the embodiments of this application, the fluid flow sleeve 100 and the knife bar 200 are connected by the first mounting part 116 and the second mounting part 203, which can improve the stability of the fluid flow sleeve 100.

[0133] In some embodiments of this application, see Figure 4 and Figure 5 The first mounting portion 116 is the first thread on the side wall of the sleeve body 101. See also Figure 2 When the first mounting part 116 is the first thread on the side wall of the sleeve body 101, the second mounting part 203 is the second thread on the side wall of the tool holder 200 that is threadedly connected to the first thread.

[0134] In the embodiments of this application, when installing and disassembling the medical ultrasonic scalpel, the fluid flow sleeve 100 and the scalpel rod 200 can be installed and disassembled by rotating the fluid flow sleeve 100. Connecting the fluid flow sleeve 100 and the scalpel rod 200 by threads is more convenient and the installation and disassembly process is simpler.

[0135] For example, the first thread can be an internal thread and the second thread can be an external thread.

[0136] In other embodiments of this application, Figure 25 A cross-sectional schematic diagram of another fluid flow sleeve provided in an embodiment of this application is shown. See also Figure 25 The sleeve body 101 has at least one second mounting hole 117 penetrating the side wall of the sleeve body 101. The first mounting part 116 includes an elastic sheet 118 and a limiting protrusion 119 connected to each other. The elastic sheet 118 is located in the second mounting hole 117, and the limiting protrusion 119 is located in the mounting cavity 111.

[0137] Figure 26 A schematic diagram of another tool holder structure provided in an embodiment of this application is shown. Figure 27 A schematic diagram of another medical ultrasonic scalpel provided in an embodiment of this application is shown. Figure 28 A schematic diagram of another medical ultrasonic scalpel is shown. Figure 29 It shows Figure 28 A schematic diagram of the cross-section of a medical ultrasonic scalpel. Figure 30 A schematic diagram of a medical ultrasonic scalpel in another configuration is shown. Figure 31 It shows Figure 30 A cross-sectional schematic diagram of a medical ultrasonic scalpel. (Combined with...) Figures 26 to 31 When the first mounting part 116 includes an elastic sheet 118, the second mounting part 203 includes a boss 204 located on the outer wall of the tool holder, and the boss 204 abuts against the limiting protrusion 119.

[0138] In the embodiments of this application, the above structure allows the protrusion 204 to abut against the limiting protrusion 119 during installation of the medical ultrasonic scalpel, restricting movement between the fluid flow sleeve 100 and the scalpel rod 200. Simultaneously, the elastic sheet 118 also blocks the movement of the protrusion 204, thus connecting the fluid flow sleeve 100 and the scalpel rod 200. During disassembly of the medical ultrasonic scalpel, pushing the fluid flow sleeve 100 or the scalpel rod 200 separates the protrusion 204 from the limiting protrusion 119, thereby disassembling the fluid flow sleeve 100 and the scalpel rod 200.

[0139] The embodiments of this application provide a medical ultrasonic scalpel system, which includes a vibration source and the medical ultrasonic scalpel in the above embodiments. The vibration source is connected to the medical ultrasonic scalpel and is used to generate vibration.

[0140] The medical ultrasonic scalpel system provided in this application embodiment is easier to install.

[0141] This application provides a robot-assisted ultrasonic scalpel system, which includes a robot-assisted surgical device and the medical ultrasonic scalpel system described in the above embodiments. The robot-assisted surgical device is connected to the medical ultrasonic scalpel in the medical ultrasonic scalpel system to control the movement of the medical ultrasonic scalpel.

[0142] The robot-assisted ultrasonic bone power system provided in this application improves the convenience of orthopedic surgery.

[0143] It should be understood that in this specification, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship or dimensions based on the orientation or positional relationship or dimensions shown in the accompanying drawings. These terms are used only for ease of description and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this application.

[0144] Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0145] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0146] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0147] This specification provides many different implementations or examples that can be used to implement this application. It should be understood that these different implementations or examples are entirely exemplary and are not intended to limit the scope of protection of this application in any way. Those skilled in the art will be able to conceive of various variations or substitutions based on the disclosure of this specification, and these should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope defined in the appended claims.

Claims

1. A medical ultrasonic scalpel, characterized in that, The medical ultrasonic scalpel includes: The fluid flow sleeve (100) includes a sleeve body (101) and a first protrusion (102). The sleeve body (101) has mounting cavities (111) extending through opposite ends of the sleeve body (101). The first protrusion (102) is located on the inner wall of the sleeve body (101). A tool holder (200) extends in the same direction as the extension direction X of the fluid flow sleeve (100). The tool holder (200) passes through the mounting cavity (111). The tool holder (200) and the fluid flow sleeve (100) are movable in the extension direction X. The outer side wall of the tool holder (200) has a second protrusion (202). Wherein, the first protrusion (102) and the second protrusion (202) cooperate so that when the fluid flow sleeve (100) rotates in the first rotation direction, the first protrusion (102) and the second protrusion (202) are misaligned so that the fluid flow sleeve (100) can move in the extension direction X. When the fluid flow sleeve (100) rotates in the second rotation direction, the first protrusion (102) and the second protrusion (202) abut against each other so as to drive the cutter bar (200) to rotate in the second rotation direction. The first rotation direction is opposite to the second rotation direction. The sleeve body (101) has a first mounting part (116) and the cutter bar (200) has a second mounting part (203) connected to the first mounting part (116).

2. The medical ultrasonic scalpel according to claim 1, characterized in that, The sleeve body (101) has at least one first mounting hole (112) penetrating the side wall of the sleeve body (101). The first protrusion (102) includes a first part (121) and a second part (122) connected to each other. The first part (121) is located in the first mounting hole (112) and connected to the sleeve body (101). The second part (122) is located in the mounting cavity (111). The second part (122) and the second protrusion (202) are configured such that when the fluid flow sleeve (100) rotates in the first rotation direction, the second protrusion (202) pushes the second part (122) to move into the first mounting hole (112). When the fluid flow sleeve (100) rotates in the second rotation direction, the second part (122) abuts against the second protrusion (202).

3. The medical ultrasonic scalpel according to claim 2, characterized in that, The second part (122) includes a first surface (1221) and a second surface (1222), and both the first surface (1221) and the second surface (1222) are parallel to the extension direction X; Wherein, the first surface (1221) is configured to, when the thrust applied to the first surface (1221) toward the second surface (1222) is greater than a first preset thrust value, cause the second part (122) to move into the first mounting hole (112), and the second surface (1222) is configured to, when the thrust applied to the second surface (1222) toward the first surface (1221) is greater than a second preset thrust value, cause the fluid flow sleeve (100) to move.

4. The medical ultrasonic scalpel according to claim 3, characterized in that, The second protrusion (202) includes a third surface (221) and a fourth surface (222), both of which are parallel to the extending direction X; When the fluid flow sleeve (100) rotates along the first rotation direction, the third surface (221) is configured to apply a thrust toward the second surface (1222) to the first surface (1221); When the fluid flow sleeve (100) rotates in the second rotation direction, the fourth surface (222) is configured to apply a thrust toward the first surface (1221) to the second surface (1222).

5. The medical ultrasonic scalpel according to claim 3, characterized in that, The rotation center axis of the fluid flow sleeve (100) is located in the plane of the second surface (1222), and the rotation center axis of the fluid flow sleeve (100) is offset from the plane of the first surface (1221).

6. The medical ultrasonic scalpel according to any one of claims 2 to 5, characterized in that, The sleeve body (101) has two first mounting holes (112), which are symmetrically distributed circumferentially along the side wall of the sleeve body (101). The fluid flow sleeve (100) includes two first protrusions (102) that correspond one-to-one with the two first mounting holes (112).

7. The medical ultrasonic scalpel according to any one of claims 2 to 5, characterized in that, The fluid flow sleeve (100) also includes: The protrusion (103) is connected to the outer wall of the sleeve body (101), and the protrusion (103) is arranged at intervals with the first mounting hole (112).

8. The medical ultrasonic scalpel according to any one of claims 1 to 5, characterized in that, The first mounting portion (116) includes a first thread on the side wall of the sleeve body (101), and the second mounting portion (203) includes a second thread on the side wall of the tool bar (200), the second thread being threadedly connected to the first thread.

9. The medical ultrasonic scalpel according to any one of claims 1 to 5, characterized in that, The sleeve body (101) has at least one second mounting hole (117) penetrating the side wall of the sleeve body (101). The first mounting part (116) includes an elastic sheet (118) and a limiting protrusion (119) connected to each other. The elastic sheet (118) is located in the second mounting hole (117), and the limiting protrusion (119) is located in the mounting cavity (111). The second mounting part (203) includes a boss (204) located on the outer wall of the tool bar (200), the boss (204) abutting against the limiting protrusion (119).

10. The medical ultrasonic scalpel according to any one of claims 1 to 5, characterized in that, The blade (200) has a third mounting part (201) at one end, and the sleeve body (101) has a fourth mounting part (113) at one end. The medical ultrasonic scalpel includes: Handle (300); The tool holder (300) has a fifth mounting part (301) that is connected to the third mounting part (201) and a sixth mounting part (302) that is connected to the fourth mounting part (113). The fifth mounting part (301) and the sixth mounting part (302) are both located at the end of the tool holder (300) facing the tool bar (200).

11. The medical ultrasonic scalpel according to claim 10, characterized in that, The third mounting part (201) includes a third thread on the side wall of the tool holder (200), and the fifth mounting part (301) includes a fourth thread on the side wall of the tool handle (300), the fourth thread being threadedly connected to the third thread.

12. The medical ultrasonic scalpel according to claim 10, characterized in that, The fourth mounting part (113) includes a fifth thread on the side wall of the sleeve body (101), and the sixth mounting part (302) includes a sixth thread on the side wall of the tool holder (300), the sixth thread and the fifth thread being threadedly connected to each other.

13. The medical ultrasonic scalpel according to claim 10, characterized in that, The inner wall of the sleeve body (101) has a first mounting groove (114), and the fourth mounting part (113) includes an elastic ring (115). The outer ring of the elastic ring (115) is fixedly connected to the first mounting groove (114), and the distance between the inner and outer rings of the elastic ring (115) is greater than the depth of the first mounting groove (114). The outer wall of the end of the handle (300) facing the tool bar (200) has a second mounting groove (303) for accommodating the elastic ring (115).

14. A medical ultrasonic scalpel system, characterized in that, The medical ultrasonic scalpel system includes a vibration source and a medical ultrasonic scalpel as described in any one of claims 1 to 13; The vibration source is connected to the medical ultrasonic scalpel, and the vibration source is used to generate vibration.

15. A robot-assisted ultrasonic scalpel system, characterized in that, The robot-assisted ultrasonic scalpel system includes a robot-assisted surgical device and the medical ultrasonic scalpel system as described in claim 14; The robot-assisted surgical device is connected to the medical ultrasonic scalpel in the medical ultrasonic scalpel system to control the movement of the medical ultrasonic scalpel.

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