Surgical devices and systems compatible with electrosurgical and ultrasonic scalpels

Abstract

The application discloses a kind of compatible electric knife and ultrasonic knife surgical device and surgical system, belong to medical instrument technical field.Surgical device includes: first foot switch, second foot switch, control module, energy supply module, monopolar electrotome, bipolar electrotome and ultrasonic knife.Energy supply module includes: first connecting end, second connecting end and third connecting end, respectively for connecting monopolar electrotome, bipolar electrotome and ultrasonic knife;Control module controls energy supply module to export first energy signal from first connecting end after first foot switch is pressed, and exports second energy signal from third connecting end;After second foot switch is pressed, control module controls energy supply module to export third energy signal from first connecting end, exports fourth energy signal from second connecting end, and exports fifth energy signal from third connecting end;At the same time, only one of monopolar electrotome, bipolar electrotome and ultrasonic knife is connected to energy supply module.The application can unify control to the energy supply of electric knife and ultrasonic knife.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical device and surgical system compatible with electrosurgical units and ultrasonic scalpels. Background Technology

[0002] Currently, electrosurgical units and ultrasonic scalpels are two common surgical tools in surgical systems, each with its unique working principle and application scenarios. Electrosurgical units use high-frequency current to generate heat through tissue to achieve cutting and coagulation; ultrasonic scalpels use ultrasonic energy for precise tissue cutting and hemostasis. Both instruments are crucial in minimally invasive surgery.

[0003] In practice, to achieve optimal surgical results, surgeons switch between electrosurgical units and ultrasonic scalpels as needed during the procedure. However, these technologies require different energy types, and their energy control devices are typically independent, necessitating separate connections and controls within the surgical system. This makes integration and unified control difficult, complicating the system's wiring and causing inconvenience due to frequent switching of instrument energy control devices. Therefore, a surgical system compatible with both electrosurgical and ultrasonic scalpels is urgently needed. Summary of the Invention

[0004] This invention provides a surgical device and system compatible with electrosurgical and ultrasonic scalpels, which allows for unified control of the energy supply to both electrosurgical and ultrasonic scalpels, simplifies the structure of the surgical system, and improves the convenience of surgical operations.

[0005] In a first aspect, embodiments of the present invention provide a surgical device compatible with electrosurgical and ultrasonic scalpels, comprising: a first foot switch, a second foot switch, a control module, a power supply module, a monopolar electrosurgical unit, a bipolar electrosurgical unit, and an ultrasonic scalpel;

[0006] The first foot switch, the second foot switch, and the power supply module are all connected to the control module; the power supply module further includes: a first connection terminal, a second connection terminal, and a third connection terminal, which are respectively used to connect to the monopolar electrosurgical unit, the bipolar electrosurgical unit, and the ultrasonic scalpel.

[0007] The control module is configured to, after the first foot switch is pressed, control the power supply module to output a first energy signal required by the monopolar electrosurgical unit for electrocautery from the first connection terminal, and to output a second energy signal required by the ultrasonic scalpel for operation in a first mode from the third connection terminal; and, after the second foot switch is pressed, control the power supply module to output a third energy signal required by the monopolar electrosurgical unit for electrocoagulation from the first connection terminal, a fourth energy signal required by the bipolar electrosurgical unit for electrocoagulation from the second connection terminal, and a fifth energy signal required by the ultrasonic scalpel for operation in a second mode from the third connection terminal;

[0008] At any given time, only one of the monopolar electrosurgical unit, the bipolar electrosurgical unit, and the ultrasonic scalpel is connected to the power supply module.

[0009] Optionally, the control module includes a control unit and a drive unit; the power supply module includes an electrosurgical energy host and an ultrasonic energy host; the electrosurgical energy host includes a first connection terminal and a second connection terminal, and the ultrasonic energy host includes a third connection terminal;

[0010] The control unit is connected to the first foot switch and the second foot switch respectively; the control unit is used to generate a first trigger signal when the first foot switch is pressed, and to generate a second trigger signal when the second foot switch is pressed.

[0011] The drive unit is connected to the control unit, the electrosurgical energy host, and the ultrasonic energy host respectively; the drive unit is used to control the electrosurgical energy host to output the first energy signal from the first connection terminal according to the first trigger signal, and to control the ultrasonic energy host to output the second energy signal from the third connection terminal; and, according to the second trigger signal, to control the electrosurgical energy host to output the third energy signal from the first connection terminal, to output the fourth energy signal from the second connection terminal, and to control the ultrasonic energy host to output the fifth energy signal from the third connection terminal.

[0012] Optionally, the control unit includes: a first output terminal and a second output terminal, respectively used to output the first trigger signal and the second trigger signal;

[0013] The driving unit includes:

[0014] Five driving circuits are provided, namely: a first driving circuit, a second driving circuit, a third driving circuit, a fourth driving circuit, and a fifth driving circuit; wherein, the control terminals of the first driving circuit and the fourth driving circuit are both connected to the first output terminal, and the second control terminals of the second driving circuit, the third driving circuit, and the fifth driving circuit are all connected to the second output terminal.

[0015] A monopolar electrosurgical control board is connected to the output terminal of the first driving circuit, the output terminal of the second driving circuit, and the electrosurgical energy host, respectively. The first driving circuit is used to drive the monopolar electrosurgical control board to control the electrosurgical energy host to output the first energy signal when it receives the first trigger signal. The second driving circuit is used to drive the monopolar electrosurgical control board to control the electrosurgical energy host to output the third energy signal when it receives the second trigger signal.

[0016] A bipolar electrosurgical control board is connected to the output terminal of the third drive circuit and the electrosurgical energy host respectively; the third drive circuit is used to drive the bipolar electrosurgical control board to control the electrosurgical energy host to output the fourth energy signal when it receives the second trigger signal;

[0017] An ultrasonic scalpel control board is connected to the output terminals of the fourth driving circuit, the fifth driving circuit, and the ultrasonic scalpel energy host, respectively. The fourth driving circuit is used to drive the ultrasonic scalpel control board to control the ultrasonic scalpel energy host to output the second energy signal when it receives the first trigger signal. The fifth driving circuit is used to drive the ultrasonic scalpel control board to control the ultrasonic scalpel energy host to output the fifth energy signal when it receives the second trigger signal.

[0018] Optionally, the driving circuit includes: a transistor and a relay;

[0019] The control electrode of the transistor is connected to the control terminal of the drive circuit. The first electrode of the transistor is connected to a first power supply signal. The second electrode of the transistor is connected to the first terminal of the coil of the relay. The second terminal of the coil of the relay is connected to a second power supply signal. The first terminal of the switch contact of the relay is connected to a fixed potential signal. The second terminal of the switch contact of the relay is connected to the output terminal of the drive circuit.

[0020] Optionally, the electrosurgical energy host includes: an electrosurgical energy control interface; different pins in the electrosurgical energy control interface serve as the first connection terminal and the second connection terminal, respectively;

[0021] And / or,

[0022] The ultrasonic scalpel energy host includes: an ultrasonic scalpel energy control interface, which serves as the third connection terminal; wherein, different pins in the ultrasonic scalpel energy control interface are used to transmit the second energy signal and the fifth energy signal, respectively.

[0023] Optionally, the surgical device compatible with both electrosurgical and ultrasonic scalpels further includes:

[0024] The main controller is connected to the control module;

[0025] A robotic arm assembly includes at least one robotic arm; at least one of the robotic arms includes: an instrument connection assembly for connecting the monopolar electrosurgical unit, the bipolar electrosurgical unit, or the ultrasonic scalpel; the control module is also connected to each of the robotic arms; the master controller is used to control the movement of each of the robotic arms through the control module.

[0026] Secondly, embodiments of the present invention also provide a surgical system, comprising: at least one surgical device compatible with electrosurgical and ultrasonic scalpels as provided in any embodiment of the present invention.

[0027] Optionally, in the surgical device, the control module includes: a control unit and a drive unit; the control unit includes: a first controller and a second controller; the first controller is respectively connected to the first foot switch, the second foot switch and the second controller; the second controller is also connected to the drive unit; the surgical device includes: a main hand controller and a robotic arm assembly;

[0028] The surgical system also includes: a console, an imaging trolley, and an arm system;

[0029] The main controller, the first controller, the first foot switch, and the second foot switch are all integrated into the console; the second controller, the drive unit, and the power supply module are all integrated into the imaging trolley; and the robotic arm assembly is integrated into the arm system.

[0030] Optionally, the surgical system includes two sets of the surgical devices;

[0031] The main hand controller, the first controller, the first foot switch, and the second foot switch in both sets of surgical devices are all integrated into the same control console;

[0032] The second controller, the drive unit, and the power supply module in both sets of surgical devices are integrated into the same imaging trolley;

[0033] The robotic arms in the two sets of surgical devices are integrated into the same arm system, or they are integrated into different arm systems.

[0034] Optionally, the first controller in both sets of surgical devices shares the same controller in the console;

[0035] And / or, the second controller in both sets of the surgical devices shares the same controller in the imaging trolley;

[0036] And / or, the electrosurgical energy generators in the power supply modules of the two sets of surgical devices share the same energy generator in the imaging trolley;

[0037] And / or, the ultrasonic scalpel energy generators in the power supply modules of the two sets of surgical devices share the same energy generator in the imaging trolley.

[0038] In the surgical device compatible with both electrosurgical and ultrasonic scalpels provided in this invention, the control module can control the output state and output energy of each connection terminal on the power supply module based on the on / off state of each foot switch. Combined with the connection state between each connection terminal on the power supply module and the corresponding cutting tool, the cutting tool connected to the corresponding connection terminal can obtain the corresponding energy to achieve the corresponding function. Therefore, the control logic of this surgical device is simple, requiring only two foot switches, one of which controls at least two energy outputs. Energy transmission to the cutting tool is controlled by whether or not the cutting tool is connected to the corresponding connection terminal. There is no need to set separate foot switches for each type of cutting tool, nor is it necessary to identify the type of cutting tool connected to the power supply module, making the surgical device simple in structure and the control logic simple and easy to implement. Therefore, this invention can achieve unified control of the energy supply for electrosurgical and ultrasonic scalpels, which helps to simplify the surgical system structure and improve the convenience of surgical operations.

[0039] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the structure of a surgical device compatible with both electrosurgical and ultrasonic scalpels provided in an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of another surgical device compatible with electrosurgical and ultrasonic scalpels provided in an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of a driving circuit provided in an embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram of the structure of a fourth driving circuit and a fifth driving circuit provided in an embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of the structure of a surgical system provided in an embodiment of the present invention. Detailed Implementation

[0046] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0047] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0048] This invention provides a surgical device compatible with both electrosurgical and ultrasonic scalpels, which can be configured into a surgical system. Figure 1 This is a schematic diagram of a surgical device compatible with both electrosurgical and ultrasonic scalpels, provided in an embodiment of the present invention. See also... Figure 1 The surgical device includes: a first foot switch 11, a second foot switch 12, a control module 20, a power supply module 30, a monopolar electrosurgical unit 41, a bipolar electrosurgical unit 42, and an ultrasonic scalpel 43. The first foot switch 11, the second foot switch 12, and the power supply module 30 are all connected to the control module 20. The power supply module 30 also includes three connection terminals: a first connection terminal N1, a second connection terminal N2, and a third connection terminal N3, used to connect to the monopolar electrosurgical unit 41, the bipolar electrosurgical unit 42, and the ultrasonic scalpel 43, respectively. Specifically, the first connection terminal N1 is used to connect to the monopolar electrosurgical unit 41, the second connection terminal N2 is used to connect to the bipolar electrosurgical unit 42, and the third connection terminal N3 is used to connect to the ultrasonic scalpel 43. Figure 1In the diagram, dotted lines indicate the correspondence between the connection terminals on the power supply module 30 and the cutting tools (monopolar electrosurgical unit 41, bipolar electrosurgical unit 42, or ultrasonic scalpel 43). In actual use, the corresponding connection terminals on the power supply module 30 can be connected to the energy supply port of the cutting tool via the appropriate energy transmission line, according to the required cutting tool.

[0049] The control module 20 is used to control the power supply module 30 to output a first energy signal required by the monopolar electrosurgical unit 41 for electrocautery from the first connection terminal N1 and a second energy signal required by the ultrasonic scalpel 43 for operation in the first mode after the first foot switch 11 is pressed; and to control the power supply module 30 to output a third energy signal required by the monopolar electrosurgical unit 41 for electrocoagulation from the first connection terminal N1, a fourth energy signal required by the bipolar electrosurgical unit 42 for electrocoagulation from the second connection terminal N2 and a fifth energy signal required by the ultrasonic scalpel 43 for operation in the second mode after the second foot switch 12 is pressed.

[0050] At any given time, only one of the monopolar electrosurgical unit 41, bipolar electrosurgical unit 42, and ultrasonic scalpel 43 is connected to the power supply module 30. Furthermore, the first foot switch 11 and the second foot switch 12 will not be pressed (or depressed) simultaneously; that is, at most one of the first foot switch 11 and the second foot switch 12 can be pressed at any given time. This allows for simple control over the power supply and use of various cutting tools.

[0051] Specifically, when the first foot switch 11 is pressed, under the control of the control module 20, the first connection terminal N1 and the third connection terminal N3 of the power supply module 30 simultaneously output, while the second connection terminal N2 does not output. The first connection terminal N1 outputs a first energy signal, and the third connection terminal N3 outputs a second energy signal. At this time, if a monopolar electrosurgical unit 41 is connected to the first connection terminal N1, the monopolar electrosurgical unit 41 can receive the first energy signal to perform electrosurgical cutting. If an ultrasonic scalpel 43 is connected to the third connection terminal N3, the ultrasonic scalpel can receive the second energy signal to operate in a first mode; the first mode is, for example, the MAX mode.

[0052] When the second foot switch 12 is pressed, under the control of the control module 20, the first connection terminal N1, the second connection terminal N2, and the third connection terminal N3 of the power supply module 30 simultaneously output; wherein, the first connection terminal N1 outputs a third energy signal, the second connection terminal N2 outputs a fourth energy signal, and the third connection terminal N3 outputs a fifth energy signal. At this time, if a monopolar electrosurgical unit 41 is connected to the first connection terminal N1, the monopolar electrosurgical unit 41 can receive the third energy signal to achieve the electrocoagulation function. If a bipolar electrosurgical unit 42 is connected to the second connection terminal N2, the bipolar electrosurgical unit 42 can receive the fourth energy signal to achieve the electrocoagulation function. If an ultrasonic scalpel 43 is connected to the third connection terminal N3, the ultrasonic scalpel can receive the fifth energy signal to operate in a second mode; wherein, the second mode is, for example, the MIN mode.

[0053] In summary, the monopolar electrosurgical unit 41 can perform electro-cutting and electrocoagulation functions based on different energy signals; the bipolar electrosurgical unit 42 can perform electrocoagulation based on a third energy signal; and the ultrasonic scalpel 43 can perform electro-cutting functions in different modes based on different energy signals. Since only one type of blade can be connected to the corresponding connection terminal via the energy transmission line at any given time, even if multiple connection terminals output energy simultaneously, only the connected blade can obtain energy; the energy signal from unused connection terminals will not be transmitted to the blade. It is understandable that, at the surgical site, medical personnel will connect the blade to the power supply module 30 as needed and confirm the blade type and energy transmission line connection position. Furthermore, each connection terminal can be designed with foolproof features to prevent incorrect blade connection. It is understandable that the monopolar electrosurgical unit 41 requires different energy for electro-cutting and electrocoagulation, i.e., the first energy signal and the third energy signal are different, for example, their waveforms and / or amplitudes are different. Similarly, the ultrasonic scalpel 43 requires different energy when operating in the first and second modes, i.e., the second energy signal and the fifth energy signal are different, for example, their required power levels are different.

[0054] For example, function labels can be affixed to the two foot switches to allow the doctor to accurately press the corresponding foot switch when needed. For instance, the first foot switch 11 can be labeled "Electrotomy / MAX," and the second foot switch 12 can be labeled "Electrocoagulation / MIN." For any foot switch, the control module 20 can determine whether the foot switch is pressed based on the voltage on the pin connected to that foot switch, or other identification methods can be used; no specific limitation is made here. This surgical device can be configured within a surgical system, and the various functional modules within the surgical device can be placed in appropriate locations within the surgical system. The surgical system can be, for example, a minimally invasive surgical system, specifically an endoscopic surgical system.

[0055] In summary, in the surgical device compatible with both electrosurgical and ultrasonic scalpels provided by this embodiment of the invention, the control module 20 can control the output state and output energy of each connection terminal on the power supply module 30 based on the on / off state of each foot switch. Furthermore, by combining the connection state of each connection terminal on the power supply module 30 with the corresponding cutting tool, the cutting tool connected to the corresponding connection terminal can obtain the corresponding energy to achieve the corresponding function. Therefore, the control logic of this surgical device is simple, requiring only two foot switches, one of which controls at least two energy outputs. Energy transmission to the cutting tool is controlled by whether or not the cutting tool is connected to the corresponding connection terminal. There is no need to set separate foot switches for each type of cutting tool, nor is it necessary to identify the type of cutting tool connected to the power supply module 30. This results in a simple surgical device structure and easy-to-implement control logic. Therefore, this embodiment of the invention can achieve unified control of the energy supply for both electrosurgical and ultrasonic scalpels, which helps simplify the surgical system structure and improve the convenience of surgical operations.

[0056] Figure 2 This is a schematic diagram of another surgical device compatible with both electrosurgical and ultrasonic scalpels, provided in an embodiment of the present invention. See also... Figure 2 Based on the above embodiments, optionally, the control module 20 includes a control unit 21 and a drive unit 22; the power supply module 30 includes an electrosurgical energy host 31 and an ultrasonic energy host 32. The electrosurgical energy host 31 includes a first connection terminal N1 and a second connection terminal N2, and the ultrasonic energy host 32 includes a third connection terminal N3. The control unit 21 is connected to a first foot switch 11 and a second foot switch 12; the drive unit 22 is connected to the control unit 21, the electrosurgical energy host 31, and the ultrasonic energy host 32.

[0057] The control unit 21 is used to generate a first trigger signal when the first foot switch 11 is pressed, and to generate a second trigger signal when the second foot switch 12 is pressed. The drive unit 22 is used to control the electrosurgical energy host 31 to output a first energy signal from the first connection terminal N1 and to control the ultrasonic scalpel energy host 32 to output a second energy signal from the third connection terminal N3 according to the first trigger signal; and to control the electrosurgical energy host 31 to output a third energy signal from the first connection terminal N1 and a fourth energy signal from the second connection terminal N2 according to the second trigger signal, and to control the ultrasonic scalpel energy host 32 to output a fifth energy signal from the third connection terminal N3.

[0058] Both the electrosurgical energy host 31 and the ultrasonic energy host 32 can be power supply units. The electrosurgical energy host 31 may include separately configured output interfaces, serving as a first connection terminal N1 and a second connection terminal N2, respectively. Alternatively, as... Figure 2As shown, the electrosurgical energy host 31 may include an electrosurgical energy control interface P1, where different pins can serve as a first connection terminal N1 and a second connection terminal N2, respectively. Thus, the energy transmission lines of both the monopolar electrosurgical unit 41 and the bipolar electrosurgical unit 42 are connected to the electrosurgical energy control interface P1, differing only in the pins actually connected. For example, the first energy signal and the third energy signal can be output from the same pin of the first connection terminal N1, or from different pins of the first connection terminal N1, respectively.

[0059] The ultrasonic scalpel energy host 32 may include an ultrasonic scalpel energy control interface P2, which serves as a third connection terminal N3. Different pins of the ultrasonic scalpel energy control interface P2 can be configured to transmit a second energy signal and a fifth energy signal, respectively; alternatively, the second and fifth energy signals can be output from the same pin of the ultrasonic scalpel energy control interface P2. The specific energy output method is not limited here.

[0060] For example, both the electrosurgical energy control interface P1 and the ultrasonic scalpel energy control interface P2 can be aviation plug-in interfaces.

[0061] See also Figure 2 Based on the above embodiments, optionally, the control unit 21 includes a first output terminal OUT1 and a second output terminal OUT2, which are used to output a first trigger signal and a second trigger signal, respectively. For example, the first output terminal OUT1 is used to output the first trigger signal, and the second output terminal OUT2 is used to output the second trigger signal. The control unit 21 may include a controller such as an MCU (Microcontroller Unit) as the core data processing chip.

[0062] The drive unit 22 may include five drive circuits, a monopolar electrosurgical control board 226, a bipolar electrosurgical control board 227, and an ultrasonic scalpel control board 228. Specifically, the five drive circuits are: a first drive circuit 221, a second drive circuit 222, a third drive circuit 223, a fourth drive circuit 224, and a fifth drive circuit 225. The control terminals of the first drive circuit 221 and the fourth drive circuit 224 are both connected to the first output terminal OUT1. The second control terminals of the second drive circuit 222, the third drive circuit 223, and the fifth drive circuit 225 are all connected to the second output terminal OUT2. The monopolar electrosurgical control board 226 is connected to the output terminals of the first drive circuit 221, the second drive circuit 222, and the electrosurgical energy host 31; the bipolar electrosurgical control board 227 is connected to the output terminal of the third drive circuit 223 and the electrosurgical energy host 31; and the ultrasonic scalpel control board 228 is connected to the output terminals of the fourth drive circuit 224, the fifth drive circuit 225, and the ultrasonic scalpel energy host 32.

[0063] In the drive unit 22, the first drive circuit 221 is used to drive the monopolar electrosurgical control board 226 to control the electrosurgical energy host 31 to output a first energy signal when a first trigger signal is received; the second drive circuit 222 is used to drive the monopolar electrosurgical control board 226 to control the electrosurgical energy host 31 to output a third energy signal when a second trigger signal is received; the third drive circuit 223 is used to drive the bipolar electrosurgical control board 227 to control the electrosurgical energy host 31 to output a fourth energy signal when a second trigger signal is received; the fourth drive circuit 224 is used to drive the ultrasonic scalpel control board 228 to control the ultrasonic scalpel energy host 32 to output a second energy signal when a first trigger signal is received; and the fifth drive circuit 225 is used to drive the ultrasonic scalpel control board 228 to control the ultrasonic scalpel energy host 32 to output a fifth energy signal when a second trigger signal is received.

[0064] Based on the above embodiments, optionally, the control line between the control board and the corresponding energy host can also be connected according to the on-site usage requirements. If at least one of the control line and the energy transmission line is not properly connected, the cutting tool will not receive energy from the energy host.

[0065] The specific structure of the driving circuit is described below by way of example, but it is not intended to limit the present invention.

[0066] Figure 3 This is a schematic diagram of a driving circuit provided in an embodiment of the present invention. See also... Figure 3 In one embodiment, optionally, the driving circuit includes a transistor Q and a relay RLY. The control terminal of transistor Q is connected to the control terminal Pctr of the driving circuit. The first terminal of transistor Q is connected to a first power supply signal, and the second terminal of transistor Q is connected to the first terminal of the coil C of relay RLY. The second terminal of the coil C of relay RLY is connected to a second power supply signal. The first terminal of the switch contact K of relay RLY is connected to a fixed potential signal VD, and the second terminal of the switch contact K of relay RLY is connected to the output terminal Pout of the driving circuit. The first power supply signal and the second power supply signal have different potentials; for example, the first power supply signal is ground (GND), and the second power supply signal is a positive power supply signal (VS), such as a 5V DC signal. For example, the switch contact K of relay RLY can be activated and conduct when the coil C is energized. The control board connected to the driving circuit can determine whether the switch contact K of relay RLY is activated based on the potential of the output terminal Pout, thereby determining whether to control the connected energy host to perform the corresponding output. Transistor Q can be a controllable switching transistor such as a transistor. The fixed potential signal VD connected to different driving circuits can be the same or different, and can be set according to actual needs.

[0067] To facilitate explanation, the following will be combined with... Figure 4The following is a detailed explanation using the two drive circuits connected to the ultrasonic scalpel control board 228 as an example. The working process of other drive circuits is similar and will not be repeated here. Figure 4 This is a schematic diagram of the structure of a fourth driving circuit and a fifth driving circuit provided in an embodiment of the present invention. See also... Figure 4 In one specific embodiment, optionally, the fourth driving circuit 224 may include a transistor Q4 and a relay RLY4. The control electrode of transistor Q4 is connected to a first trigger signal CTR1, the first terminal of the switch contact of relay RLY4 is connected to a first fixed potential signal ULTRA_MAX, and the second terminal outputs a first signal COM5 to the ultrasonic scalpel control board 228. The fifth driving circuit 225 may include a transistor Q5 and a relay RLY5. The control electrode of transistor Q5 is connected to a second trigger signal CTR2, the first terminal of the switch contact of relay RLY5 is connected to a second fixed potential signal ULTRA_MIN, and the second terminal outputs a second signal COM6 to the ultrasonic scalpel control board 228. The ultrasonic scalpel control board 228 can determine the working mode of the ultrasonic scalpel according to the first signal COM5 and the second signal COM6, control whether the ultrasonic scalpel energy host 32 outputs a second energy signal according to the potential of the first signal COM5, and control whether the ultrasonic scalpel energy host 32 outputs a fifth energy signal according to the potential of the second signal COM6. The fourth drive circuit 224 and the fifth drive circuit 225 can be connected to the ultrasonic scalpel control board 228 through interface P5, and the ground signal GND can be provided by the system ground terminal PE.

[0068] Understandably, to ensure the reliability of the drive circuit, the drive circuit may also include an external protection circuit composed of resistors and diodes, for example, the resistor can be connected to the control electrode of a transistor, and the diode can be connected to both ends of the relay coil. Furthermore, to ensure the reliability of the drive circuit, the relay may have two or more switch contacts with identical connection relationships.

[0069] In summary, this surgical device is compatible with both electrosurgical units and ultrasonic scalpels. The electrosurgical units are divided into monopolar and bipolar types. The monopolar electrosurgical unit has both electro-cutting and electrocoagulation functions, controlled by two sets of drive circuits. The bipolar electrosurgical unit only has an electrocoagulation function, controlled by one set of drive circuits. While the ultrasonic scalpel also has electro-cutting capabilities, it is divided into "MAX mode (first mode)" and "MIN mode (second mode)," controlled by two sets of drive circuits. Three types of connection terminals are designed and developed in the hardware to ensure energy control for various types of blades. In practical applications, surgeons can select the energy type output by the power supply module according to surgical needs. For example, the interface design of all three types of connection terminals can be a conventional interface.

[0070] Based on the above embodiments, the surgical device may optionally further include a main hand controller and a robotic arm assembly. The main hand controller is connected to the control module 20; the robotic arm assembly includes at least one robotic arm; each robotic arm includes an instrument connection assembly for connecting a monopolar electrosurgical unit 41, a bipolar electrosurgical unit 42, or an ultrasonic scalpel 43; the control module 20 is also connected to each robotic arm. The instrument connection assembly for connecting the monopolar electrosurgical unit 41, the bipolar electrosurgical unit 42, and the ultrasonic scalpel 43 can be integrated onto the same robotic arm or distributed across different robotic arms; this is not limited here. The control module 20 can be connected to the drive components in the robotic arms to control the movements of the robotic arms. The main hand controller is used to control the movements of each robotic arm through the control module 20, such as performing extension, contraction, and grasping actions. Thus, based on this modular design of the instrument connection assembly, different types of surgical instruments can be replaced, allowing for the alternating use of various electrosurgical units and ultrasonic scalpels on the same surgical platform to meet different surgical needs. The surgical blade is attached to the instrument connection assembly on the robotic arm and connected to the corresponding power unit. The movement of the robotic arm is controlled by the main controller, and the power supply to the blade is controlled by a foot switch, assisting the surgeon in performing surgical procedures. In practice, the surgeon can alternate between electrosurgical and ultrasonic scalpels as needed to achieve the best surgical outcome. For example, electrosurgical scalpels may be preferred when rapid cutting and coagulation are required, while ultrasonic scalpels are chosen for more precise manipulation and to reduce thermal damage. From a patient safety perspective, the surgical device must strictly adhere to medical device safety standards during design and manufacturing to ensure that different blades do not interfere with each other when used within the same system, thus meeting the diverse needs of complex surgical procedures and improving surgical quality and patient safety.

[0071] In summary, this invention provides corresponding connection terminals for various surgical instruments and offers corresponding energy outputs, increasing the surgical instrument selection options for operators. In practical applications, doctors can select the most suitable surgical instruments based on surgical needs to ensure surgical success and patient treatment outcomes. Specifically, the energy transmission line can be connected to the corresponding connection terminal according to the selected instrument type, ensuring convenient clinical connection. Each connection terminal and the foot switch can achieve energy output linkage. When the foot switch is pressed, the control unit can recognize the signal output by the foot switch, and then control the energy type output by the power supply module through logic operations, thereby facilitating the switching of different energy types during surgery.

[0072] This invention also provides a surgical system, including at least one surgical device compatible with both electrosurgical and ultrasonic scalpels, as provided in any embodiment of this invention, with corresponding beneficial effects. The number of surgical devices in the system can be set according to actual needs. For example, when a surgeon uses two main hands to control and perform different surgical operations, two surgical devices compatible with both electrosurgical and ultrasonic scalpels can be provided. When needed, the two surgical devices can work simultaneously, allowing the surgeon to control and use the blades in different surgical devices simultaneously through different main hands and foot switches. In other words, the surgical system can meet the need for simultaneous use of different types of blades based on multiple surgical devices. Specifically, the surgeon can determine the type of blade connected to the robotic arm assemblies corresponding to the left and right main hands based on their usage habits.

[0073] Figure 5 This is a schematic diagram of the structure of a surgical system provided in an embodiment of the present invention. See also: Figure 5 Based on the above embodiments, optionally, the surgical system includes: a console 100, an imaging cart 200, and an arm system 300. The console 100 is the doctor's operating table, the imaging cart 200 may include imaging processing equipment, the imaging cart 200 can serve as a connection medium between the console 100 and the arm system 300, and the arm system 300 can be positioned near the patient's bed for surgical procedures.

[0074] The control module 20 of the surgical device includes a control unit 21 and a drive unit 22. The control unit 21 includes a first controller 211 and a second controller 212. The first controller 211 is connected to a first foot switch 11, a second foot switch 12, and the second controller 212. The second controller 212 is also connected to the drive unit 22. The surgical device includes a main hand controller 50 and a robotic arm assembly (not shown in the figure). The main hand controller 50 is connected to the first controller 211.

[0075] The main controller 50, the first controller 211, the first foot switch 11, and the second foot switch 12 are all integrated into the control console 100; the first controller 211 serves as the core data processing unit in the control console. The second controller 212, the drive unit 22, and the power supply module 30 are all integrated into the image trolley 200; the second controller 212 serves as the core data processing unit in the image trolley 200; both the second controller 212 and the drive unit 22 can be located on the rear panel of the image trolley 200. The robotic arm assembly is integrated into the arm system 300. Both the first controller 211 and the second controller 212 can be MCUs, and the two controllers communicate with each other, for example, via the EtherCAT protocol. The two output terminals of the control unit 21 are, for example, two GPIO interfaces on the second controller 212.

[0076] The commands issued by the master controller 50 can control the movement of the robotic arm in the arm system through the first controller 211 and the second controller 212, moving the tool 40 connected to the robotic arm to the required location. The energy activation of the tool 40 is achieved by a foot switch in the control console 100. When the foot switch is pressed, it sends a signal to the first controller 211, which processes it and converts it into a control signal, which is then sent to the second controller 212 in the image trolley 200. The second controller 212 processes the control signal and generates a corresponding trigger signal, which controls the output signal of the drive circuit in the drive unit 22. The signal output by the drive circuit is sent to the corresponding tool control board. The tool control board then controls the energy signal output by the connected energy host. This energy signal is transmitted to the tool connected to the robotic arm via the energy transmission line.

[0077] In one specific embodiment, the surgical system optionally includes two sets of surgical devices. The master controller 50, first controller 211, first foot switch 11, and second foot switch 12 of both sets of surgical devices can be integrated into the same control console 100. The second controller 212, drive unit 22, and power supply module 30 of both sets of surgical devices can be integrated into the same imaging carriage 200. The robotic arm assemblies of both sets of surgical devices can be integrated into the same arm system 300, or respectively integrated into different arm systems 300.

[0078] Furthermore, the first controllers 211 in the two sets of surgical devices can share the same controller in the console 100, with different interfaces in this controller serving as the interfaces required by the two first controllers 211 respectively. And / or, the second controllers 212 in the two sets of surgical devices can share the same controller in the imaging carriage 200, with different interfaces in this controller serving as the interfaces required by the two second controllers 212 respectively. And / or, the electrosurgical energy generators 31 in the power supply modules 30 of the two sets of surgical devices can share the same energy generator in the imaging carriage 200, with different interfaces in this energy generator serving as the interfaces and connection points required by the two electrosurgical energy generators 31 respectively. And / or, the ultrasonic scalpel energy generators 32 in the power supply modules 30 of the two sets of surgical devices can share the same energy generator in the imaging carriage 200; with different interfaces in this energy generator serving as the interfaces and connection points required by the two ultrasonic scalpel energy generators 32 respectively.

[0079] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and no limitation is imposed herein.

[0080] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A surgical device compatible with both an electrosurgical knife and an ultrasonic knife, characterized by, The utility model relates to a kind of energy supply module and control module for medical operating table, including: First foot switch, second foot switch, control module, energy supply module, monopolar electrotome, bipolar electrotome and ultrasonic knife; The first foot switch, the second foot switch and the energy supply module are all connected to the control module;The energy supply module further includes: a first connection end, a second connection end and a third connection end, respectively for connecting the monopolar electrotome, the bipolar electrotome and the ultrasonic knife; The control module is used to control the energy supply module to output the first energy signal required by the monopolar electrotome during electrocision from the first connection end and the second energy signal required by the ultrasonic knife during operation in the first mode from the third connection end after the first foot switch is pressed down;And control the energy supply module to output the third energy signal required by the monopolar electrotome during electrocoagulation from the first connection end, the fourth energy signal required by the bipolar electrotome during electrocoagulation from the second connection end and the fifth energy signal required by the ultrasonic knife during operation in the second mode from the third connection end after the second foot switch is pressed down. Wherein, only one of the monopolar electrotome, the bipolar electrotome and the ultrasonic knife is connected to the energy supply module at the same time.

2. The surgical device compatible with both electrosurgical and ultrasonic shears of claim 1, wherein, The control module includes a control unit and a driving unit;The energy supply module includes an electrotome energy main machine and an ultrasonic knife energy main machine;The first connection end and the second connection end are included on the electrotome energy main machine, and the third connection end is included on the ultrasonic knife energy main machine; The control unit is connected to the first foot switch and the second foot switch respectively;The control unit is used to generate a first trigger signal when the first foot switch is pressed down and a second trigger signal when the second foot switch is pressed down. The driving unit is connected to the control unit, the electrotome energy main machine and the ultrasonic knife energy main machine respectively;The driving unit is used to control the electrotome energy main machine to output the first energy signal from the first connection end and control the ultrasonic knife energy main machine to output the second energy signal from the third connection end according to the first trigger signal;And control the electrotome energy main machine to output the third energy signal from the first connection end, the fourth energy signal from the second connection end and control the ultrasonic knife energy main machine to output the fifth energy signal from the third connection end according to the second trigger signal.

3. The surgical device compatible with both an electrosurgical blade and an ultrasonic blade of claim 2, wherein, The control unit includes a first output end and a second output end for outputting the first trigger signal and the second trigger signal respectively; The driving unit includes: Five driving circuits, which are a first driving circuit, a second driving circuit, a third driving circuit, a fourth driving circuit and a fifth driving circuit;The control end of the first driving circuit and the control end of the fourth driving circuit are connected to the first output end, and the second control end of the second driving circuit, the control end of the third driving circuit and the control end of the fifth driving circuit are connected to the second output end. The monopolar electrotome control board is connected with the output end of the first driving circuit, the output end of the second driving circuit and the electrotome energy main machine respectively; the first driving circuit is used for driving the monopolar electrotome control board to control the electrotome energy main machine to output the first energy signal when the first trigger signal is received; the second driving circuit is used for driving the monopolar electrotome control board to control the electrotome energy main machine to output the third energy signal when the second trigger signal is received; The bipolar electrotome control board is connected with the output end of the third driving circuit and the electrotome energy main machine respectively; the third driving circuit is used for driving the bipolar electrotome control board to control the electrotome energy main machine to output the fourth energy signal when the second trigger signal is received; The ultrasonic knife control board is connected with the output end of the fourth driving circuit, the output end of the fifth driving circuit and the ultrasonic knife energy main machine respectively; the fourth driving circuit is used for driving the ultrasonic knife control board to control the ultrasonic knife energy main machine to output the second energy signal when the first trigger signal is received; the fifth driving circuit is used for driving the ultrasonic knife control board to control the ultrasonic knife energy main machine to output the fifth energy signal when the second trigger signal is received.

4. The surgical device compatible with both an electrosurgical blade and an ultrasonic blade of claim 3, wherein, The driving circuit comprises a transistor and a relay; The control electrode of the transistor is connected with the control end of the driving circuit, the first electrode of the transistor is connected with a first power signal, the second electrode of the transistor is connected with the first end of the coil of the relay, the second end of the coil of the relay is connected with a second power signal; the first end of the switching contact of the relay is connected with a fixed potential signal, and the second end of the switching contact of the relay is connected with the output end of the driving circuit.

5. The surgical device compatible with both electrosurgical and ultrasonic shears of claim 2 or 3, wherein, The electrotome energy main machine comprises an electrotome energy control interface; different pins in the electrotome energy control interface are used as the first connection end and the second connection end respectively; And / or, The ultrasonic knife energy main machine comprises an ultrasonic knife energy control interface, which is used as the third connection end; different pins in the ultrasonic knife energy control interface are used for transmitting the second energy signal and the fifth energy signal respectively.

6. The surgical device compatible with both electrosurgical and ultrasonic shears of claim 1, wherein, Further comprising: A master hand controller connected with the control module; A mechanical arm group comprising at least one mechanical arm; An instrument connection assembly is arranged on at least one of the mechanical arms, and is used for connecting the monopolar electrotome, the bipolar electrotome or the ultrasonic knife; the control module is further connected with each mechanical arm; and the master hand controller is used for controlling the movement of each mechanical arm through the control module.

7. A surgical system characterized by comprising: Comprise: At least one surgical device compatible with the electrotome and the ultrasonic knife according to any one of claims 1-6.

8. The surgical system of claim 7, wherein, The control module in the surgical device comprises a control unit and a driving unit; the control unit comprises a first controller and a second controller; the first controller is connected with the first foot switch, the second foot switch and the second controller respectively; the second controller is further connected with the driving unit; the surgical device comprises a master hand controller and a mechanical arm group; The surgical system further comprises a control console, an image trolley and an arm system; The master hand controller, the first controller, the first foot switch and the second foot switch are integrated in the console; the second controller, the driving unit and the energy supply module are integrated in the image trolley; and the mechanical arm group is integrated in the arm system.

9. The surgical system of claim 8, wherein, The two groups of surgical devices comprise the surgical device; The master hand controller, the first controller, the first foot switch and the second foot switch of the two groups of surgical devices are integrated in the same console; The second controller, the driving unit and the energy supply module of the two groups of surgical devices are integrated in the same image trolley; The mechanical arm group of the two groups of surgical devices is integrated in the same arm system or in different arm systems.

10. The surgical system of claim 9, wherein, The first controllers of the two groups of surgical devices share the same controller in the console; And / or, the second controllers of the two groups of surgical devices share the same controller in the image trolley; And / or, the electrotome energy main machines in the energy supply modules of the two groups of surgical devices share the same energy main machine in the image trolley; And / or, the ultrasonic knife energy main machines in the energy supply modules of the two groups of surgical devices share the same energy main machine in the image trolley.

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