Ultrasonic knife and surgical robot

Abstract

The application relates to an ultrasonic knife and a surgical robot. The ultrasonic knife comprises a sleeve assembly having a connected proximal pipe segment and a distal pipe segment, a gasket arranged at one end of the distal pipe segment away from the proximal pipe segment, a knife rod arranged in the sleeve assembly, and a vibrating member arranged at a distal end of the knife rod and extending out of the sleeve assembly. The distal pipe segment can be moved in a first direction towards the proximal pipe segment so as to move the gasket away from the vibrating member. The first direction is parallel to the axial direction of the sleeve assembly. In this way, the gasket of the ultrasonic knife has a retraction function. When ultrasonic energy is needed to be combined to emulsify tissues, the gasket can be retracted, thereby protecting the gasket and reducing the damage of the vibration energy of the head of the knife rod to the gasket, and the service life of the gasket is prolonged.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an ultrasonic scalpel and surgical robot. Background Technology

[0002] In clinical practice, ultrasonic scalpels have advantages such as high surgical precision, simple operation, small surgical trauma area, less bleeding, and short operation time, and are widely used in colorectal surgery, gastric surgery, cholecystectomy and other surgeries.

[0003] An ultrasonic scalpel mainly consists of a main unit, a transducer, an actuator, a actuator head, and a gasket. The main unit generates high-frequency alternating current which acts on the transducer. The transducer converts this high-frequency electrical energy into high-frequency mechanical energy, which is then transmitted to the actuator head, thereby cutting and / or sealing tissue (e.g., denaturing proteins in tissue cells). However, current ultrasonic scalpels are prone to wear, resulting in a relatively short gasket lifespan. Summary of the Invention

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

[0005] To achieve the above objectives, in a first aspect, embodiments of this application provide an ultrasonic scalpel, comprising:

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

[0007] A gasket is disposed at the end of the distal pipe section away from the proximal pipe section;

[0008] A tool holder is inserted into the sleeve assembly;

[0009] A vibrating element is located at the distal end of the tool holder and extends out of the sleeve assembly;

[0010] The distal pipe segment can move along a first direction toward the proximal pipe segment to move the gasket away from the vibrating element; the first direction is parallel to the axial direction of the sleeve assembly.

[0011] The ultrasonic scalpel provided in this embodiment configures the cannula assembly into a connected proximal and distal segment, allowing the distal segment to move along the axial direction of the cannula assembly towards the proximal segment. As the distal segment moves towards the proximal segment, it simultaneously moves the gasket towards the proximal segment, thus moving it away from the vibrating element. This effectively gives the ultrasonic scalpel's gasket a retraction function. When combined with ultrasonic energy for tissue emulsification, the gasket can be retracted, protecting it and reducing damage from the vibration energy of the scalpel head, thereby extending its service life.

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

[0013] The outer casing includes a proximal outer casing section and a distal outer casing section that are fitted together; and

[0014] An inner sleeve is inserted into the outer sleeve; the inner sleeve includes a proximal inner tube section and a distal inner tube section that are fitted together.

[0015] The gasket is connected to the distal outer pipe section and the distal inner pipe section; the distal outer pipe section can move along the first direction toward the proximal outer pipe section, and the distal inner pipe section can move synchronously along the first direction toward the proximal inner pipe section.

[0016] In one embodiment, the distal outer pipe section is drivenly connected to the distal inner pipe section so that the distal outer pipe section drives the distal inner pipe section to move.

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

[0018] When the connector is in the first state, the distal outer pipe section and the distal inner pipe section are connected by transmission; when the connector is in the second state, the transmission between the distal outer pipe section and the distal inner pipe section is interrupted.

[0019] In one embodiment, a first assembly hole is provided on the inner wall of the distal outer pipe section; the connector is disposed on the side wall of the distal inner pipe section and is movable along a second direction; the second direction intersects with the first direction;

[0020] When the connector is in the first state, a portion of its structure extends into the first assembly hole; when the connector is in the second state, it 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 pipe section, and the connector 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 pipe section is threadedly connected to the proximal outer pipe section;

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

[0025] In one embodiment, a first pre-tightening member is provided between the distal outer pipe section and the proximal outer pipe section; 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 pipe section and the proximal outer pipe section is greater than the first preset pre-tightening force, the distal outer pipe section can move along the first direction toward the proximal outer pipe section;

[0027] A second pre-tightening member is provided between the distal inner pipe section and the proximal inner pipe section, and the second pre-tightening member has a second preset pre-tightening force.

[0028] The second pre-tightening 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 pre-tightening force, the distal inner tube segment can move along the first direction toward the proximal inner tube segment.

[0029] In one embodiment, the first pretensioner includes:

[0030] A first elastic element, the fixed end of which is disposed on the proximal outer tube section;

[0031] A first rigid member is disposed on the movable end of the first elastic member; a first slot is provided on the distal outer tube section to engage with the first rigid member.

[0032] And / or, the second preload includes:

[0033] The second elastic element has its fixed end disposed on the proximal inner tube section;

[0034] The second rigid member is disposed on the movable end of the second elastic member; the distal inner tube section is provided with a second slot that engages with the second rigid member.

[0035] In one embodiment, a first slide rail is provided on the wall of one of the proximal outer pipe section and the distal outer pipe section, and a first limiting part that cooperates with the first slide rail is provided on the wall of the other pipe section.

[0036] And / or, a second slide rail is provided on the wall of one of the proximal outer pipe section and the distal inner pipe section, and a second limiting part that cooperates with the second slide rail is provided on the wall of the other.

[0037] Secondly, embodiments of this application provide a surgical robot, which includes the ultrasonic scalpel described in any embodiment of the first aspect.

[0038] The surgical robot provided in this application embodiment configures the ultrasonic scalpel's cannula assembly into a connected proximal and distal segment. The distal segment can move along the axial direction of the cannula assembly towards the proximal segment. As the distal segment moves towards the proximal segment, it simultaneously moves the pad towards the proximal segment, thus moving it away from the vibrating element. This effectively gives the ultrasonic scalpel's pad a retraction function. When combined with ultrasonic energy for tissue emulsification, the pad can be retracted, protecting it and reducing damage from the vibration energy of the scalpel head, thereby extending the pad's lifespan. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of an ultrasonic scalpel provided in an embodiment of this 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 The diagram shows the ultrasonic scalpel pad in its retracted state.

[0044] Figure 5 for Figure 1 The diagram shows a structural schematic of a cannula assembly for an ultrasonic scalpel.

[0045] Figure 6 for Figure 5 A schematic diagram of the connector and the second assembly hole in the structure shown.

[0046] Figure 7 for Figure 1 The diagram shows another type of cannula assembly for the ultrasonic scalpel.

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

[0048] Figure label:

[0049] 10. Ultrasonic scalpel; 11. Cannula assembly; 11a. Proximal tube segment; 11b. Distal tube segment; 111. Outer tube; 1111. Proximal outer tube segment; 11111. First guide groove; 11112. First limiting part; 1112. Distal outer tube segment; 11121. First assembly hole; 11122. First slot; 11123. First slide rail; 11124. Opening; 112. Inner tube; 1121. Proximal inner tube segment; 11211. Second guide groove ; 11212, Second slide rail; 1122, Distal inner tube section; 11221, Second assembly hole; 11222, Second slot; 11223, Second limiting part; 12, Gasket; 13, Tool bar; 14, Vibrating component; 15, Connecting component; 161, First pre-tightening component; 1611, First elastic component; 1612, First rigid component; 162, Second pre-tightening component; 1621, Second elastic component; 1622, Second rigid component; 17, Handle; 18, Connecting rod. Detailed Implementation

[0050] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0051] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0053] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0054] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0055] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0056] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, in this specification, the term “and / or” includes any and all combinations of the associated listed items.

[0057] Firstly, referring to Figure 1 , Figure 2 and Figure 3 As shown, this application embodiment provides an ultrasonic scalpel 10, which includes: a sleeve assembly 11, a gasket 12, a scalpel rod 13, and a vibrating element 14.

[0058] Specifically, the sleeve assembly 11 has a proximal tube segment 11a and a distal tube segment 11b connected to each other. A gasket 12 is disposed at the end of the distal tube segment 11b away from the proximal tube segment 11a. A cutter bar 13 passes through the sleeve assembly 11. A vibrator 14 is disposed at the distal end of the cutter bar 13 and extends out of the sleeve assembly 11. The distal tube segment 11b is movable along a first direction X toward the proximal tube segment 11a, so that the gasket 12 is moved away from the vibrator 14. The first direction X is parallel to the axial direction of the sleeve assembly 11.

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

[0060] The ultrasonic scalpel 10 provided in this embodiment of the application configures the cannula assembly 11 as a connected proximal segment 11a and distal segment 11b, and allows the distal segment 11b to move along the axial direction of the cannula assembly 11 towards the proximal segment 11a. When the distal segment 11b moves towards the proximal segment 11a, it simultaneously moves the pad 12 towards the proximal segment 11a, thereby moving it away from the vibrating element 14. This effectively gives the pad 12 of the ultrasonic scalpel 10 a retraction function. When combined with ultrasonic energy for tissue emulsification, the pad 12 can be retracted, thus protecting the pad 12, reducing damage to the pad 12 from the vibration energy of the scalpel head 13, and improving the service life of the pad 12.

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

[0062] Understandably, the distal tube segment 11b can move along the first direction X, away from the proximal tube segment 11a, so that the pad 12 returns to its initial position. In this way, after emulsification is completed, the pad 12 can be restored from the retracted state to the initial state (extended state), which facilitates surgical procedures.

[0063] In one embodiment, the sheath assembly 11 includes an outer sheath 111 and an inner sheath 112, with the inner sheath 112 passing through the outer sheath 111. The outer sheath 111 includes a proximal outer tube segment 1111 and a distal outer tube segment 1112 that are fitted together. Specifically, in one example, the proximal outer tube segment 1111 is fitted over the distal outer tube segment 1112. In another example, the distal outer tube segment 1112 is fitted over the proximal outer tube segment 1111. The inner sheath 112 includes a proximal inner tube segment 1121 and a distal inner tube segment 1122 that are fitted together. Specifically, in one example, the proximal inner tube segment 1121 is fitted over the distal inner tube segment 1122. In another example, the distal inner tube segment 1122 is fitted over the proximal inner tube segment 1121.

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

[0065] Specifically, the distal outer pipe section 1112 can move along the first direction X toward the direction of approaching the proximal outer pipe section 1111, and the distal inner pipe section 1122 can move synchronously along the first direction X toward the direction of approaching the proximal inner pipe section 1121.

[0066] In this way, the gasket 12 can be retracted by moving the distal outer pipe section 1112 and the distal inner pipe section 1122 at the same time.

[0067] It is understandable that the set of distal inner pipe segment 1122 and distal outer pipe segment 1112 together constitutes distal pipe segment 11b. The set of proximal inner pipe segment 1121 and distal inner pipe segment 1122 together constitutes proximal pipe segment 11a.

[0068] In one embodiment, the distal outer pipe section 1112 is drivenly connected to the distal inner pipe section 1122 so that the distal outer pipe section 1112 drives the distal inner pipe section 1122 to move.

[0069] It should be noted that the transmission connection refers to the following: when the distal outer pipe section 1112 is subjected to an external force driving its movement, the distal outer pipe section 1112 can transmit part of the power to the distal inner pipe section 1122, thereby causing the distal outer pipe section 1112 to drive the distal inner pipe section 1122 to move simultaneously. This configuration allows the operator to drive only the distal outer pipe section 1112 to make both the distal outer pipe section 1112 and the distal inner pipe section 1122 move simultaneously, facilitating operation.

[0070] In one embodiment, an adjustable connector 15 is provided between the distal outer pipe section 1112 and the distal inner pipe section 1122. When the connector 15 is in a first state, the distal outer pipe section 1112 and the distal inner pipe section 1122 are connected by a drive mechanism. When the connector 15 is in a second state, the drive mechanism between the distal outer pipe section 1112 and the distal inner pipe section 1122 is interrupted.

[0071] It should be noted here that "transmission interruption" refers to the interruption of power transmission between the distal outer pipe section 1112 and the distal inner pipe section 1122, that is, when the distal outer pipe section 1112 moves, the distal inner pipe section 1122 does not move.

[0072] Thus, when the gasket 12 needs to be retracted, the connector 15 can be adjusted to the first state, making the distal outer pipe section 1112 and the distal inner pipe section 1122 drively connected. The operator drives the distal outer pipe section 1112 to move along the first direction X toward the proximal inner pipe section 1121, and drives the distal inner pipe section 1122 to move along the first direction X toward the proximal inner pipe section 1121, thereby causing the gasket 12 to retract. When the gasket 12 needs to be extended, the operator drives the distal outer pipe section 1112 to move along the first direction X toward the distance from the proximal inner pipe section 1121, and drives the distal inner pipe section 1122 to move along the first direction X toward the distance from the proximal inner pipe section 1121, thereby causing the gasket 12 to extend.

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

[0074] Specifically, the ultrasonic scalpel 10 also includes a handle 17 and a connecting rod 18, both of which are located at the proximal end of the cannula assembly 11. The connecting rod 18 is connected to the proximal end of the inner cannula 112, and the handle 17 is drively connected to the connecting rod 18. Pressing the handle 17 causes the connecting rod 18 to move the inner cannula 112 closer to the proximal end of the cannula assembly 11, while the outer cannula 111 remains stationary. As the inner cannula 112 moves, it causes the gasket 12 to rotate around the first hinge end, thereby closing the gasket 12.

[0075] In one embodiment, reference Figure 5 and Figure 6 As shown, a first mounting hole 11121 is provided on the inner wall of the distal outer pipe section 1112. A connector 15 is disposed on the side wall of the distal inner pipe section 1122 and is movable along a second direction Y. The second direction Y intersects the first direction X. When the connector 15 is in a first state, a portion of its structure is located within the first mounting hole 11121. When the connector 15 is in a second state, it is located outside the first mounting hole 11121.

[0076] This simplifies the connection between the distal outer tube segment 1112 and the distal inner tube segment 1122, reducing the manufacturing difficulty and cost of the ultrasonic scalpel 10.

[0077] In one example, connector 15 can be a telescopic rod. When the telescopic rod needs to switch to the first state, it extends, and a portion of its structure extends into the first mounting hole 11121. When the telescopic rod needs to switch to the second state, it retracts, and its structure is outside the first mounting hole 11121. It is understood that the telescopic rod can be a hydraulically driven telescopic rod.

[0078] In one embodiment, reference Figure 6 As shown, a second mounting hole 11221 is provided on the side wall of the distal inner tube segment 1122, and the connector 15 is threadedly connected to the second mounting hole 11221. This design simplifies the structure of the connector 15 and reduces the manufacturing cost of the ultrasonic scalpel 10. It is understood that when it is necessary to disconnect the distal outer tube segment 1112 from the distal inner tube segment 1122, the entire structure of the connector 15 can be screwed into the second mounting hole 11221. When it is necessary to connect the distal outer tube segment 1112 to the distal inner tube segment 1122, the connector 15 can be rotated so that a portion of the connector 15 extends into the first mounting hole 11121.

[0079] In one embodiment, the first direction X is perpendicular to the second direction Y. This improves the performance of the transmission connection between the distal outer pipe section 1112 and the distal inner pipe section 1122.

[0080] It is understood that the first direction X and the second direction Y may not be perpendicular. This application does not impose such limitations on the embodiments.

[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. This configuration simplifies the structure of the cannula assembly 11 and reduces the manufacturing cost of the ultrasonic scalpel 10. Thus, when the distal outer tube segment 1112 and the distal inner tube segment 1122 are connected in a transmission manner, rotating the distal outer tube segment 1112 causes the distal inner tube segment 1122 to rotate synchronously, thereby causing the gasket 12 to retract.

[0082] In one embodiment, reference Figure 7As shown, a first pre-tensioning member 161 is provided between the distal outer pipe section 1112 and the proximal outer pipe section 1111. The first pre-tensioning member 161 has a first preset pre-tensioning force. The first pre-tensioning member 161 is configured such that when the relative sliding force between the distal outer pipe section 1112 and the proximal outer pipe section 1111 is greater than the first preset pre-tensioning force, the distal outer pipe section 1112 can move along the first direction X toward the proximal outer pipe section 1111.

[0083] A second pre-tightening member 162 is provided between the distal inner pipe section 1122 and the proximal inner pipe section 1121, and the second pre-tightening member 162 has a second preset pre-tightening force. The second pre-tightening member 162 is configured such that when the relative sliding force between the distal inner pipe section 1122 and the proximal inner pipe section 1121 is greater than the second preset pre-tightening force, the distal inner pipe section 1122 can move along the first direction X toward the proximal inner pipe section 1121.

[0084] Thus, when the gasket 12 retracts, it is necessary to drive the distal outer pipe section 1112 and the distal inner pipe section 1122 simultaneously so that the two move synchronously.

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

[0086] It should be noted here that the fixed end and the movable end of the first elastic element 1611 can be opposite ends of the first elastic element 1611. For example, the first elastic element 1611 can be a spring or a sheet spring.

[0087] In the above configuration, the elastic force of the first elastic element 1611 can push the first rigid element 1612 into the first slot 11122, thereby connecting the distal outer tube section 1112 and the proximal outer tube section 1111 and keeping them relatively fixed. When it is necessary for the distal outer tube section 1112 to move relative to the proximal outer tube section 1111, a first force can be applied to make the distal outer tube section 1112 overcome the "resistance" and move. The first force is greater than the first preload.

[0088] In one embodiment, the second pretensioner 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 engages with the second rigid member 1622.

[0089] It should be noted here that the fixed end and the movable end of the second elastic element 1621 can be opposite ends of the second elastic element 1621. For example, the second elastic element 1621 can be a spring or a sheet spring.

[0090] In the above configuration, the elastic force of the second elastic element 1621 can push the second rigid element 1622 into the second slot 11222, thereby connecting the distal inner tube section 1122 and the proximal inner tube section 1121 and keeping them relatively fixed. When it is necessary for the distal inner tube section 1122 to move relative to the proximal inner tube section 1121, a second force can be applied to make the distal inner tube section 1122 overcome the "resistance" and move. The second force is greater than the second preload.

[0091] In one embodiment, a first slide rail 11123 is provided on the wall of one of the proximal outer pipe section 1111 and the distal outer pipe section 1112, and a first limiting part 11112 that cooperates with the first slide rail 11123 is provided on the wall of the other pipe section.

[0092] By setting the first slide rail 11123 and the first limiting part 11112, the sliding direction of the distal outer pipe section 1112 can be limited. This prevents the distal outer pipe section 1112 from rotating relative to the distal inner pipe section 1122 while sliding.

[0093] In one example, the first slide rail 11123 may be provided on the distal outer pipe section 1112, and the first limiting part 11112 may be provided on the proximal outer pipe section 1111.

[0094] In one embodiment, a second slide rail 11212 is provided on the wall of one of the proximal outer pipe section 1111 and the distal inner pipe section 1122, and a second limiting part 11223 that cooperates with the second slide rail 11212 is provided on the wall of the other pipe section.

[0095] By providing a second slide rail 11212 and a second limiting part 11223, the sliding direction of the distal inner pipe section 1122 can be limited. This prevents the distal inner pipe section 1122 from rotating relative to the proximal outer pipe section 1111 while sliding.

[0096] In one example, the second slide rail 11212 can be disposed on the proximal outer pipe section 1111, and the second limiting part 11223 can be disposed on the distal inner pipe section 1122.

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

[0098] In one embodiment, a second guide groove 11211 may be provided on the proximal inner tube segment 1121, and a second elastic member 1621 may be disposed in the second guide groove 11211. Further, guide surfaces may be provided on both sides of the second slot 11222 along the first direction X, so as to facilitate the distal inner tube segment 1122 to overcome resistance and slide.

[0099] In one embodiment, the distal outer pipe section 1112 is also provided with an opening 11124 to expose part of the structure of the distal inner pipe section 1122, so that it is convenient for the operator to manually drive the distal inner pipe section 1122 to move.

[0100] Secondly, embodiments of this application provide a surgical robot, which includes an ultrasonic scalpel 10 according to any embodiment of the first aspect.

[0101] The surgical robot provided in this application embodiment configures the cannula assembly 11 of the ultrasonic scalpel 10 into a connected proximal segment 11a and a distal segment 11b. The distal segment 11b can move along the axial direction of the cannula assembly 11 towards the proximal segment 11a. When the distal segment 11b moves towards the proximal segment 11a, it simultaneously moves the pad 12 towards the proximal segment 11a, thus moving it away from the vibrating element 14. This effectively gives the pad 12 of the ultrasonic scalpel 10 a retraction function. When combined with ultrasonic energy for tissue emulsification, the pad 12 can be retracted, thus protecting it and reducing damage to the pad 12 from the vibration energy of the scalpel head 13, thereby improving the service life of the pad 12.

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

[0103] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features of the above 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An ultrasonic scalpel, characterized in that, include: The casing assembly (11) has a proximal pipe section (11a) and a distal pipe section (11b) connected to each other; A gasket (12) is disposed at the end of the distal pipe section (11b) away from the proximal pipe section (11a); The tool holder (13) is inserted into the sleeve assembly (11); A vibrating element (14) is disposed at the distal end of the tool bar (13) and extends out of the sleeve assembly (11); The distal tube segment (11b) can move along a first direction toward the proximal tube segment (11a) so that the gasket (12) is away from the vibrating element (14); the first direction is parallel to the axial direction of the sleeve assembly (11); The sleeve assembly (11) includes: The outer casing (111) includes a proximal outer casing section (1111) and a distal outer casing section (1112) fitted together; and An inner sleeve (112) is inserted through the outer sleeve (111); the inner sleeve (112) includes a proximal inner tube section (1121) and a distal inner tube section (1122) that are fitted together. The gasket (12) is connected to the distal outer tube section (1112) and the distal inner tube section (1122); the distal outer tube section (1112) can move along the first direction toward the proximal outer tube section (1111), and the distal inner tube section (1122) can move synchronously along the first direction toward the proximal inner tube section (1121).

2. The ultrasonic scalpel according to claim 1, characterized in that, The distal outer pipe section (1112) is connected to the distal inner pipe section (1122) so that the distal outer pipe section (1112) drives the distal inner pipe section (1122) to move.

3. The ultrasonic scalpel according to claim 2, characterized in that, An adjustable connector (15) is provided between the distal outer pipe section (1112) and the distal inner pipe section (1122); When the connector (15) is in the first state, the distal outer pipe section (1112) and the distal inner pipe section (1122) are connected by transmission; when the connector (15) is in the second state, the transmission between the distal outer pipe section (1112) and the distal inner pipe section (1122) is interrupted.

4. The ultrasonic scalpel according to claim 3, characterized in that, The inner wall of the distal outer pipe section (1112) is provided with a first assembly hole (11121); the connector (15) is provided on the side wall of the distal inner pipe section (1122) and can move along the second direction; the second direction intersects with the first direction; When the connector (15) is in the first state, a portion of the structure of the connector (15) extends into the first assembly hole (11121); when the connector (15) is in the second state, the connector (15) is located outside the first assembly hole (11121).

5. The ultrasonic scalpel according to claim 4, characterized in that, A second assembly hole (11221) is provided on the side wall of the distal inner pipe section (1122), and the connector (15) is threadedly connected to the second assembly hole (11221). And / or, the first direction is perpendicular to the second direction.

6. The ultrasonic scalpel according to any one of claims 2-4, characterized in that, The distal outer pipe section (1112) is threadedly connected to the proximal outer pipe section (1111); The distal inner tube section (1122) is threadedly connected to the proximal inner tube section (1121).

7. The ultrasonic scalpel according to claim 1, characterized in that, A first pre-tightening member (161) is provided between the distal outer pipe section (1112) and the proximal outer pipe section (1111); the first pre-tightening member (161) has a first preset pre-tightening force; The first pre-tightening member (161) is configured such that when the relative sliding force between the distal outer tube section (1112) and the proximal outer tube section (1111) is greater than the first preset pre-tightening force, the distal outer tube section (1112) can move along the first direction toward the proximal outer tube section (1111). A second pre-tightening member (162) is provided between the distal inner pipe section (1122) and the proximal inner pipe section (1121), and the second pre-tightening member (162) has a second preset pre-tightening force; The second pre-tightening member (162) is configured such that when the relative sliding force between the distal inner tube section (1122) and the proximal inner tube section (1121) is greater than the second preset pre-tightening force, the distal inner tube section (1122) can move along the first direction toward the proximal inner tube section (1121).

8. The ultrasonic scalpel according to claim 7, characterized in that, The first pretensioner (161) includes: The first elastic element (1611) has its fixed end disposed on the proximal outer tube section (1111); A first rigid member (1612) is disposed on the movable end of the first elastic member (1611); a first slot (11122) is provided on the distal outer tube section (1112) to engage with the first rigid member (1612); And / or, the second preload (162) includes: The second elastic element (1621) has its fixed end 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 engages with the second rigid member (1622).

9. The ultrasonic scalpel according to claim 7, characterized in that, A first slide rail (11123) is provided on the wall of one of the proximal outer pipe section (1111) and the distal outer pipe section (1112), and a first limiting part (11112) that cooperates with the first slide rail (11123) is provided on the wall of the other. And / or, a second slide rail (11212) is provided on the wall of one of the proximal outer pipe section (1111) and the distal inner pipe section (1122), and a second limiting part (11223) is provided on the wall of the other pipe section to cooperate with the second slide rail (11212).

10. A surgical robot, characterized in that, Includes the ultrasonic scalpel (10) as described in any one of claims 1-9.

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