Ultrasonic knife and surgical robot

Abstract

The invention relates to an ultrasonic knife and a surgical robot. The ultrasonic scalpel comprises a cannula assembly, which is provided with a near-end tube section and a far-end tube section which are connected with each other; the gasket is arranged at one end, far away from the near-end tube section, of the far-end tube section; the cutter bar is arranged in the sleeve assembly in a penetrating manner; the vibration part is arranged at the far end of the cutter bar and extends out of the sleeve assembly; the far-end pipe section can move in the direction close to the near-end pipe section in the first direction, so that the gasket is far away from the vibration part; the first direction is parallel to the axial direction of the sleeve assembly. Therefore, equivalently, the gasket of the ultrasonic knife has a retraction function, and when the ultrasonic energy is required to be combined for tissue emulsification, the gasket can be retracted, so that the gasket is protected, the damage of the vibration energy of the head of the knife bar to the gasket is reduced, and the service life of the gasket is prolonged.

Description

Technical Field

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

[0002] In clinical practice, ultrasonic scalpel has the advantages of high surgical precision, simple operation, small surgical trauma area, small amount of bleeding, and short operation time. It is widely used in colorectal surgery, gastric surgery, cholecystectomy and other surgeries.

[0003] The ultrasonic scalpel mainly includes a host, a transducer, an actuator bar, a bar head and a gasket. The host generates high-frequency alternating current to act on the transducer, and the transducer converts the high-frequency electrical energy into high-frequency mechanical energy, which is transmitted to the bar head through the actuator bar, thereby playing the role of cutting and / or sealing tissue (for example, denaturing proteins in tissue cells). However, the gasket of the current ultrasonic scalpel is prone to wear, resulting in a low life of the gasket. Summary of the invention

[0004] Based on this, it is necessary to provide an ultrasonic scalpel and a surgical robot to address at least one of the above problems.

[0005] In order to achieve the above objectives, in a first aspect, an embodiment of the present application provides an ultrasonic scalpel, comprising:

[0006] A casing assembly having a proximal pipe section and a distal pipe section connected to each other;

[0007] A gasket, arranged at an end of the distal pipe section away from the proximal pipe section;

[0008] A knife rod, passing through the sleeve assembly;

[0009] A vibration member, disposed at the distal end of the knife rod and extending out of the sleeve assembly;

[0010] The distal tube section can move along a first direction toward the proximal tube section so as to move the gasket away from the vibration member; the first direction is parallel to the axial direction of the sleeve assembly.

[0011] The ultrasonic scalpel provided in the embodiment of the present application is configured with a sleeve assembly as a proximal tube segment and a distal tube segment connected to each other, and the distal tube segment can be moved along the axial direction of the sleeve assembly toward the proximal tube segment. In this way, when the distal tube segment moves toward the proximal tube segment, it also drives the gasket to move toward the proximal tube segment, thereby moving away from the vibrating member. In this way, the gasket of the ultrasonic scalpel has a retraction function. When it is necessary to combine ultrasonic energy for tissue emulsification, the gasket can be retracted, thereby protecting the gasket, reducing the damage to the gasket caused by the vibration energy of the shank head, and increasing the service life of the gasket.

[0012] In one embodiment, the sleeve assembly comprises:

[0013] An outer sleeve, comprising a proximal outer tube section and a distal outer tube section which are sleeved together; and

[0014] An inner sleeve is inserted into the outer sleeve; the inner sleeve comprises a proximal inner tube section and a distal inner tube section which are sleeved together;

[0015] Wherein, the gasket is connected to the distal outer tube segment and the distal inner tube segment; the distal outer tube segment can move along the first direction toward the direction close to the proximal outer tube segment, and the distal inner tube segment can synchronously move along the first direction toward the direction close to the proximal inner tube segment.

[0016] In one embodiment, the distal outer tube segment is transmission-connected to the distal inner tube segment, so that the distal outer tube segment drives the distal inner tube segment to move.

[0017] In one embodiment, an adjustable connector is provided between the distal outer tube segment and the distal inner tube segment;

[0018] Wherein, when the connecting member is in the first state, the distal outer tube segment is transmission-connected with the distal inner tube segment; when the connecting member is in the second state, the distal outer tube segment is transmission-disconnected with the distal inner tube segment.

[0019] In one embodiment, a first assembly hole is provided on the inner wall of the distal outer tube segment; the connecting member is provided on the side wall of the distal inner tube segment and can move along a second direction; the second direction intersects with the first direction;

[0020] Wherein, when the connecting member is in the first state, a part of the structure of the connecting member extends into the first assembly hole; when the connecting member is in the second state, the connecting member is located outside the first assembly hole.

[0021] In one embodiment, a second assembly hole is provided on the side wall of the distal inner tube section, and the connecting member is threadedly connected to the second assembly hole;

[0022] And / or, the first direction is perpendicular to the second direction.

[0023] In one embodiment, the distal outer tube segment is threadedly connected to the proximal outer tube segment;

[0024] The distal inner tube section is threadedly connected to the proximal inner tube section.

[0025] In one embodiment, a first pre-tightening member is provided between the distal outer tube segment and the proximal outer tube segment; the first pre-tightening member has a first preset pre-tightening force;

[0026] The first pre-tightening member is configured such that: when the relative sliding force between the distal outer tube segment and the proximal outer tube segment is greater than the first preset pre-tightening force, the distal outer tube segment can move along the first direction toward the proximal outer tube segment;

[0027] A second pre-tightening member is disposed between the distal inner tube section and the proximal inner tube section, and the second pre-tightening member has a second preset pre-tightening force;

[0028] The second preload member is configured such that when the relative sliding force between the distal inner tube segment and the proximal inner tube segment is greater than the second preset preload force, the distal inner tube segment can move along the first direction toward the proximal inner tube segment.

[0029] In one embodiment, the first preload member comprises:

[0030] A first elastic member, wherein a fixed end of the first elastic member is disposed on the proximal outer tube section;

[0031] A first rigid member is arranged on the movable end of the first elastic member; a first clamping groove which is clamped with the first rigid member is arranged on the distal outer tube section;

[0032] And / or, the second preload member comprises:

[0033] a second elastic member, wherein a fixed end of the second elastic member is disposed on the proximal inner tube section;

[0034] The second rigid member is arranged on the movable end of the second elastic member; and the distal inner tube section is provided with a second clamping groove which is clamped with the second rigid member.

[0035] In one embodiment, a first slide rail is disposed on the tube wall of one of the proximal outer tube segment and the distal outer tube segment, and a first limiting portion matched with the first slide rail is disposed on the tube wall of the other one;

[0036] And / or, a second slide rail is arranged on the tube wall of one of the proximal outer tube segment and the distal inner tube segment, and a second limiting portion matching with the second slide rail is arranged on the tube wall of the other one.

[0037] In a second aspect, an embodiment of the present application provides a surgical robot, comprising the ultrasonic scalpel described in any embodiment of the first aspect.

[0038] The surgical robot provided in the embodiment of the present application is configured to have a sleeve assembly of an ultrasonic scalpel as a proximal tube segment and a distal tube segment connected to each other, and to enable the distal tube segment to move along the axial direction of the sleeve assembly toward the proximal tube segment. In this way, when the distal tube segment moves toward the proximal tube segment, it also drives the gasket to move toward the proximal tube segment, thereby moving away from the vibrating member. In this way, the gasket of the ultrasonic scalpel has a retraction function. When it is necessary to combine ultrasonic energy for tissue emulsification, the gasket can be retracted, thereby protecting the gasket, reducing the damage to the gasket caused by the vibration energy of the shank head, and increasing the service life of the gasket. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic diagram of the structure of an ultrasonic knife provided in one embodiment of the present application.

[0041] Figure 2 for Figure 1 Enlarged view of part I.

[0042] Figure 3 for Figure 1 Enlarged view of part II.

[0043] Figure 4 for Figure 1 Schematic diagram of the gasket of the ultrasonic scalpel in the retracted state.

[0044] Figure 5 for Figure 1 A schematic structural diagram of a sleeve assembly of an ultrasonic scalpel is shown.

[0045] Figure 6 for Figure 5 Schematic diagram of the connecting member and the second assembly hole in the structure shown.

[0046] Figure 7 for Figure 1 A schematic structural diagram of another sleeve assembly of an ultrasonic scalpel is shown.

[0047] Figure 8 for Figure 7 Schematic diagram of the assembly of the first preload member (second preload member) in the structure shown.

[0048] Reference numerals:

[0049] 10. ultrasonic scalpel; 11. sleeve assembly; 11a. proximal tube section; 11b. distal tube section; 111. outer sleeve; 1111. proximal outer tube section; 11111. first guide groove; 11112. first stopper; 1112. distal outer tube section; 11121. first assembly hole; 11122. first slot; 11123. first slide rail; 11124. opening; 112. inner sleeve; 1121. proximal inner tube section; 11211. second guide groove ; 11212, second slide rail; 1122, distal inner tube section; 11221, second assembly hole; 11222, second slot; 11223, second limit portion; 12, gasket; 13, knife rod; 14, vibrating member; 15, connecting member; 161, first preload member; 1611, first elastic member; 1612, first rigid member; 162, second preload member; 1621, second elastic member; 1622, second rigid member; 17, handle; 18, connecting rod. DETAILED DESCRIPTION

[0050] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0051] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0052] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0053] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0054] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0055] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0056] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, in this specification, the term "and / or" includes any and all combinations of the relevant listed items.

[0057] First, refer to Figure 1 , Figure 2 and Figure 3 As shown, an embodiment of the present application provides an ultrasonic scalpel 10 , which includes: a sleeve assembly 11 , a gasket 12 , a shank 13 and a vibrating member 14 .

[0058] Specifically, the sleeve assembly 11 has a proximal pipe segment 11a and a distal pipe segment 11b connected to each other. The gasket 12 is arranged at one end of the distal pipe segment 11b away from the proximal pipe segment 11a. The knife rod 13 is passed through the sleeve assembly 11. The vibration member 14 is arranged at the distal end of the knife rod 13 and extends out of the sleeve assembly 11. The distal pipe segment 11b can move along the first direction X, toward the direction close to the proximal pipe segment 11a, so that the gasket 12 is away from the vibration member 14. The first direction X is parallel to the axial direction of the sleeve assembly 11.

[0059] Here, it should be noted that the proximal pipe segment 11a can be a proximal pipe segment group, that is, the proximal pipe segment 11a is a collection of multiple pipe segments. The distal pipe segment 11b can be a distal pipe segment group, that is, the distal pipe segment 11b is a collection of multiple pipe segments. The gasket 12 can be hinged at the distal end of the sleeve assembly 11, that is, the gasket 12 is hinged at one end of the distal pipe segment 11b away from the proximal pipe segment 11a.

[0060] The ultrasonic scalpel 10 provided in the embodiment of the present application is configured with the sleeve assembly 11 as a proximal tube segment 11a and a distal tube segment 11b connected to each other, and the distal tube segment 11b can move along the axial direction of the sleeve assembly 11 toward the proximal tube segment 11a, so that when the distal tube segment 11b moves toward the proximal tube segment 11a, it also drives the gasket 12 to move toward the proximal tube segment 11a, thereby moving away from the vibrating member 14. In this way, it is equivalent to making the gasket 12 of the ultrasonic scalpel 10 have a retraction function. When it is necessary to combine ultrasonic energy for tissue emulsification, the gasket 12 can be retracted, thereby protecting the gasket 12, reducing the damage to the gasket 12 caused by the vibration energy of the head of the knife rod 13, and improving the service life of the gasket 12.

[0061] Please refer to Figure 4 As shown, the position of the gasket 12 in the figure is the position after the gasket 12 is retracted.

[0062] It is understandable that the distal tube segment 11b can move away from the proximal tube segment 11a along the first direction X to restore the gasket 12 to its initial position. In this way, after emulsification is completed, the gasket 12 can be restored from the retracted state to the initial state (extended state) to facilitate surgical operations.

[0063] In one embodiment, the sleeve assembly 11 includes an outer sleeve 111 and an inner sleeve 112, and the inner sleeve 112 is inserted into the outer sleeve 111. The outer sleeve 111 includes a proximal outer tube segment 1111 and a distal outer tube segment 1112 that are sleeved. Specifically, in one example, the proximal outer tube segment 1111 is sleeved on the distal outer tube segment 1112. In another example, the distal outer tube segment 1112 is sleeved on the proximal outer tube segment 1111. The inner sleeve 112 includes a proximal inner tube segment 1121 and a distal inner tube segment 1122 that are sleeved. Specifically, in one example, the proximal inner tube segment 1121 is sleeved on the distal inner tube segment 1122. In another example, the distal inner tube segment 1122 is sleeved on the proximal inner tube segment 1121.

[0064] The gasket 12 is connected to the distal outer tube section 1112 and the distal inner tube section 1122. Specifically, the gasket 12 has a first hinged end and a second hinged end, the first hinged end is hinged to the distal outer tube section 1112, and the second hinged end is hinged to the distal inner tube section 1122.

[0065] Specifically, the distal outer tube segment 1112 can move along the first direction X towards the direction close to the proximal outer tube segment 1111 , and the distal inner tube segment 1122 can synchronously move along the first direction X towards the direction close to the proximal inner tube segment 1121 .

[0066] In this way, the purpose of retracting the gasket 12 can be achieved by moving the distal outer tube section 1112 and the distal inner tube section 1122 at the same time.

[0067] It can be understood that the distal inner tube segment 1122 and the distal outer tube segment 1112 together constitute the distal tube segment 11b, and the proximal inner tube segment 1121 and the distal inner tube segment 1122 together constitute the proximal tube segment 11a.

[0068] In one embodiment, the distal outer tube segment 1112 is transmission-connected to the distal inner tube segment 1122 so that the distal outer tube segment 1112 drives the distal inner tube segment 1122 to move.

[0069] It should be noted that the transmission connection means that after the distal outer tube segment 1112 is subjected to an external force driving it to move, the distal outer tube segment 1112 can transmit part of the power to the distal inner tube segment 1122, so that the distal outer tube segment 1112 drives the distal inner tube segment 1122 to move simultaneously. The above arrangement allows the operator to move the distal outer tube segment 1112 and the distal inner tube segment 1122 simultaneously only by driving the distal outer tube segment 1112, which is convenient for the operator to operate.

[0070] In one embodiment, an adjustable connector 15 is provided between the distal outer tube segment 1112 and the distal inner tube segment 1122. When the connector 15 is in a first state, the distal outer tube segment 1112 is transmission-connected with the distal inner tube segment 1122. When the connector 15 is in a second state, the transmission between the distal outer tube segment 1112 and the distal inner tube segment 1122 is interrupted.

[0071] Here, it should be noted that “transmission interruption” refers to the interruption of power transmission between the distal outer tube segment 1112 and the distal inner tube segment 1122, that is, when the distal outer tube segment 1112 moves, the distal inner tube segment 1122 does not move.

[0072] In this way, when the gasket 12 needs to be retracted, the connector 15 can be adjusted to the first state, so that the distal outer tube segment 1112 is in transmission connection with the distal inner tube segment 1122, and the operator drives the distal outer tube segment 1112 to move along the first direction X toward the direction close to the proximal inner tube segment 1121, and drives the distal inner tube segment 1122 to move along the first direction X toward the direction close to the proximal inner tube segment 1121, thereby driving the gasket 12 to retract. When the gasket 12 needs to be extended, the operator drives the distal outer tube segment 1112 to move along the first direction X toward the direction away from the proximal inner tube segment 1121, and drives the distal inner tube segment 1122 to move along the first direction X toward the direction away from the proximal inner tube segment 1121, thereby extending the gasket 12.

[0073] When a surgical operation is required, the connector 15 can be adjusted to the second state, the transmission between the distal outer tube segment 1112 and the distal inner tube segment 1122 is interrupted, and the inner sleeve 112 can move along the first direction X relative to the outer sleeve 111.

[0074] Specifically, the ultrasonic scalpel 10 also includes a handle 17 and a connecting rod 18, both of which are arranged at the proximal end of the sleeve assembly 11. The connecting rod 18 is connected to the proximal end of the inner sleeve 112, and the handle 17 is in transmission connection with the connecting rod 18. After pressing the handle 17, the connecting rod 18 drives the inner sleeve 112 to move toward the proximal end of the sleeve assembly 11, while the outer sleeve 111 remains stationary. As the inner sleeve 112 moves, the gasket 12 is driven to rotate around the first hinge end, thereby achieving the closure of the gasket 12.

[0075] In one embodiment, referring to Figure 5 and Figure 6 As shown, a first assembly hole 11121 is provided on the inner wall of the distal outer tube section 1112. The connecting member 15 is provided on the side wall of the distal inner tube section 1122 and can move along the second direction Y. The second direction Y intersects with the first direction X. When the connecting member 15 is in the first state, part of the structure of the connecting member 15 is located in the first assembly hole 11121. When the connecting member 15 is in the second state, the connecting member 15 is located outside the first assembly hole 11121.

[0076] In this way, the connection method between the distal outer tube segment 1112 and the distal inner tube segment 1122 can be made simpler, thereby reducing the manufacturing difficulty and cost of the ultrasonic scalpel 10.

[0077] In one example, the connecting member 15 may be a telescopic rod, and when the telescopic rod needs to be switched to the first state, the telescopic rod is extended, and a part of the structure of the telescopic rod extends into the first assembly hole 11121. When the telescopic rod needs to be switched to the second state, the telescopic rod is retracted, and the structure of the telescopic rod is located outside the first assembly hole 11121. It is understandable that the telescopic rod may be a hydraulically driven telescopic rod.

[0078] In one embodiment, referring to Figure 6 As shown, a second assembly hole 11221 is provided on the side wall of the distal inner tube section 1122, and the connector 15 is threadedly connected to the second assembly hole 11221. The above arrangement can simplify the structure of the connector 15 and reduce the manufacturing cost of the ultrasonic scalpel 10. It can be understood that when the transmission of the distal outer tube section 1112 and the distal inner tube section 1122 needs to be disconnected, the entire structure of the connector 15 can be screwed into the second assembly hole 11221. When the distal outer tube section 1112 needs to be connected to the distal inner tube section 1122, the connector 15 can be rotated so that part of the structure of the connector 15 extends into the first assembly hole 11121.

[0079] In one embodiment, the first direction X is perpendicular to the second direction Y. In this way, the effect of the transmission connection between the distal outer tube section 1112 and the distal inner tube section 1122 can be better.

[0080] It is understandable that the first direction X and the second direction Y may not be perpendicular to each other, and the present application embodiment does not limit this.

[0081] In one embodiment, the distal outer tube segment 1112 is threadedly connected to the proximal outer tube segment 1111. The distal inner tube segment 1122 is threadedly connected to the proximal inner tube segment 1121. The above arrangement can simplify the structure of the sleeve assembly 11 and reduce the manufacturing cost of the ultrasonic scalpel 10. In this way, when the distal outer tube segment 1112 is transmission-connected to the distal inner tube segment 1122, the distal outer tube segment 1112 can be rotated so that the distal outer tube segment 1112 drives the distal inner tube segment 1122 to rotate synchronously, thereby retracting the gasket 12.

[0082] In one embodiment, referring to Figure 7As shown, a first preload member 161 is provided between the distal outer tube segment 1112 and the proximal outer tube segment 1111. The first preload member 161 has a first preset preload force. The first preload member 161 is configured such that when the relative sliding force between the distal outer tube segment 1112 and the proximal outer tube segment 1111 is greater than the first preset preload force, the distal outer tube segment 1112 can move along the first direction X, toward the direction close to the proximal outer tube segment 1111.

[0083] A second preload member 162 is disposed between the distal inner tube segment 1122 and the proximal inner tube segment 1121, and the second preload member 162 has a second preset preload force. The second preload member 162 is configured such that when the relative sliding force between the distal inner tube segment 1122 and the proximal inner tube segment 1121 is greater than the second preset preload force, the distal inner tube segment 1122 can move along the first direction X toward the proximal inner tube segment 1121.

[0084] In this way, when the gasket 12 is retracted, the distal outer tube section 1112 and the distal inner tube section 1122 need to be driven simultaneously so that the two move synchronously.

[0085] In one embodiment, referring to Figure 8 As shown, the first preload member 161 includes a first elastic member 1611 and a first rigid member 1612. The fixed end of the first elastic member 1611 is arranged on the proximal outer tube section 1111. The first rigid member 1612 is arranged on the movable end of the first elastic member 1611. The distal outer tube section 1112 is provided with a first slot 11122 that is engaged with the first rigid member 1612.

[0086] Here, it should be noted that the fixed end and the movable end of the first elastic member 1611 may be opposite ends of the first elastic member 1611. Exemplarily, the first elastic member 1611 may be a spring or a spring sheet.

[0087] In the above arrangement, the elastic force of the first elastic member 1611 can push the first rigid member 1612 into the first slot 11122, thereby connecting the distal outer tube section 1112 and the proximal outer tube section 1111, and keeping the two relatively fixed. When the distal outer tube section 1112 needs to move relative to the proximal outer tube section 1111, a first force can be applied to break through the "resistance" to move the distal outer tube section 1112, wherein the first force is greater than the first preload force.

[0088] In one embodiment, the second preload member 162 includes a second elastic member 1621 and a second rigid member 1622. The fixed end of the second elastic member 1621 is disposed on the proximal inner tube section 1121. The second rigid member 1622 is disposed on the movable end of the second elastic member 1621. The distal inner tube section 1122 is provided with a second slot 11222 that is engaged with the second rigid member 1622.

[0089] Here, it should be noted that the fixed end and the movable end of the second elastic member 1621 may be two opposite ends of the second elastic member 1621. Exemplarily, the second elastic member 1621 may be a spring or a spring sheet.

[0090] In the above configuration, the elastic force of the second elastic member 1621 can push the second rigid member 1622 into the second slot 11222, thereby connecting the distal inner tube segment 1122 and the proximal inner tube segment 1121, and keeping the two relatively fixed. When the distal inner tube segment 1122 needs to move relative to the proximal inner tube segment 1121, a second force can be applied to break through the "resistance" to move the distal inner tube segment 1122, wherein the second force is greater than the second preload force.

[0091] In one embodiment, a first slide rail 11123 is disposed on the tube wall of one of the proximal outer tube segment 1111 and the distal outer tube segment 1112 , and a first limiting portion 11112 matching with the first slide rail 11123 is disposed on the tube wall of the other one.

[0092] By providing the first slide rail 11123 and the first limiting portion 11112, the sliding direction of the distal outer tube section 1112 can be limited, so as to prevent the distal outer tube section 1112 from rotating relative to the distal inner tube section 1122 while sliding.

[0093] In one example, the first slide rail 11123 can be disposed on the distal outer tube, and the first limiting portion 11112 can be disposed on the proximal outer tube segment 1111.

[0094] In one embodiment, a second slide rail 11212 is disposed on the tube wall of one of the proximal outer tube segment 1111 and the distal inner tube segment 1122 , and a second limiting portion 11223 matching with the second slide rail 11212 is disposed on the tube wall of the other one.

[0095] The second slide rail 11212 and the second stopper 11223 are provided to limit the sliding direction of the distal inner tube section 1122, thereby preventing the distal inner tube section 1122 from rotating relative to the distal inner tube section 1122 while sliding.

[0096] In one example, the second slide rail 11212 can be disposed on the proximal inner tube segment 1121 , and the second limiting portion 11223 can be disposed on the distal inner tube segment 1122 .

[0097] In one embodiment, the proximal outer tube section 1111 may be provided with a first guide groove 11111, and the first elastic member 1611 may be disposed in the first guide groove 11111. Further, the first clamping groove 11122 may be provided with guide surfaces on both sides along the first direction X, so as to facilitate the proximal outer tube section 1111 to break through the resistance and slide.

[0098] In one embodiment, the proximal inner tube section 1121 may be provided with a second guide groove 11211, and the second elastic member 1621 may be disposed in the second guide groove 11211. Furthermore, the second clamping groove 11222 may be provided with guide surfaces on both sides along the first direction X to facilitate the distal inner tube section 1122 to break through the resistance and slide.

[0099] In one embodiment, an opening 11124 is further provided on the distal outer tube segment 1112 to expose part of the mechanism of the distal inner tube segment 1122, so that it is convenient for an operator to manually drive the distal inner tube segment 1122 to move.

[0100] In a second aspect, an embodiment of the present application provides a surgical robot, which comprises the ultrasonic knife 10 of any embodiment of the first aspect.

[0101] The surgical robot provided in the embodiment of the present application is configured to have a sleeve assembly 11 of an ultrasonic scalpel 10 with a proximal tube segment 11a and a distal tube segment 11b connected to each other, and to enable the distal tube segment 11b to move along the axial direction of the sleeve assembly 11 toward the proximal tube segment 11a. In this way, when the distal tube segment 11b moves toward the proximal tube segment 11a, it simultaneously drives the gasket 12 to move toward the proximal tube segment 11a, thereby moving away from the vibrating member 14. In this way, the gasket 12 of the ultrasonic scalpel 10 has a retraction function. When it is necessary to combine ultrasonic energy for tissue emulsification, the gasket 12 can be retracted, thereby protecting the gasket 12, reducing the damage to the gasket 12 caused by the vibration energy of the head of the shank 13, and increasing the service life of the gasket 12.

[0102] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0103] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features of the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An ultrasonic scalpel, characterized in that: include: A sleeve assembly (11) having a proximal tube section (11a) and a distal tube section (11b) connected to each other; A gasket (12) is arranged at an end of the distal tube section (11b) away from the proximal tube section (11a); A knife rod (13) is inserted into the sleeve assembly (11); A vibrating member (14) is disposed at the distal end of the knife rod (13) and extends out of the sleeve assembly (11); The distal tube section (11b) can move along a first direction towards the proximal tube section (11a) so as to move the gasket (12) away from the vibration member (14); the first direction is parallel to the axial direction of the sleeve assembly (11).

2. The ultrasonic scalpel according to claim 1, characterized in that: The sleeve assembly (11) comprises: The outer sleeve (111) comprises a proximal outer tube section (1111) and a distal outer tube section (1112) which are sleeved together; and An inner sleeve (112) is inserted into the outer sleeve (111); the inner sleeve (112) comprises a proximal inner tube section (1121) and a distal inner tube section (1122) which are sleeved together; Wherein, the gasket (12) is connected to the distal outer tube segment (1112) and the distal inner tube segment (1122); the distal outer tube segment (1112) can move along the first direction toward the direction approaching the proximal outer tube segment (1111), and the distal inner tube segment (1122) can synchronously move along the first direction toward the direction approaching the proximal inner tube segment (1121).

3. The ultrasonic scalpel according to claim 2, characterized in that: The distal outer tube section (1112) is transmission-connected to the distal inner tube section (1122), so that the distal outer tube section (1112) drives the distal inner tube section (1122) to move.

4. The ultrasonic scalpel according to claim 3, characterized in that: An adjustable connecting piece (15) is provided between the distal outer tube section (1112) and the distal inner tube section (1122); Wherein, when the connecting member (15) is in a first state, the distal outer tube segment (1112) is transmission-connected with the distal inner tube segment (1122); when the connecting member (15) is in a second state, the distal outer tube segment (1112) and the distal inner tube segment (1122) are transmission-disconnected.

5. The ultrasonic scalpel according to claim 4, characterized in that: A first assembly hole (11121) is provided on the inner wall of the distal outer tube section (1112); the connecting member (15) is provided on the side wall of the distal inner tube section (1122) and is movable along a second direction; the second direction intersects with the first direction; Wherein, when the connecting member (15) is in a first state, part of the structure of the connecting member (15) extends into the first assembly hole (11121); when the connecting member (15) is in a second state, the connecting member (15) is located outside the first assembly hole (11121).

6. The ultrasonic scalpel according to claim 5, characterized in that: A second assembly hole (11221) is provided on the side wall of the distal inner tube section (1122), and the connecting piece (15) is threadedly connected to the second assembly hole (11221); And / or, the first direction is perpendicular to the second direction.

7. The ultrasonic scalpel according to any one of claims 3 to 5, characterized in that: The distal outer tube section (1112) is threadedly connected to the proximal outer tube section (1111); The distal inner tube section (1122) is threadedly connected to the proximal inner tube section (1121).

8. The ultrasonic scalpel according to claim 2, characterized in that: A first pre-tightening member (161) is provided between the distal outer tube section (1112) and the proximal outer tube section (1111); the first pre-tightening member (161) has a first preset pre-tightening force; The first preload member (161) is configured such that when the relative sliding force between the distal outer tube segment (1112) and the proximal outer tube segment (1111) is greater than the first preset preload force, the distal outer tube segment (1112) can move along the first direction toward the proximal outer tube segment (1111); A second pre-tightening member (162) is disposed between the distal inner tube section (1122) and the proximal inner tube section (1121), and the second pre-tightening member (162) has a second preset pre-tightening force; The second preload member (162) is configured such that when the relative sliding force between the distal inner tube segment (1122) and the proximal inner tube segment (1121) is greater than the second preset preload force, the distal inner tube segment (1122) can move along the first direction toward the proximal inner tube segment (1121).

9. The ultrasonic scalpel according to claim 8, characterized in that: The first pre-tightening member (161) comprises: A first elastic member (1611), wherein a fixed end of the first elastic member (1611) is disposed on the proximal outer tube section (1111); A first rigid member (1612) is arranged on the movable end of the first elastic member (1611); the distal outer tube section (1112) is provided with a first slot (11122) for engaging with the first rigid member (1612); And / or, the second pre-tightening member (162) comprises: A second elastic member (1621), wherein a fixed end of the second elastic member (1621) is disposed on the proximal inner tube section (1121); The second rigid member (1622) is arranged on the movable end of the second elastic member (1621); the distal inner tube section (1122) is provided with a second clamping groove (11222) which is clamped with the second rigid member (1622).

10. The ultrasonic scalpel according to claim 8, characterized in that: A first slide rail (11123) is provided on the tube wall of one of the proximal outer tube section (1111) and the distal outer tube section (1112), and a first limiting portion (11112) matched with the first slide rail (11123) is provided on the tube wall of the other; And / or, a second slide rail (11212) is provided on the tube wall of one of the proximal outer tube segment (1111) and the distal inner tube segment (1122), and a second limiting portion (11223) matching with the second slide rail (11212) is provided on the tube wall of the other.

11. A surgical robot, characterized in that: It comprises the ultrasonic knife (10) according to any one of claims 1 to 10.

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