Ultrasonic surgical tool, assemblable ultrasonic surgical tool assembly and surgical robot

Abstract

The invention relates to the field of medical instruments, and discloses an ultrasonic surgical tool, an assemblable ultrasonic surgical tool assembly and a surgical robot. In the invention, the ultrasonic surgical tool comprises a cutter bar assembly, an ultrasonic transducer and an assembly structure, wherein the cutter bar assembly comprises a cutter bar and a cutter bar shell, the cutter bar shell covers at least one part of the cutter bar, and the ultrasonic transducer is coupled with the near end of the cutter bar so as to output vibration to the cutter bar; the assembling structure is connected with the cutter bar assembly, and at least one part of the assembling structure can extend out of the cutter bar shell so as to disassemble or assemble the ultrasonic operation tool. The output power of the ultrasonic operation tool can be improved, and the flexibility of the ultrasonic operation tool is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of medical instruments, and in particular to an ultrasonic surgical tool, an assembleable ultrasonic surgical tool assembly, and a surgical robot. Background Art

[0002] Laparoscopic surgery has been a growing and widely used surgical procedure in recent years. It offers advantages such as minimal incision, significantly reducing patient recovery time, discomfort, and post-operative side effects. Laparoscopic surgery, particularly single-port laparoscopic surgery, can be optimized through computer remote control.

[0003] The ultrasonic scalpel is a widely used energy-based surgical tool. Its ultrasonic transducer converts incoming high-frequency AC voltage into high-frequency vibrations, which it transmits to the blade tip. The high-frequency vibrations contact the tissue, thereby cutting and coagulating it.

[0004] The ultrasonic scalpels used in laparoscopic surgery by surgical robotic systems often have problems such as insufficient output power, difficulty in assembly, and inconvenient operation, which affect the efficiency of tissue cutting. Summary of the Invention

[0005] In some embodiments, the present disclosure provides an ultrasonic surgical tool comprising:

[0006] A knife bar assembly, the knife bar assembly comprising a knife bar and a knife bar housing, the knife bar housing covering at least a portion of the knife bar;

[0007] an ultrasonic transducer coupled to the proximal end of the knife rod to output vibration to the knife rod; and

[0008] An assembly structure is connected to the knife bar assembly, and at least a portion of the assembly structure can extend out of the knife bar housing to disassemble or assemble the ultrasonic surgical tool.

[0009] In some embodiments, the present disclosure further provides an assembleable ultrasonic surgical tool assembly, comprising:

[0010] An ultrasonic surgical tool as in any one of the embodiments of the present disclosure; and

[0011] An auxiliary surgical tool, detachably connected to the ultrasonic surgical tool, for driving the ultrasonic surgical tool to move, the auxiliary surgical tool comprising:

[0012] Arm; and

[0013] An assembly head is arranged at the distal end of the arm body, and the assembly head is detachably connected to the assembly structure of the ultrasonic surgical tool.

[0014] In some embodiments, the present disclosure further provides a surgical robot comprising:

[0015] an operating table, comprising at least one robotic arm; and

[0016] In the mountable ultrasonic surgical tool assembly as in any one of some embodiments of the present disclosure, the auxiliary surgical tool in the mountable ultrasonic surgical tool assembly is disposed at the distal end of at least one robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly describes the drawings required for describing the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. Those skilled in the art can, without inventive effort, derive other embodiments based on the contents of the embodiments of the present disclosure and these drawings.

[0018] Figures 1A to 1C Schematic diagram showing the structure of an ultrasonic surgical tool in different states according to some embodiments of the present disclosure;

[0019] Figure 2 A schematic structural diagram showing a portion of the structure of an auxiliary surgical tool according to some embodiments of the present disclosure;

[0020] Figure 3 A schematic structural diagram showing an assembleable ultrasonic surgical tool assembly according to some embodiments of the present disclosure is shown;

[0021] Figure 4 A cross-sectional view showing a partial structure of a knife bar and a knife bar housing according to some embodiments of the present disclosure;

[0022] Figure 5 A bottom view showing a partial structure of an ultrasonic surgical tool according to some embodiments of the present disclosure;

[0023] Figure 6 A schematic diagram showing an assembly structure of an ultrasonic surgical tool connected to a knife rod housing according to some embodiments of the present disclosure;

[0024] Figure 7 A schematic diagram showing that the assembly structure of an ultrasonic surgical tool according to some embodiments of the present disclosure is converged to a knife rod housing;

[0025] Figure 8 A structural schematic diagram showing a partial structure of an ultrasonic surgical tool including a clamp driving assembly according to some embodiments of the present disclosure;

[0026] Figure 9 A structural schematic diagram showing a partial structure of an ultrasonic surgical tool including a clamp torsion spring according to some embodiments of the present disclosure;

[0027] Figure 10 A schematic diagram illustrating the relative positions of an ultrasonic surgical tool and an auxiliary surgical tool during an assembly process according to some embodiments of the present disclosure;

[0028] Figure 11A A schematic diagram illustrating the connection between an assembly connector of an ultrasonic surgical tool and a boss of an auxiliary surgical tool according to some embodiments of the present disclosure;

[0029] Figure 11B A side view illustrating the structure of a distal portion of an ultrasonic surgical tool assembly according to some embodiments of the present disclosure;

[0030] Figure 12A A schematic structural diagram of an auxiliary surgical tool according to some embodiments of the present disclosure is shown;

[0031] Figure 12B A schematic structural diagram showing a first continuum structure of an arm according to some embodiments of the present disclosure;

[0032] Figure 13 A schematic structural diagram of a driving device according to some embodiments of the present disclosure is shown;

[0033] Figure 14 A schematic diagram of a surgical robot system according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0034] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0035] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" 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 disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable 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 a communication between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0036] In the present disclosure, the end close to the operator (e.g., a doctor) is defined as the proximal end, the near part, or the rear end, or the rear part, and the end opposite to the proximal end, the near part, or the rear end, or the rear part is defined as the distal end, the far end, or the front end, or the front part. Alternatively, the end close to the operator (e.g., a surgical patient) is defined as the distal end, the far end, or the front end, or the front part, and the end opposite to the distal end, the far end, or the front end, or the front part is defined as the proximal end, the near part, or the rear end, or the rear part. It will be understood by those skilled in the art that the embodiments of the present disclosure can be used for medical instruments or surgical robots, and can also be used for other non-medical devices.

[0037] Some embodiments of the present disclosure provide an ultrasonic surgical tool. Figures 1A to 1C Schematic diagrams of the structures of the ultrasonic surgical tool 100 in different states according to some embodiments of the present disclosure are respectively shown.

[0038] Figure 2 A structural schematic diagram showing a partial structure of an auxiliary surgical tool 200 according to some embodiments of the present disclosure. Figure 3 FIG. 1 is a schematic diagram showing a structure of an assembleable ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure. In some embodiments, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 may be composed as follows: Figure 3The assembled ultrasonic surgical tool assembly 10 is shown. In some embodiments, the assembled ultrasonic surgical tool assembly 10 can be used in a surgical robot system. The surgical robot system can be any suitable surgical robot system, including a laparoscopic surgical robot system. In some embodiments, the auxiliary surgical tool 200 in the assembled ultrasonic surgical tool assembly 10 can be disposed at the distal end of a robotic arm of the surgical robot system (e.g., a positioning arm of the surgical robot system). The auxiliary surgical tool 200 can be moved under user control (e.g., teleoperation).

[0039] like Figures 1A to 1C and Figure 3 As shown, the ultrasonic surgical tool 100 may include a knife bar assembly 110, an ultrasonic transducer 120, and an assembly structure 130. The knife bar assembly 110 may include a knife bar 111 and a knife bar housing 112, and the knife bar housing 112 may cover at least a portion of the knife bar 111. It will be understood by those skilled in the art that Figures 1A to 1C Only a portion of the distal end of the shank 111 and the shank housing 112 is shown. Figure 3 As shown, the ultrasonic transducer 120 can be coupled to the proximal end of the knife rod 111 to output vibration to the knife rod 111.

[0040] Figure 4 1 shows a cross-sectional view of a portion of the structure of the knife bar 111 and the knife bar housing 112 according to some embodiments of the present disclosure. Figure 4 As shown, the blade rod 111 of the ultrasonic surgical tool 100 may include a proximal section 1111 and a distal section 1112. The proximal section 1111 may be coupled to the ultrasonic transducer 120 at the proximal end to receive the vibration transmitted by the ultrasonic transducer 120. In some embodiments, the blade rod 111 may include at least one section with a reduced transverse dimension to increase the amplitude of the vibration transmitted in the blade rod 111, thereby improving the efficiency of tissue cutting or coagulation. Figure 4 As shown, the transverse dimension of the distal segment 1112 is smaller than that of the proximal segment 1111 to increase the amplitude of the vibration transmitted in the distal segment 1112. The distal end of the distal segment 1112 can extend out of the cutter bar housing 112 and form a cutter head structure.

[0041] In the ultrasonic surgical tool 100, the vibrations output by the ultrasonic transducer 120 are transmitted via the proximal end section 1111 of the blade shaft 111 to the distal end section 1112. The reduced lateral dimensions of the distal end section 1112 effectively amplify the amplitude of the vibrations transmitted from the blade shaft 111. During surgery, the blade structure formed at the distal end of the distal end section 1112 contacts the patient's tissue to perform surgical operations such as cutting and coagulation.

[0042] Those skilled in the art will appreciate that the shape of the shank 111 is not limited to Figure 4The shape shown can be a tool bar with an exponential curve, a rounded step or a slope on the longitudinal cross-section edge, or a tool bar with a suitable shape such as a cone or a step.

[0043] Figure 5 FIG2 is a bottom view showing a partial structure of an ultrasonic surgical tool 100 according to some embodiments of the present disclosure. In some embodiments, the distal end section 1112 of the knife bar 111 may be curved along a curved arc (eg, Figure 5 The distal end 1112 of the knife shaft 111 can be extended to facilitate surgical procedures performed using the knife shaft 111. In some embodiments, the distal end 1112 of the knife shaft 111 can include at least one cutting edge structure. The cutting edge structure helps enhance the mechanical cutting effect of the knife head structure on biological tissue, increases the cutting speed of the surgical tool, and also has the advantage of low manufacturing costs.

[0044] like Figure 3 As shown, the ultrasonic transducer 120 may include a front cover plate 121, a rear cover plate 122, and an ultrasonic transducer section 123. The front cover plate 121 is located at the distal end of the ultrasonic transducer 120, and the rear cover plate 122 is located at the proximal end of the ultrasonic transducer 120. The ultrasonic transducer section 123 may be disposed between the front cover plate 121 and the rear cover plate 122. The ultrasonic transducer section 123 may include a plurality of piezoelectric ceramic sheets and a plurality of electrode sheets (not shown in the figure). The plurality of electrode sheets may be disposed between the front cover plate 121 and the ultrasonic transducer section 123, between the plurality of piezoelectric ceramic sheets, and between the ultrasonic transducer section 123 and the rear cover plate 122. In some embodiments, the plurality of electrode sheets may be copper electrode sheets.

[0045] In some embodiments, the ultrasonic transducer 120 may further include a plurality of wires, the distal ends of the plurality of wires being respectively connected to a plurality of electrode sheets. The plurality of wires may be constrained into a wire bundle at the proximal end of the ultrasonic transducer 120. The proximal end of the wire bundle may be connected to a power source to transmit energy to the ultrasonic surgical tool 100. In some embodiments, the ultrasonic transducer 120 may further include an interface (not shown in the figure), which is provided at the proximal end of the plurality of wires, and the plurality of wires may be connected to a power source through the interface, thereby facilitating the convenience of connecting the ultrasonic surgical tool 100 to the power source and facilitating the movement and adjustment of the position of the ultrasonic surgical tool 100.

[0046] A power source applies a high-frequency voltage to the multiple electrode sheets via a wire bundle. Due to the inverse piezoelectric effect, the multiple piezoelectric ceramic sheets vibrate at high frequencies along their thickness, which are then transmitted to the blade rod 111. The distal end of the high-frequency vibrating blade rod 111 can cut or coagulate biological tissue upon contact. The multiple piezoelectric ceramic sheets and the multiple electrode sheets may include central through-holes for passing multiple wires.

[0047] In some embodiments, the front cover plate 121 can be made of a low acoustic impedance material such as titanium alloy or aluminum alloy to achieve a higher output amplitude; the rear cover plate 122 can be made of a high acoustic impedance material such as stainless steel or tungsten alloy to reduce the amplitude of the rear end surface of the ultrasonic transducer 120. In some embodiments, the ultrasonic transducer 120 can further include a transducer housing (not shown) that is mounted on the front cover plate 121, the ultrasonic transducer 123, and the rear cover plate 122.

[0048] During surgery, a portion of the distal end of the blade assembly 110 of the ultrasonic surgical tool 100 extends into the patient's body, while the ultrasonic transducer 120 can be located outside the patient's body. Therefore, the ultrasonic transducer 120 can be set to any appropriate volume as needed, thereby improving the efficiency of the ultrasonic surgical tool 100 in performing surgical operations.

[0049] The assembly structure 130 may be connected to the knife bar assembly 110 . Figure 6 FIG. 1 is a schematic diagram showing an assembly structure 130 of an ultrasonic surgical tool 100 connected to a knife bar housing 111 according to some embodiments of the present disclosure. Figure 6 As shown, in some embodiments, the assembly structure 130 may include a knife bar connector 131, and the knife bar connector 131 may be connected to the knife bar assembly 110 to enable the assembly structure 130 to be connected to the knife bar assembly 110. In some embodiments, as shown Figure 1C and Figure 6 As shown, the shank housing 112 may include a shank outer housing 1121 and a shank inner housing 1122. The shank inner housing 1122 may cover at least a portion of the shank 111, and the shank outer housing 1121 may cover at least a portion of the shank inner housing. Figure 6 As shown, the blade rod connector 131 can be connected to the blade rod inner shell 1122. In some embodiments, as shown in FIG. Figure 6 As shown, the shank connector 131 may be annular. The shank connector 131 may be sleeved on the shank inner shell 1122 to connect with the shank inner shell 1122. In some embodiments, the shank connector 131 may be fixedly connected to the shank inner shell 1122 to fix the position of the assembly structure 130 so as to facilitate assembly or disassembly, for example, by any suitable means such as bonding, welding, thermoplasticization, etc. A person skilled in the art will appreciate that the shape of the shank connector 131 is not limited to the following: Figure 6 The shape shown can also be any suitable shape, such as U-shape, arc shape, etc.

[0050] like Figure 1CAs shown, at least a portion of the assembly structure 130 can extend out of the knife bar housing 112 (for example, the knife bar outer housing 1121) to disassemble or assemble the ultrasonic surgical tool 100, for example, to assemble the ultrasonic surgical tool 100 with the auxiliary surgical tool 200 (see Figure 2 ) for disassembly or assembly.

[0051] In some embodiments, as Figure 1C or Figure 6 As shown, the assembly structure 130 may include an assembly connector 132, which can extend out of the knife bar housing 112 to disassemble or assemble the ultrasonic surgical tool 100. Figure 1C or Figure 6 As shown, the assembly connector 132 may include a proximal connection portion 1321 and a distal assembly portion 1322. The proximal end of the proximal connection portion 1321 may be connected to the knife bar connector 131. The distal assembly portion 1322 may be provided at the distal end of the proximal connection portion 1321 for assembling or disassembling the ultrasonic surgical tool 100.

[0052] In some embodiments, as Figure 1C or Figure 6 As shown, the distal assembly portion 1322 may include a first slot structure C1 and a first connecting arm B1 and a second connecting arm B2. The first connecting arm B1 and the second connecting arm B2 may be disposed on opposite sides of the first slot structure C1. In the assembled state, the first slot structure C1 may engage with at least a portion of the auxiliary surgical tool 200, and the first connecting arm B1 and the second connecting arm B2 may be connected to the auxiliary surgical tool 200. In other embodiments, the distal assembly portion 1322 may include a retaining ring, which may be connected to the auxiliary surgical tool 200 in the assembled state, for example, by being positioned over or retaining at least a portion of the auxiliary surgical tool 200. In other embodiments, the distal assembly portion 1322 may include at least one connecting arm, which may extend into at least a portion of the auxiliary surgical tool 200, such as at least one slot structure of the auxiliary surgical tool 200, in the assembled state. Those skilled in the art will appreciate that the structure of the distal assembly portion 1322 is not limited to the aforementioned examples and may be any suitable structure.

[0053] In some embodiments, as Figure 1C As shown, the blade rod housing 112 may include a blade rod outer shell 1121, and the blade rod outer shell 1121 can cover at least a portion of the blade rod 111. Figure 1C As shown, the outer shell 1121 of the knife bar may include an outer shell distal end section 1121a located at the distal end and an outer shell proximal end section 1121b located at the proximal end. Figure 1CAs shown, the assembly connector 132 can extend out of the outer shell proximal section 1121b to assemble or disassemble the ultrasonic surgical tool 100. Figure 1C As shown, when the assembly connector 132 extends out of the proximal segment 1121b of the outer shell, the first groove structure C1, the first connecting arm B1 and the second connecting arm B2 of the proximal assembly portion 1322 are oriented toward the circumferential outside of the knife rod assembly 120, thereby facilitating the assembly or disassembly of the ultrasonic surgical tool 100.

[0054] In some embodiments, the outer shell distal end section 1121a can be fixedly connected to the distal end of the inner shell 1122 of the shank, for example, by a suitable method such as snap-fitting or welding. In some embodiments, at least a portion of the outer shell distal end section 1121a can be fixedly connected to at least a portion of the inner shell 1122 of the shank, thereby achieving a fixed connection between the two. In some embodiments, as Figure 4 As shown, the knife rod 111 may further include a flange structure 1113 disposed between the proximal section 1111 and the distal section 1112. The flange structure 1113 may engage with the knife rod inner shell 1122, thereby securing the knife rod 111 within the knife rod inner shell 1122. In some embodiments, the proximal section 1111, the distal section 1112, and the flange structure 1113 included in the knife rod 111 may be integrally formed.

[0055] In some embodiments, the assembly structure 130 may further include an assembly torsion spring 133 to enable the assembly connector 132 to extend out of the shank housing 112. Figure 6 As shown, the assembly torsion spring 133 can be provided between the knife bar connector 131 and the assembly connector 132 . The assembly torsion spring 133 can be used to apply a torque to the assembly connector 132 to cause the assembly connector 132 to tend to extend out of the knife bar housing 112 .

[0056] In some embodiments, the mounting connector 132 can be retracted within the arbor housing 112 . Figure 7 FIG. 1 is a schematic diagram showing an ultrasonic surgical tool assembly connector 132 retracted into a knife bar housing 112 according to some embodiments of the present disclosure. Figure 5 or Figure 7As shown, the assembly connector 132 is retractable into the proximal end section 1121b of the outer housing. When the ultrasonic surgical tool 100 is unassembled, the assembly connector 132 is retractable into the shank housing 112, facilitating insertion and removal of the ultrasonic surgical tool 100 from a patient, such as through an opening. When the ultrasonic surgical tool 100 is assembled (e.g., with the auxiliary surgical tool 200), the assembly connector 132 is retractable into the shank housing 112, allowing at least a portion of the auxiliary surgical tool 200 to be retracted into the shank housing 112 of the ultrasonic surgical tool 100, thereby enhancing the stability of the connection between the two.

[0057] In some embodiments, the outer shell proximal section 1121b can cover the proximal connection portion 1321 of the assembly connector 132 (see Figure 6 ) so that the assembly connector 132 converges to the shank housing 112. In some embodiments, as Figure 1C As shown, the outer shell proximal section 1121b may include a second groove structure C2. Figure 1C As shown, the second groove structure C2 can be located at the distal end of the outer shell proximal section 1121b. Figure 5 or Figure 7 As shown, the distal end assembly portion 1322 of the assembly connector 132 can converge to the second groove structure C2. Figure 1C As shown, the assembly connector 132 can extend from the second slot structure C2 to facilitate assembly or disassembly.

[0058] like Figure 5 or Figure 7 As shown, in some embodiments, the outer shell proximal segment 1121b can be close to the outer shell distal segment 1121a. Those skilled in the art will understand that in this case, the distal end of the outer shell proximal segment 1121b can cover the proximal connection portion 1321 of the assembly connector 132, and the assembly connector 132 can converge to the outer shell proximal segment 1121b (for example, the second groove structure C2 of the outer shell proximal segment 1121b).

[0059] like Figure 1C As shown, in some embodiments, the outer housing proximal section 1121b can be away from the outer housing distal section 1121a. In this case, under the action of the assembly torsion spring 133, the assembly connector 132 (e.g., the distal assembly portion 1322) extends out of the outer housing proximal section 1121b, thereby enabling the ultrasonic surgical tool 100 to be disassembled or assembled.

[0060] In some embodiments, as Figure 3As shown, the ultrasonic surgical tool 100 may further include a knife bar housing driving component 140, which can drive the outer shell proximal end section 1121b to move closer to or away from the outer shell proximal end section 1121a. Figure 3 As shown, the blade housing drive assembly 140 can be disposed at the proximal end of the outer housing proximal section 1121b and can be used to drive the outer housing proximal section 1121b toward or away from the outer housing distal section 1121a. Figure 5 or Figure 7 In the embodiment, the outer shell proximal section 1121b is close to the outer shell distal section 1121a; Figure 1C The middle outer shell proximal section 1121b is distal to the outer shell distal section 1121a.

[0061] In some embodiments, as Figure 3 As shown, the arbor housing drive assembly 140 may include a fixed member 141, a movable member 142, and an elastic member 143. The fixed member 141 is located at the proximal end of the arbor housing drive assembly 140, the movable member 142 is located at the distal end of the arbor housing drive assembly 140, and the elastic member 143 is disposed between the fixed member 141 and the movable member 142.

[0062] like Figure 3 As shown, the fixing member 141 can be fixedly connected to the proximal end of the inner shell 1122 of the blade rod to fix the position of the fixing member 141, for example, by welding, bonding, thermoforming, or any other suitable method. In some embodiments, the fixing member 141 can be any suitable structure, such as an annular structure or a plate-like structure with a central through hole, based on which the fixing member 141 can be mounted on the inner shell 1122 of the blade rod. In some embodiments, the fixing member 141 can be integrated or integrally formed with the inner shell 1122 of the blade rod.

[0063] The movable member 142 can be connected to the proximal end of the outer shell proximal section 1121b, for example, by fixed connection, abutment, etc. In some embodiments, the movable member 142 can be fixedly connected to the outer shell proximal section 1121b by any suitable means, such as welding or gluing. In some embodiments, the movable member 142 can be any suitable structure, such as an annular structure or a plate-like structure with a central through hole, and can be sleeved on the outer shell proximal section 1121b. In some embodiments, the movable member 142 can be integrated or integrally formed with the outer shell proximal section 1121b.

[0064] The elastic member 143 can be used to apply a force to the outer shell proximal section 1121b to move the outer shell proximal section 1121b closer to the outer shell distal section 1121a. The elastic member 143 can be any suitable elastic element such as a coil spring, a gas spring, or a rubber spring.

[0065] During surgery, with the proximal end section 1121b of the blade rod housing close to the distal end section 1121a, the distal end of the ultrasonic surgical tool 100 is inserted into the patient's body, while the blade rod housing drive assembly 140 is located outside the patient's body. To assemble or disassemble the ultrasonic surgical tool 100, the user can operate the blade rod housing drive assembly 140, which is located outside the patient's body, to slide the proximal end section 1121b of the outer housing away from the distal end section 1121a, causing the assembly structure (e.g., the assembly connector 132) to extend out of the proximal end section 1121b of the outer housing. This allows the ultrasonic surgical tool 100 to be assembled or disassembled at the distal end of the ultrasonic surgical tool 100 located inside the body.

[0066] Since the elastic member 143 of the arbor housing driving assembly 140 applies a force to the outer housing proximal section 1121b to make the outer housing proximal section 1121b close to the outer housing distal section 1121a, when no external force is applied, the outer housing proximal section 1121b is close to the outer housing distal section 1121a, for example Figure 5 or Figure 6 When operating the arbor housing drive assembly 140, the user can pull the movable member 142 outside the patient's body toward the fixed member 141. The movable member 142 moves distally and drives the outer housing proximal section 1121b, which is fixedly connected to the movable member 142, away from the outer housing distal section 1121a. This allows the assembly connector 132 (e.g., the distal assembly portion 1322) to extend out of the outer housing proximal section 1121b, allowing the ultrasonic surgical tool 100 to be assembled or disassembled. In some embodiments, the user can operate the arbor housing drive assembly 140 directly or through an auxiliary device such as a handle.

[0067] Under the user's aforementioned operation, the assembly connector 132 (e.g., the distal assembly portion 1322) can extend from the second slot structure C2 of the proximal section 1121b of the outer shell. The first connecting arm B1, the second connecting arm B2, and the first slot structure C1 of the assembly connector 132 all face the circumferential outer side of the ultrasonic surgical tool 100. Based on this, the ultrasonic surgical tool 100 can be assembled or disassembled through the distally open first slot structure C1. For example, at least a portion of the auxiliary surgical tool 200 can be engaged with the first slot structure C1 through the distal open side of the first slot structure C1 to achieve assembly of the ultrasonic surgical tool 100 and the auxiliary surgical tool 200; or at least a portion of the auxiliary surgical tool 200 can be removed from the open side of the first slot structure C1 to achieve disassembly of the ultrasonic surgical tool 100.

[0068] When the arbor housing drive assembly 140 is operated, the proximal end section 1121b of the outer housing moves relative to the arbor inner housing 1122. In some embodiments, the stability of the arbor outer housing can be enhanced through various suitable methods to prevent the arbor inner housing 1122 from swaying within the arbor outer housing or even colliding with the arbor outer housing. In some embodiments, the proximal end section 1121b of the outer housing can further include multiple annular bosses (not shown), which can be evenly arranged on the inner wall of the proximal end section 1121b of the outer housing. The multiple annular bosses can abut against the arbor inner housing 1122. In some embodiments, the inner diameters of the multiple annular bosses can be equal. Based on this, when the arbor outer housing moves back and forth, the arbor inner housing 1122 can move within the channel formed by the inner walls of the multiple annular bosses, preventing the arbor inner housing 1122 from swaying within the arbor outer housing.

[0069] In some embodiments, the inner housing 1122 of the blade bar can include a limiting slot (not shown) that can extend along the length of the inner housing 1122. For example, the limiting slot can be provided at the proximal end of the inner housing 1122. The blade bar housing can also include a limiting pin (not shown), one end of which can be fixedly connected to the proximal end section 1121b of the outer housing, and the other end of which can be slidably connected to the limiting slot. The limiting pin fixedly connected to the proximal end section 1121b of the outer housing and the limiting slot cooperating with the limiting pin can limit the movable range of the proximal end section 1121b of the outer housing, for example, by limiting the movable distance of the proximal end section 1121b of the outer housing to no greater than the length of the slot. This can also help prevent the proximal end section 1121b of the outer housing from twisting during movement, thereby helping to improve the stability of the movement of the proximal end section 1121b of the outer housing. Those skilled in the art will appreciate that the limiting pin may include any suitable structure such as a columnar component, a columnar protrusion, a bump, a convex strip, etc.

[0070] In some embodiments, as Figure 1A 、 Figure 1B As shown, the ultrasonic surgical tool 100 may further include a clamp assembly 150, which may be disposed at the distal end of the ultrasonic surgical tool 100. Figure 1A 、 Figure 1B As shown, the clamp assembly 150 may include a connecting portion 151 and a clamp body 152. The connecting portion 151 may be hinged to the distal end of the outer shell distal segment 1121a, for example, as shown in FIG. Figure 1A or Figure 1B Point A is shown as being hinged to the distal end of the outer shell distal segment 1121a. Figure 1A 、 Figure 1BAs shown, the forceps body 152 can be disposed at the distal end of the connecting portion 151. The forceps body 152 can be fixedly connected to the connecting portion 151. In some embodiments, the forceps body 152 and the connecting portion 151 can be integrally formed. During surgery, the forceps body 152 and the blade structure formed at the distal end of the knife rod 111 can form a clamp to clamp the patient's tissue. In addition, the blade structure formed at the distal end of the forceps body 152 and the knife rod 111 can form a bipolar electrosurgical tool, which can perform a coagulation operation on the biological tissue when the forceps body 152 and the distal end of the knife rod 111 clamp the biological tissue.

[0071] In some embodiments, the ultrasonic surgical tool 100 may further include a clamp drive assembly for driving the clamp body 152 to open and close, so that the clamp formed by the clamp body 152 and the distal end of the knife rod 111 can open and close. In some embodiments, the clamp drive assembly can be connected to the proximal end of the connecting portion 151 of the clamp assembly 150. In some embodiments, the clamp drive assembly and the connecting portion 151 can be connected by various suitable mutually cooperating structures, so that when the clamp drive assembly moves, the connecting portion 151 connected to the clamp drive assembly can be driven to move, and then the clamp body 152 fixedly connected to the connecting portion 151 can be driven to open and close.

[0072] In some embodiments, as Figure 6 or Figure 7 As shown, the connecting portion 151 of the clamp assembly 150 may include a first slide groove 1511 and a second slide groove 1512, wherein the first slide groove 1511 is arranged on a first side of the connecting portion 151, and the second slide groove 1512 is arranged on a second side of the connecting portion 151. Figure 6 As shown, the first sliding groove 1511 and the second sliding groove 1512 are arranged opposite to each other. Figure 8 FIG2 is a schematic structural diagram showing a partial structure of an ultrasonic surgical tool including a clamp drive assembly 160 according to some embodiments of the present disclosure. Figure 8 As shown, the clamp drive assembly 160 may include a first pin structure 161, and the first pin structure 161 may be disposed at the distal end of the clamp drive assembly 160. Figure 6 or Figure 7 As shown, both ends of the first pin structure 161 can be slidably connected to the first sliding groove 1511 and the second sliding groove 1512 respectively.

[0073] In some embodiments, as Figure 8As shown, the clamp drive assembly 160 may include a longitudinal portion 163 extending along the length direction of the ultrasonic surgical tool 100 and a transverse portion 162 distributed perpendicularly to the longitudinal portion 163. The transverse portion 162 may be located at the proximal end of the clamp drive assembly 160, and the longitudinal portion 163 may be located at the distal end of the clamp drive assembly 160. The transverse portion 162 and the longitudinal portion 163 are fixedly connected. In some embodiments, the transverse portion 162 and the longitudinal portion 163 may be integrally formed. In some embodiments, the axis of the transverse cross-section of the longitudinal portion 163 may be an arc line to reduce contact with the knife bar assembly 110 (e.g., the knife bar inner shell 1122) during movement. In some embodiments, as Figure 8 As shown, the transverse portion 162 can be annular and can be sleeved on the inner shell 1122 of the knife bar. In some embodiments, the transverse portion 162 can include two oppositely disposed portions, which can be respectively connected to the proximal ends of the longitudinal portion 163 of the clamp drive assembly 160.

[0074] In some embodiments, as Figure 8 As shown, the clamp drive assembly 160 may further include a boss 164 disposed at the distal end of the longitudinal portion 163. The boss 164 may protrude upward from the upper surface of the longitudinal portion 163 and extend transversely along the longitudinal portion 163. A first pin structure 161 may pass through the boss 164 in the transverse direction, with both ends extending out of the boss 164 to connect with the first and second slide grooves 1511, 1512 of the connecting portion 151 of the clamp assembly 150. In some embodiments, the first pin structure 161 may include two short pins disposed on either side of the boss 164, the two short pins being slidably connected to the first and second slide grooves 1511, 1512, respectively. In some embodiments, as an alternative to the boss 164, the distal end of the clamp drive assembly 160 may include two raised ear structures on either side. The first pin structure 161 may include two portions disposed on the ear structures, respectively connecting with the first and second slide grooves 1511, 1512.

[0075] In some embodiments, as Figure 8 As shown, the clamp drive assembly 160 can cover at least a portion of the distal end of the inner shell 1122 of the cutter bar. For example, the transverse portion 162 and the longitudinal portion 163 of the clamp drive assembly 160 can each cover a portion of the inner shell 1122 of the cutter bar. Figure 6 or Figure 7 As shown, the outer housing distal segment 1121a can cover at least a portion of the clamp drive assembly 160. In some embodiments, as shown in FIG. Figure 6 or Figure 7 As shown, the outer shell distal segment 1121a may include a third groove structure C3. Figure 6 or Figure 7As shown, the third slot structure C3 exposes at least a portion of the clamp drive assembly 160. Based on this, the clamp drive assembly 160 can be moved by the portion of the clamp drive assembly 160 exposed through the third slot structure C3 of the outer shell distal section 1121a, thereby driving the clamp body 152 to open and close.

[0076] In some embodiments, as Figure 6 or Figure 7 As shown, the outer shell distal section 1121a may further include a third slide groove 11213 and a fourth slide groove (not shown in the figure) arranged relatively thereto. The third slide groove 11213 and the fourth slide groove may both extend along the length direction of the outer shell distal section 1121a. Figures 6 to 8 As shown, the clamp drive assembly 160 may further include at least one first short pin structure or first protrusion structure 1621 disposed on a first side of the proximal end of the clamp drive assembly 160 (eg, the lateral portion 162 of the clamp drive assembly 160). Figure 6 or Figure 7 As shown, the first short pin structure or the first protrusion structure 1621 can be slidably connected to the third sliding groove 11213 of the distal end section 1121a of the outer shell.

[0077] The clamp drive assembly 160 may further include at least one second short pin structure or second protrusion structure (not shown) disposed on a second side of the proximal end of the clamp drive assembly 160 (e.g., the transverse portion 162 of the clamp drive assembly 160). The at least one second short pin structure or second protrusion structure may be disposed opposite the at least one short pin structure or first protrusion structure 1621. The at least one second short pin structure or second protrusion structure may be slidably connected to the fourth slide groove. Based on this, the clamp drive assembly 160 may slide relative to the fixed distal end section 1121a of the outer shell along the third slide groove 11213 and the fourth slide groove.

[0078] In some embodiments, as Figures 6 to 8 As shown, the at least one first short pin structure 1521 may include two short pin structures arranged in parallel along the axis to improve the sliding stability of the clamp driving assembly 160. The at least one second short pin structure may also include two short pin structures arranged in parallel along the axis.

[0079] In some embodiments, as Figure 1C 、 Figure 6 or Figure 7As shown, the clamp drive assembly 160 may further include a second pin structure 165. The second pin structure 165 may be disposed at the proximal end of the clamp drive assembly 160 (e.g., the transverse portion 162 of the clamp drive assembly 160). In some embodiments, the second pin structure 165 may be fixedly coupled to the transverse portion 162, such as by welding or other suitable means. The second pin structure 165 may be configured to receive a drive for the clamp assembly 150.

[0080] In some embodiments, as Figures 5 to 7 As shown, the clamp driving assembly 160 may further include a fourth slot structure C4, which may be provided at the proximal end of the clamp driving assembly 160, for example, at the lower portion of the transverse portion 162 of the clamp driving assembly 160. Figures 5 to 7 As shown, the fourth slot structure C4 can expose at least a portion of the second pin structure 165. Based on this, a driving force (e.g., a driving force along the length direction of the ultrasonic surgical tool 100) can be applied to the second pin structure 165 through the portion of the second pin structure 165 exposed through the fourth slot structure C4. When the second pin structure 165 receives the driving force, it drives the clamp driving assembly 160 to slide along the length direction, thereby driving the clamp assembly 150 connected to the clamp driving assembly 160 to open and close.

[0081] In some embodiments, the clamp assembly 150 may further include a clamp torsion spring. Figure 9 FIG. 1 is a structural diagram showing a partial structure of an ultrasonic surgical tool 100 including a clamp torsion spring 153 according to some embodiments of the present disclosure. Figure 9 As shown, the clamp torsion spring 153 can be provided between the distal end section 1121a of the outer shell and the clamp body 152. The clamp torsion spring 153 is used to apply pressure to the clamp body 152 to make the clamp body 152 tend to close (for example, in a position such as Figure 9 Based on this, when the clamp drive assembly 160 is not subjected to external force, the clamp body 152 remains closed, making it easy for the ultrasonic surgical tool 100 to enter and exit the patient's body or move within the patient's body.

[0082] Based on the clamp torsion spring 153, when the clamp driving assembly 160 is not subjected to external force, the second pin structure 165 is located as shown in FIG. Figure 6 or Figure 7 The first short pin structure or the first protrusion structure 1621 is located at the proximal end of the third groove structure C3 shown in FIG. Figure 1A 、 Figure 6 or Figure 7 The second short pin structure or the second protrusion structure is located at the proximal end of the fourth chute; both ends of the first pin structure 161 are located at the proximal end of the third chute 11213 as shown. Figure 1A 、 Figure 6 or Figure 7 The proximal ends of the first sliding groove 1511 and the second sliding groove 1512 are shown.

[0083] When the clamp driving assembly 160 is pushed by an external force, for example, the second pin structure 165 is pushed by an external force, for example, Figure 5 The force in the direction indicated by the arrow 502 is applied, and the second pin structure 165 moves distally along the length direction of the ultrasonic surgical tool 100, and drives the clamp drive assembly 160 to move distally. The first short pin structure or the first protrusion structure 1621 of the clamp drive assembly 160 can move to a position such as Figure 1B The distal end position of the third chute 11213 shown in FIG. 112, the second short pin structure or the second protrusion structure can be moved to the distal end position of the fourth chute; the first end of the first pin structure 161 can be moved to the distal end position of the third chute 11213 shown in FIG. Figure 1B As shown in FIG1 , the first pin structure 161 moves to the distal end of the first slide groove 1511, and the second end of the first pin structure 161 can move to the distal end of the second slide groove. When the first pin structure 161 moves to the distal end, it pushes the fixedly connected connecting portion 151 and the clamp body 152 to rotate clockwise around the hinge point A. The clamp body 152 is as shown in FIG1 . Figure 1A The closed state shown is rotated as Figure 1B Shown in the open state.

[0084] In some embodiments, the clamp assembly 150 may further include a clamp pad (not shown), which may be disposed on the clamp body 152 and connected to the clamp body 152 via, for example, a T-slot. In some embodiments, the clamp pad may be made of a soft material such as PTFE (polytetrafluoroethylene) or PEEK (polyetheretherketone), thereby preventing damage to the high-speed vibrating knife rod 111 when the clamp body 152 is fully closed (fitting against the distal end of the knife rod 111).

[0085] Some embodiments of the present disclosure also provide an installable ultrasonic surgical tool assembly. Figure 3 FIG. 1 is a schematic diagram showing the structure of an assembleable ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure. Figure 3 As shown, the assembleable ultrasonic surgical tool assembly 10 may include an ultrasonic surgical tool 100 as in any one of the embodiments of the present disclosure and an auxiliary surgical tool 200. The auxiliary surgical tool 200 may be detachably connected to the ultrasonic surgical tool 100. It will be understood by those skilled in the art that Figure 3 The auxiliary surgical tool 200 is shown as being connected to the ultrasonic surgical tool 100. The auxiliary surgical tool 200 can be used to drive the ultrasonic surgical tool 100 to move. Figure 3As shown, the auxiliary surgical tool 200 may include an arm body 210 and an assembly head 220. The assembly head 220 may be disposed at the distal end of the arm body 210 and may be detachably connected to the assembly structure 130 of the ultrasonic surgical tool 100. After the auxiliary surgical tool 200 is connected to the ultrasonic surgical tool 100, the auxiliary surgical tool 200 can drive the ultrasonic surgical tool 100 to move within the patient's body.

[0086] In some embodiments, as Figure 2 As shown, the assembly head 220 of the auxiliary surgical tool 200 may include a main body 221 and a boss 222 disposed above the main body 221. Figure 2 As shown, the boss 222 may include a first track 2221 and a second track 2222 that are disposed opposite to each other. Figure 2 As shown, the first track 2221 and the second track 2222 can be provided on opposite sides of the boss 222. The first track 2221 and the second track 2222 can be used to be detachably connected to the assembly structure 130 of the ultrasonic surgical tool 100.

[0087] In the assembled state, the first rail 2221 and the second rail 2222 can be connected to the assembly connector 132 of the assembly structure 130 of the ultrasonic surgical tool 100. For example, the first rail 2221 can be connected to the first connecting arm B1, and the second rail 2222 can be connected to the second connecting arm B2. The portion between the first rail 2221 and the second rail 2222 (for example, the columnar portion below the boss 222) can extend into the first groove structure C1. Through the boss 222 of the auxiliary surgical tool 200 and the assembly structure 130 of the ultrasonic surgical tool 100, the auxiliary surgical tool 200 and the ultrasonic surgical tool 100 can establish a rigid connection, which facilitates the auxiliary surgical tool 200 to drive the ultrasonic surgical tool 100 to move within the patient's body.

[0088] In some embodiments, as Figure 2 As shown, in the auxiliary surgical tool 200, the main body 221 of the assembly head 220 may include a sliding space 2211, and a fifth sliding groove 2212 and a sixth sliding groove 2213 located on opposite sides of the sliding space 2211. Figure 2 As shown, the assembly head 220 may further include a slider 223. The slider 223 may be slidably connected to the fifth slide groove 2212 and the sixth slide groove 2213 via at least one pin or protrusion 2231. In some embodiments, 2231 may be a pin structure that passes through the lower portion of the slider 223 in the transverse direction, and the two ends of the pin structure 2231 are slidably connected to the fifth slide groove 2212 and the sixth slide groove 2213, respectively. In some embodiments, as Figure 2As shown, the pin structure 2231 may include two pins that slide in the fifth and sixth slide grooves 2212 and 2213 to enhance the sliding stability of the slider 223. In some embodiments, 2231 may be raised structures disposed on opposite sides of the lower portion of the slider 223, with the raised structures 2231 slidably connected to the fifth and sixth slide grooves 2212 and 2213, respectively. Those skilled in the art will appreciate that when the slider 223 moves in the direction constrained by the fifth and sixth slide grooves 2212 and 2213, the slider 223 can move within the sliding space 2211.

[0089] like Figure 2 As shown, the slider 223 may include at least one slot structure 2232 disposed on its upper portion. The upper portion of the at least one slot structure 2232 extends out of the sliding space 2211. The at least one slot structure 2232 can be used to connect to the ultrasonic surgical tool 100, for example, by connecting to the ultrasonic surgical tool 100 (e.g., the second pin structure 165 of the ultrasonic surgical tool 100) via the portion of the at least one slot structure 2232 extending out of the sliding space 2211. Based on this, the slider 223 of the auxiliary surgical tool 200 can be driven to move along the fifth and sixth slots 2212, 2213, causing the slider 223 to drive the second pin structure 165 of the ultrasonic surgical tool 100 connected thereto to move along the length of the ultrasonic surgical tool 100. The movement of the second pin structure 165 drives the clamp drive assembly 160 to move along the length, thereby driving the clamp body 152 to open and close. Thus, the slider 223 of the auxiliary surgical tool 200 can be driven to drive the clamp body 152 of the ultrasonic surgical tool 100 to open and close.

[0090] In some embodiments, the movement of the slider 223 can be driven by a drive wire connected to the slider 223. In some embodiments, the auxiliary surgical tool 200 may further include a drive wire (not shown), which passes through the arm 210 of the auxiliary surgical tool 200 (for example, through the central through hole of the arm 210). The distal end of the drive wire can be connected to the slider 223, and the drive wire can be used to drive the slider 223 to slide along the fifth slide groove 2212 and the sixth slide groove 2213. In some embodiments, the proximal end of the drive wire can pass through the arm 210 to connect a slider drive device for providing driving force for the movement of the slider 223. The slider drive device can push and pull the drive wire, thereby enabling the slider 223 to move in the sliding space 2211, and thereby can drive the opening and closing of the clamp body 152 in the ultrasonic surgical tool 100. In some embodiments, the drive wire can be a nickel-titanium alloy wire.

[0091] In some embodiments, as Figure 2As shown, the main body 221 may include a first arm 221a and a second arm 221b. The first arm 221a and the second arm 221b may be relatively disposed on both sides of the sliding space 2211 and extend toward the distal end of the arm body 210. Figure 2 As shown, the first arm 221a may include a fifth slide groove 2212, and the second arm 221b may include a sixth slide groove 2213. In one embodiment, the first arm 221a and the second arm 221b may be connected together, as shown in FIG. Figure 2 As shown, the lower portions of the first arm 221a and the second arm 221b may be connected together, which is beneficial to improving the structural stability of the first arm 221a and the second arm 221b.

[0092] In some embodiments, as Figure 2 As shown, the slider 223 may further include at least one arcuate groove 2233 disposed on the upper portion of the slider 223. The opening of the at least one arcuate groove 2233 may be upward, thereby facilitating the sliding operation by preventing friction or collision between the slider 223 and the ultrasonic surgical tool 100 (e.g., the inner shell 1122 of the shank of the ultrasonic surgical tool 100) when the slider 223 slides along the fifth and sixth slide grooves 2212 and 2213 in the assembled state. It will be appreciated by those skilled in the art that other suitable structures may be provided on the upper portion of the slider 223 to avoid the ultrasonic surgical tool 100 when the slider 223 slides, such as a square groove.

[0093] In some embodiments, before performing a surgical operation using the assembleable ultrasonic surgical tool assembly 10 , the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 may be assembled through the following process.

[0094] The distal end of the ultrasonic surgical tool 100 may be placed into a patient's body.

[0095] For example, a user can hold the proximal end of the ultrasonic surgical tool 100, such as the proximal end of the outer housing proximal end section 1121b, and insert the distal end of the ultrasonic surgical tool 100 into the patient's body. A portion of the distal end of the blade shaft assembly 110 of the ultrasonic surgical tool 100 (which may include the distal end portion of the blade shaft 111 and the blade shaft housing 112), the assembly structure 130, and the clamp assembly 150 can be inserted into the patient's body. A portion of the proximal end of the blade shaft assembly 110 of the ultrasonic surgical tool 100 (e.g., the proximal end portion of the blade shaft 111 and the blade shaft housing 112), the ultrasonic transducer 120, and the blade shaft housing drive assembly 140 can be located outside the patient's body.

[0096] The ultrasonic surgical tool 100 can be inserted into the patient's body through an opening in the patient (e.g., a natural opening or an incision). In some embodiments, the ultrasonic surgical tool 100 can include a clamp torsion spring 153 (see FIG. 1 ) that applies a torque to the clamp body 152 that tends to close. Figure 9), during the execution, the clamp body 152 in the ultrasonic surgical tool 100 remains in a closed state (for example, in Figure 1A The position shown is close to the distal end of the knife rod 111), so as to facilitate entry into the patient's body from the patient's opening and help avoid collision with tissue in the patient's body.

[0097] The distal end of the auxiliary surgical tool 200 can be extended into the patient's body.

[0098] For example, the distal end of the sheath can be first extended into the patient's body, and then the distal end of the auxiliary surgical tool 200 can be extended into the patient's body through the passage provided by the sheath can. It will be appreciated by those skilled in the art that the sheath can be used to provide the passage for surgical instruments to enter the patient's body. In certain embodiments, the sheath can be used to provide a plurality of surgical instruments to enter the patient's body through the sheath can. In certain embodiments, the distal end of the sheath can be extended into the patient's body through another incision (different from the incision through which the ultrasonic surgical tool 100 extends into the patient's body) on the patient's body surface.

[0099] The assembly head 220 at the distal end of the auxiliary surgical tool 200 and a portion of the distal end of the arm body 210 can be extended into the patient's body, while a portion of the proximal end of the arm body 210 is left outside the patient's body.

[0100] In some embodiments, the auxiliary surgical tool 200 can be set at the distal end of the robotic arm of the surgical robot system, and the distal end of the auxiliary surgical tool 200 can be controlled by the surgical robot system (for example, a driving device in the surgical robot system for driving the movement of the auxiliary surgical tool 200) to enter the patient's body through the sheath.

[0101] Then, the positions of the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 in the patient's body can be adjusted to a posture that is convenient for assembly.

[0102] Figure 10 A schematic diagram showing the relative positions of the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 during the assembly process according to some embodiments of the present disclosure. In some embodiments, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be moved to the positions shown in FIG. Figure 10 In some embodiments, a relevant staff member (e.g., a doctor, nurse, etc.) can hold the proximal end of the shank housing 112 and adjust the ultrasonic surgical tool 100 to a position that is convenient for assembly. In some embodiments, the auxiliary surgical tool 200 can be controlled by controlling a driving device for driving the auxiliary surgical tool 200 to move to a position near the ultrasonic surgical tool 100 and convenient for assembly with the ultrasonic surgical tool 100.

[0103] The knife bar housing drive assembly 140 can be operated to cause the mounting structure 130 (eg, the distal mounting portion 1322 ) to extend out of the knife bar housing 111 .

[0104] For example, the user can operate the knife rod housing drive assembly 140 located outside the patient's body, and pull the movable member 142 proximally along the length direction of the ultrasonic surgical tool 100 to make it close to the fixed member 141. The movable member 142 moves proximally and drives the outer shell proximal section 1121b fixedly connected to the movable member 142 away from the outer shell distal section 1121a, for example, to move to Figure 1C Under the above operation of the user, the assembly connector 132 of the assembly structure 130 extends out of the arbor housing 111, and the distal end side of the first groove structure C1 of the assembly connector 132 is formed by the Figure 7 The state shown close to the outer shell distal end section 1121a is transformed into the state shown Figure 1C Shown in open state.

[0105] Then, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 may be assembled.

[0106] During the assembly process, the jaws 152 of the ultrasonic surgical tool 100 remain in a closed state to facilitate entry into the patient's body and avoid encountering tissue in the patient's body. Figure 10 As shown, at this time, both ends of the first pin structure 161 of the clamp driving assembly 160 are located at the proximal ends of the first sliding groove 1511 and the second sliding groove 1512; the first short pin structure or the first protrusion structure 1621 and the second short pin structure or the second protrusion structure of the clamp driving assembly 160 are located at the proximal ends of the third sliding groove 11213 and the fourth sliding groove respectively; the second pin structure 165 of the clamp driving assembly 160 is located at the proximal ends of the third sliding groove 11213 and the fourth sliding groove respectively; Figure 5 The position shown is near the proximal end of the third groove structure C3.

[0107] Based on this, during assembly, at least one pin or protrusion 2231 at the bottom of the slider 223 can be positioned as follows: Figure 10 The proximal ends of the fifth and sixth slide grooves 2212 and 2213 are provided to facilitate the connection between the slot structure 2232 on the upper portion of the slider 223 of the auxiliary surgical tool 200 and the second pin structure 165 of the ultrasonic surgical tool 100. In some embodiments, the slider 223 can be moved to the position as shown in FIG. Figure 10 Position shown.

[0108] As described above, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be moved to Figure 10 The relative posture shown in Figure 10 Based on the posture shown, the ultrasonic surgical tool 100 can be controlled to move along the Figure 10The movement of the arrow A1 shown (for example, the user moves the ultrasonic surgical tool 100 along the arrow A1 by operating the part of the ultrasonic surgical tool 100 exposed outside the patient's body), the first connecting arm B1 and the second connecting arm B2 of the assembly connector 132 of the ultrasonic surgical tool 100 are respectively connected to the first track 2221 and the second track 2222 of the boss 222 and slide along the first track 2221 and the second track 2222. Figure 11A A schematic diagram showing the connection between the assembly connector 132 and the boss 222 of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure is shown. The ultrasonic surgical tool 100 can be controlled to move along the arrow A1 until the bottom of the first groove structure C1 of the assembly connector 132 abuts against the boss 222, as shown in FIG. Figure 11A The position shown in FIG. 1 is thus completed, thereby completing the connection between the assembly connector 132 and the boss 222. In some embodiments, the auxiliary surgical tool 200 can also be controlled to move in the opposite direction of the arrow A1 and move to the position shown in FIG. Figure 11A In some embodiments, the auxiliary surgical tool 200 can be controlled to move in the opposite direction of arrow A1 by controlling a driving device for driving the auxiliary surgical tool 200 to move.

[0109] During the process of connecting the assembly connector 132 and the boss 222, the user can continue to operate the arbor housing drive assembly 140 to position the outer housing proximal end section 1121b away from the outer housing distal end section 1121a. Figure 11B A side view of the distal end portion of the ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure is shown. Figure 11A After the outer shell is positioned as shown, the user can release the outer shell proximal section 1121b by operating the knife bar housing drive assembly 140, so that the outer shell proximal section 1121b is close to the outer shell distal section 1121a. Under the action of the elastic member 143 of the knife bar housing drive assembly 140, the outer shell proximal section 1121b moves distally, and its distal end can cover the proximal connection portion 1321 of the assembly connector 132, thereby driving the distal assembly portion 1322 of the assembly connector 132 to converge into the second groove structure C2 of the outer shell proximal section 1121b (see Figure 7 ), the boss 222 connected to the assembly connector 132 can also be pressed into the shank housing 111 of the ultrasonic surgical tool 100, as shown Figure 11B shown.

[0110] Based on the above process, the in vivo assembly of the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be completed, and the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be established as follows: Figure 3 or Figure 11BThe rigid connection shown is completed to complete the preparation work for assembling the ultrasonic surgical tool assembly 10. Those skilled in the art will appreciate that the steps included in the preparation work for assembling the ultrasonic surgical tool assembly 10 are not limited to the above steps, and may not be limited to the above step order.

[0111] In some embodiments, the auxiliary surgical tool 200 can be mounted on the distal end of the robotic arm of the surgical robot system. Based on this, after the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 form a rigid connection in the patient's body, the user can drive the ultrasonic surgical tool 100 to move in the human body by controlling the movement of the auxiliary surgical tool. This facilitates the movement of the blade rod assembly 110 and the clamp assembly 150 at the distal end of the ultrasonic surgical tool 100 to different locations in the patient's body to perform surgical operations on biological tissues at different locations. The surgical robot system can also control the opening and closing of the clamp assembly 150 of the ultrasonic surgical tool 100, so that the clamp composed of the clamp body 152 and the blade head structure at the distal end of the blade rod 111 in the ultrasonic surgical tool 100 can clamp biological tissue.

[0112] In natural state, Figure 11B As shown, in the clamp torsion spring 153 (see Figure 9 ) under the action of the torque applied by the clamp body 152, the clamp body 152 remains in a closed state, the clamp body 152 is attached to the distal end of the knife rod 111, the two ends of the first pin structure 161 of the clamp drive assembly 160 are at the proximal ends of the first slide groove 1511 and the second slide groove 1512, the first short pin structure or the first protrusion structure 1621 and the second short pin structure or the second protrusion structure are respectively located at the proximal ends of the third slide groove 11213 and the fourth slide groove, and the second pin structure 165 of the clamp drive assembly 160 is located as shown in FIG. Figure 5 The position near the proximal end of the third groove structure C3 is shown. Figure 2 ) and the second pin structure 165 of the ultrasonic surgical tool 100 (see Figure 5 ) snap together, in its natural state, such as Figure 11B As shown, the pin 2231 at the lower portion of the slider 223 is located at the proximal ends of the fifth sliding groove 2212 and the sixth sliding groove 2213 .

[0113] In some embodiments, under the control of the user, the surgical robot system pushes and pulls the driving wire of the slider 223 connected to the auxiliary surgical tool 200, thereby pushing and pulling the slider 223, so that the two ends of the pin 2231 at the bottom of the slider 223 slide toward the distal end in the fifth sliding groove 2212 and the sixth sliding groove 2213, and the slider 223 moves in the sliding space 2211 (see Figure 2 ) slides toward the distal end. Due to the groove structure 2232 (see Figure 2 ) and the second pin structure 165 of the ultrasonic surgical tool 100 (see Figure 5) connection, the slider 223 moves toward the distal end, which drives the second pin structure 165 to move toward the distal end, thereby driving the clamp drive assembly 160 (see Figure 7 The first short pin structure or the first protrusion structure 1621 and the second short pin structure or the second protrusion structure of the clamp driving assembly 160 move from the proximal end to the distal end along the third slide groove 11213 and the fourth slide groove, for example, to the position shown in FIG. Figure 1B the first pin structure 161 of the clamp drive assembly 160 moves along the first chute 1511 and the second chute 1512 from the proximal end to the distal end, for example, to the position shown; Figure 1B The first pin structure 161 moves distally, pushing the fixedly connected connecting portion 151 and the clamp body 152 to rotate clockwise around the hinge point A. The clamp body 152 is as shown in FIG. Figure 11B The closed state shown is rotated as Figure 1B Based on this, the surgical robot system can control the opening and closing of the clamp in the ultrasonic surgical tool 100.

[0114] In some embodiments, in the ultrasonic surgical tool 100, the distal end of the ultrasonic transducer 120 can be detachably connected to the proximal end of the knife rod 111. For example, the distal end of the front cover 121 of the ultrasonic transducer 120 can be detachably connected to the proximal end of the knife rod 111. Figure 3 Based on this, in the ultrasonic surgical tool 100, the knife bar assembly 110 can be disposable, while the ultrasonic transducer 120 can be used multiple times. In some embodiments, the assembly structure 130 connected to the knife bar assembly 110, the knife bar housing drive assembly 140 connected to the distal end of the knife bar assembly 110 (see Figure 3 ), the clamp assembly 150 connected to the distal end of the knife bar assembly 110 (see Figures 1A to 1C ) and the clamp drive assembly 160 connected to the clamp assembly 150 (see Figure 6 or Figure 7 ) can all be disposable. In use, the disposable part in the ultrasonic surgical tool 100 can be replaced by disassembling the connection between the knife bar 111 and the ultrasonic transducer 120. Based on this, it is convenient to carry out the operation of replacing consumables.

[0115] Figure 12A A schematic diagram of the structure of an auxiliary surgical tool 200 according to some embodiments of the present disclosure is shown. In some embodiments, the arm 210 can be a flexible arm to increase the degree of freedom of the auxiliary surgical tool 200, improve the flexibility of the auxiliary surgical tool 200 in performing surgical operations in the body, and further improve the flexibility of the movement of the ultrasonic surgical tool 100 rigidly connected to the auxiliary surgical tool 200.

[0116] like Figure 12AAs shown, in some embodiments, the arm 210 of the auxiliary surgical tool 200 may include a first continuum structure 211 . Figure 12B FIG. 2 is a schematic structural diagram of the first continuous structure 211 of the arm 210 according to some embodiments of the present disclosure. Figure 12B As shown, the first continuum structure 211 may include a first base plate 2111, a plurality of first spacer plates (eg, Figure 12B The first spacer disks 2112-1, 2112-2, 2112-3) and the plurality of first structural bones (eg, Figure 12B The first structural bones 2113-1, 2113-2, etc. are shown. The plurality of first structural bones pass through the plurality of first spacer plates and the first base plate 2111. The proximal ends of the plurality of first structural bones are used to receive a push or pull drive to drive the first continuum structure 211 to move. In some embodiments, as Figure 12B As shown, the first continuum structure 211 may further include a first fixing plate 2114. The distal ends of the plurality of first structural bones are fixedly connected to the first fixing plate 2114. In some embodiments, as shown in FIG. Figure 12A As shown, the first fixing plate 2114 can be fixedly connected to the proximal end of the assembly head 220 of the auxiliary surgical tool 200.

[0117] like Figure 12B As shown, a plurality of first spacer plates can be spaced apart to enhance the stability of the plurality of first structural bones when being pushed or pulled. Figure 12B The first continuum structure 211 shown in the figure includes three first spacer disks. Those skilled in the art will appreciate that the number of first spacer disks included in the first continuum structure 211 is not limited to three, and the first continuum structure 211 may include any appropriate number of first spacer disks.

[0118] In some embodiments, the first base plate 2111 , the first spacer plate and the first fixed plate 2114 may be in the shape of a ring structure, a disk structure or other suitable structures, and the cross section may be in various shapes such as a circle, a rectangle, a polygon or the like.

[0119] In some embodiments, as Figure 12A As shown, the arm 210 may further include a second continuum structure 212. The structure of the second continuum structure 212 may be similar to that shown in FIG. Figure 12B The structure of the first continuum structure 211 shown is similar. Figure 12A As shown, the second continuum structure may include a second base plate 2121, a plurality of second spacer plates (eg, Figure 12A The second spacer disk 2122 is shown) and a plurality of second structural bones (eg, Figure 12AThe second structural bones 2123 shown in the figure are provided, and the plurality of second structural bones 2123 pass through the plurality of second spacer plates 2122 and the second base plate 2121. The proximal ends of the plurality of second structural bones 2123 are used to receive a push or pull drive to drive the second continuum structure to move. Figure 12A As shown, the first continuum structure 211 is located at the distal end of the second continuum structure, and a plurality of first structural bones 2113 pass through a plurality of second spacer disks 2122 and a second base disk 2121. In some embodiments, as Figure 12A As shown, the second continuum structure 212 may further include a second fixation plate 2124 . The distal ends of the plurality of second structural bones 2123 are fixedly connected to the second fixation plate 2124 .

[0120] like Figure 12A As shown, multiple second spacer plates 2122 can be spaced apart to enhance the stability of multiple second structural bones 2123 when being pushed or pulled. Those skilled in the art will appreciate that the second continuum structure can include any appropriate number of second spacer plates 2122.

[0121] In some embodiments, the second base plate 2121 , the second spacer plate 2122 and the second fixed plate 2124 may be in the shape of a ring structure, a disk structure or other suitable structures, and the cross section may be in various shapes such as a circle, a rectangle, a polygon or the like.

[0122] In some embodiments, the arm 210 may further include a first straight rod segment 213 disposed between the first continuum structure 211 and the second continuum structure. Figure 12A As shown, the second fixing plate 2124 of the second continuum structure can be fixedly connected to the proximal end of the first straight rod segment 213. In some embodiments, the arm body 210 can also include a second straight rod segment 214 connected to the proximal end of the second continuum structure. For example, in a laparoscopic surgical robotic system, during a surgical procedure using the auxiliary surgical tool 200, the auxiliary surgical tool 200 is inserted into the patient's body through an opening (e.g., an incision or natural opening, etc.), and the second straight rod segment 214 can pass through the opening.

[0123] Those skilled in the art will appreciate that the structure for increasing the degree of freedom of the arm 210 is not limited to a continuum structure, but may also be a suitable structure such as a snake-bone structure, a combination of a rod and a joint, or the like.

[0124] The proximal ends of the plurality of first structural bones 2113 and the plurality of second structural bones 2123 can be connected to a driving device. Figure 13 FIG. 1 is a schematic structural diagram of a driving device 1000 according to some embodiments of the present disclosure. In some embodiments, the driving device 1000 may include a first driving mechanism 1010. Figure 13, the first driving mechanism 1010 is connected to the proximal end of the auxiliary surgical tool 200. In some embodiments, the plurality of first structural bones ( Figure 13 Not shown, e.g. Figure 12A The first structural bone 2113) and / or multiple second structural bones ( Figure 13 Not shown, e.g. Figure 12A The second structural bones 2123 in the first continuum structure 211 are connected to the first driving mechanism 1010 through multiple second spacer plates 2122 and the second base plate 2121. The first driving mechanism 1010 drives the first continuum structure 211 to bend in different directions in space by pushing and pulling multiple first structural bones 2113, and drives the second continuum structure to bend in different directions in space by pushing and pulling multiple second structural bones 2123. For example, the first driving mechanism 1010 may include multiple double-ended screw assemblies, each of which may include a double-ended screw and a pair of sliders threadedly connected to two threaded segments of the double-ended screw. The double-ended screw can be driven to rotate, thereby driving the pair of sliders to move in opposite directions at the same speed. The pair of sliders can be connected to a pair of symmetrical first structural bones 2113 or second structural bones 2123, thereby pushing and pulling the pair of symmetrical first structural bones 2113 or second structural bones 2123 to drive the first continuum structure 211 or second continuum structure 212 to bend. For another example, the first drive mechanism 1010 may include a proximal continuum, and the first continuum structure 211 or the second continuum structure may be connected to the proximal continuum to form a linked dual continuum. The proximal continuum may be driven to bend by a double-headed screw assembly, thereby driving the first continuum structure 211 or the second continuum structure 212 to bend.

[0125] In some embodiments, as Figure 13 As shown, the driving device may further include a second driving mechanism 1020, which is connected to the arm of the auxiliary surgical tool 200 (eg, Figure 12AThe second driving mechanism 1020 is connected to the arm 210 in the patient's body and is used to drive the arm 210 to advance or retreat, thereby enabling the auxiliary surgical tool 200 to advance or retreat in the patient's body and thereby drive the ultrasonic surgical tool 100 to advance or retreat in the patient's body; or when the auxiliary surgical tool 200 is not connected to the ultrasonic surgical tool 100, it enables the auxiliary surgical tool 200 to enter or exit the patient's body. In some embodiments, the second driving mechanism 1020 can be a linear driving mechanism to drive the arm 210 to move linearly. In some embodiments, the second driving mechanism 1020 can include a base and a driving part. The base can be used to support the first driving mechanism 1010, and the driving part is used to drive the base forward or backward. In some embodiments, the second driving mechanism 1020 can include a bracket 1021 with a slide groove, and a lead screw 1022 is rotatably arranged on the bracket 1021. A slider 1023 is provided on the lead screw 1022 as a base. The slider 1023 is threadedly engaged with the lead screw 1022 and is slidably arranged in the slide groove of the bracket 1021. A motor 1024 serving as a second drive unit may be provided at one end of the bracket 1021, and the output shaft of the motor 1024 may be fixedly connected to the lead screw 1022 via a coupling 1025. In some embodiments, the slider 1023 further includes a sleeve 10231 for mounting the continuum frame 211. The sleeve 10231 may be mounted on the slider 1023, or the sleeve 10231 may be integrally formed with the slider 1023. The motor 1024 drives the lead screw 1022, thereby driving the slider 1023 and the sleeve 10231 to move linearly along the slide groove, thereby achieving the feeding movement of the arm 210 and the auxiliary surgical tool 200 provided on the arm 210. It will be understood by those skilled in the art that the second driving mechanism 1020 is not limited to the above-mentioned structure, and any driving mechanism capable of achieving the feeding movement of the surgical tool does not depart from the scope of the present disclosure.

[0126] Some embodiments of the present disclosure also provide a surgical robot system. Figure 14 FIG. 4 is a schematic diagram showing a surgical robot system 400 according to some embodiments of the present disclosure. Figure 14 The surgical robot system 400 may include a surgical trolley 410 and an assembleable ultrasonic surgical tool assembly (eg, Figure 3 The surgical trolley 410 may include at least one robotic arm 411. The at least one robotic arm 411 may be as shown. Figure 14 The positioning arm of the surgical robot is shown. At least one robotic arm 411 of the surgical trolley 410 can carry at least one surgical tool 412 (e.g., clamps, scissors, etc.). An auxiliary surgical tool (e.g., auxiliary surgical tool 200) that can be equipped with the ultrasonic surgical tool assembly 10 can be disposed at the distal end of the at least one robotic arm 411.

[0127] In some embodiments, the surgical robotic system 400 may further include a master control trolley 420. The surgical trolley 410 and the master control trolley 420 may be connected via wired or wireless transmission. During surgery, the user operates the main operator 421 included in the master control trolley 420 to control the surgical tools (e.g., auxiliary surgical tools 200, clamps, shears, etc.) and / or imaging tools (e.g., endoscopes) included in the surgical trolley 410 to perform operations. The surgical trolley 410 is typically located at the patient's side and responds to control commands from the master control trolley 420 to perform surgical operations on the patient. In some embodiments, the user can also adjust the position of the auxiliary surgical tool 200 located at the distal end of at least one robotic arm by operating the main operator 421, thereby adjusting the position of the ultrasonic surgical tool 100 in the attachable ultrasonic surgical tool assembly 10. In addition, the user can also control the opening and closing of the clamp 152 of the ultrasonic surgical tool 100 by operating the main operator 421.

[0128] In some embodiments, the surgical robot system 400 may further include an equipment cart 430. The equipment cart 430 may include a power supply (not shown) for connecting to an ultrasonic surgical tool (e.g., ultrasonic surgical tool 100) in the mountable ultrasonic surgical tool assembly 10 to power an ultrasonic transducer (e.g., Figure 3 The ultrasonic transducer 120 shown in the figure provides energy. In some embodiments, the power supply applies a high-frequency voltage to the ultrasonic transducer segment included in the ultrasonic transducer. Due to the reverse voltage effect, the ultrasonic transducer segment vibrates at a high frequency along the thickness direction. The high-frequency vibration is transmitted to the blade structure at the distal end of the ultrasonic surgical tool 100, enabling the blade structure of the ultrasonic surgical tool 100 to perform cutting or coagulation operations on biological tissue.

[0129] In some embodiments, the surgical trolley 410 of the surgical robot system 400 may further include at least one drive device 413. The at least one drive device 413 may be disposed between the at least one surgical tool 412 and the at least one robotic arm 411. Figure 14 As shown, the surgical trolley 410 may include a single robotic arm 411, and multiple driving devices 413 may be provided on the robotic arm 411. It will be appreciated by those skilled in the art that the surgical trolley of the surgical robot system 400 may also include multiple robotic arms. At least one driving device 413 may include a slider driving device for driving the slider 223 of the auxiliary surgical tool 200 to slide (thereby driving the jaws 152 of the ultrasonic surgical tool 100 to open and close) and / or a first continuous structure (such as a first continuous structure) for driving the first continuous structure. Figure 11A The first continuum structure 211 shown) and the second continuum structure (as shown Figure 11A A continuum drive device is shown for moving the second continuum structure 212).

[0130] Those skilled in the art will appreciate that the surgical robot 400 provided in this embodiment may be any suitable surgical robot including a laparoscopic surgical robot.

[0131] In some embodiments, the ultrasonic surgical tool 100 utilizes the inverse piezoelectric effect to apply a high-frequency AC voltage to the ultrasonic transducer 120, causing it to generate high-frequency vibrations. This vibration is then transmitted through the blade shaft 110 to the head of the blade shaft 110. The high-frequency vibration of the blade shaft head, upon contact with biological tissue, mechanically cuts the tissue while also causing internal energy loss in the tissue, resulting in heat and coagulation. The ultrasonic surgical tool 100 minimizes tissue damage during tissue cutting, and no current passes through the human body during surgery, resulting in smokeless and less eschar. This enhances safety.

[0132] When performing laparoscopic surgery through a surgical robot, surgical instruments often need to enter the patient's body through a sheath. In order to enable ultrasonic surgical tools to enter the sheath, it is necessary to limit the size of the ultrasonic surgical tools, especially the size of the larger ultrasonic transducer in the ultrasonic surgical tools. The upper limit of the output power of the ultrasonic transducer is positively correlated with the volume of the piezoelectric ceramic in the ultrasonic transducer (upper limit of output power = piezoelectric ceramic power density * piezoelectric ceramic volume). Therefore, the ultrasonic surgical tools used by the surgical robot generally use miniature ultrasonic transducers, whose piezoelectric ceramics are small in size, so the output power is limited, and the efficiency of tissue cutting is low. Based on the assembled ultrasonic surgical tool assembly (for example, the assembled ultrasonic surgical tool assembly 10) provided in some embodiments of the present disclosure, on the one hand, the distal end of the ultrasonic surgical tool (for example, the ultrasonic surgical tool 100) can be extended into the patient's body through the patient's opening (for example, an incision or a natural opening, etc.) without occupying the channel included in the sheath for the surgical instrument to enter the patient's body. On the other hand, the ultrasonic transducer of the ultrasonic surgical tool 100 can be located outside the patient's body, and the ultrasonic surgical tool can use a larger ultrasonic transducer (for example, the ultrasonic transducer can include a larger piezoelectric ceramic with a larger size and volume), which is beneficial to improving the output power of the ultrasonic transducer.

[0133] The mobility of straight-rod ultrasonic surgical tools is limited by the structural characteristics of ultrasonic surgical tools, and it is difficult to flexibly perform surgical operations in the patient's body (for example, in a natural cavity such as the abdominal cavity or oral cavity). Through the mountable ultrasonic surgical tool assembly (for example, the mountable ultrasonic surgical tool assembly 10) provided by some embodiments of the present disclosure, a rigid connection can be established between the auxiliary surgical tool (for example, the auxiliary surgical tool 200) and the ultrasonic surgical tool (for example, the ultrasonic surgical tool 100). The auxiliary surgical tool 100 includes an arm with multiple degrees of freedom of movement. Based on this, driven by the auxiliary surgical tool 100, the flexibility of the ultrasonic surgical tool 100 in the patient's body can be improved.

[0134] In some embodiments, the ultrasonic surgical tool's assembly structure can extend from the blade housing, facilitating assembly of the ultrasonic surgical tool. In some embodiments, the ultrasonic surgical tool can be retracted into the blade housing. This, on the one hand, reduces the ultrasonic surgical tool's radial dimension, thereby facilitating its insertion and exit from the patient's opening. Furthermore, the retraction of the assembly structure into the blade housing allows the boss of the auxiliary surgical tool, connected to the assembly structure, to be pressed into the blade housing, thereby establishing a rigid connection between the ultrasonic surgical tool and the auxiliary surgical tool.

[0135] In some embodiments, the knife rod 111 may include at least one portion with a reduced transverse dimension to increase the amplitude of vibration transmitted in the knife rod 111 , thereby improving the efficiency of tissue cutting or coagulation.

[0136] In some embodiments, the proximal end section 1121b of the outer shell may further include a plurality of annular bosses evenly disposed on the inner wall of the proximal end section 1121b of the outer shell, and the plurality of annular bosses may abut against the inner shell 1122 of the shank. Thus, when the outer shell of the shank moves back and forth, the inner shell 1122 of the shank can move within the channel formed by the inner walls of the plurality of annular bosses, thereby preventing the inner shell 1122 of the shank from swaying within the outer shell of the shank.

[0137] In some embodiments, the inner shell of the knife bar may include a limiting slot, and the knife bar shell may further include a limiting pin, one end of which may be fixedly connected to the proximal end section of the outer shell, and the other end of which may be slidably connected to the limiting slot. The limiting pin fixedly connected to the proximal end section of the outer shell and the limiting slot cooperating with the limiting pin can help prevent the proximal end section of the outer shell from twisting during movement, thereby helping to improve the stability of the movement of the proximal end section of the outer shell.

[0138] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. An ultrasonic surgical tool, characterized in that: include: A knife bar assembly, the knife bar assembly comprising a knife bar and a knife bar housing, the knife bar housing covering at least a portion of the knife bar; an ultrasonic transducer coupled to the proximal end of the knife rod to output vibration to the knife rod; as well as An assembly structure is connected to the knife bar assembly, and at least a portion of the assembly structure can extend out of the knife bar housing to disassemble or assemble the ultrasonic surgical tool.

2. The ultrasonic surgical tool according to claim 1, wherein: The assembly structure includes: An assembly connector is capable of being retracted into the knife bar housing, and the assembly structure is capable of extending out of the knife bar housing to disassemble or assemble the ultrasonic surgical tool.

3. The ultrasonic surgical tool according to claim 2, wherein: The assembly structure further includes: a knife bar connector connected to the knife bar assembly; and An assembly torsion spring is provided between the knife bar connecting piece and the assembly connecting piece, and is used for applying a moment to the assembly connecting piece so as to cause the assembly connecting piece to extend out of the knife bar housing.

4. The ultrasonic surgical tool according to claim 3, characterized in that The assembly connector comprises: a proximal connecting portion, the proximal end of which is connected to the knife rod connecting piece; and The distal assembly portion is provided at the distal end of the proximal connection portion and is used to assemble or disassemble the ultrasonic surgical tool. The distal assembly portion includes: a first slot structure; and The first connecting arm and the second connecting arm are oppositely arranged on two sides of the first slot structure.

5. The ultrasonic surgical tool according to claim 4, characterized in that: The arbor housing comprises: The outer shell of the knife bar covers at least a portion of the knife bar, and the outer shell of the knife bar includes: an outer housing distal segment; and The proximal end section of the outer shell can cover the proximal end connection portion of the assembly connector to allow the assembly connector to converge into the knife rod shell, and the assembly connector can extend out of the proximal end section of the outer shell to disassemble or assemble the ultrasonic surgical tool.

6. The ultrasonic surgical tool according to claim 5, characterized in that: The outer shell proximal section further comprises: The second slot structure is located at the distal end of the proximal end section of the outer shell. The distal end fitting portion of the fitting connector can be retracted into the second slot structure and the fitting connector can be extended from the second slot structure.

7. The ultrasonic surgical tool according to claim 5, characterized in that: The arbor housing comprises: a cutter bar inner shell, the cutter bar inner shell covering at least a portion of the cutter bar and the cutter bar outer shell covering at least a portion of the cutter bar inner shell; The knife bar connecting piece of the assembly structure is sleeved on the inner shell of the knife bar.

8. The ultrasonic surgical tool according to claim 7, characterized in that: Also includes: The shank housing driving assembly is arranged at the proximal end of the proximal end section of the outer housing, and is used for driving the proximal end section of the outer housing to approach or move away from the distal end section of the outer housing.

9. The ultrasonic surgical tool according to claim 8, characterized in that: The arbor housing drive assembly comprises: A fixing member is located at the proximal end of the cutter bar housing drive assembly and is fixedly connected to the proximal end of the inner shell of the cutter bar; a movable member located at the distal end of the cutter bar housing drive assembly and fixedly connected to the proximal end of the proximal end section of the outer housing; and An elastic member is provided between the fixing member and the movable member, and is used for applying a force to the proximal end section of the outer shell so as to make the proximal end section of the outer shell close to the distal end section of the outer shell.

10. The ultrasonic surgical tool according to claim 7, wherein: The inner shell of the shank comprises: A limiting slide groove extending along the length direction of the inner shell of the shank; The arbor housing further comprises: A limit pin, one end of which is fixedly connected to the proximal end section of the outer shell, and the other end of which is slidably connected to the limit sliding groove.

11. The ultrasonic surgical tool according to claim 7, wherein: The knife bar also includes: a proximal segment coupled to the ultrasonic transducer; a distal segment, wherein the transverse dimension of the distal segment is smaller than the transverse dimension of the proximal segment, the distal segment extends out of the cutter bar housing, and the distal end of the distal segment forms a cutter head structure; and a flange structure, disposed between the proximal end section and the distal end section; The inner shell of the shank is engaged with the flange structure.

12. The ultrasonic surgical tool according to claim 11, wherein: The outer distal end section of the shell is fixedly connected to the distal end of the inner shell of the knife rod.

13. The ultrasonic surgical tool according to claim 12, wherein: Also includes: A clamp assembly is provided at the distal end of the ultrasonic surgical tool, and the clamp assembly comprises: a connecting portion hinged to the distal end of the distal end section of the outer shell; as well as The clamp body is arranged at the distal end of the connecting portion.

14. The ultrasonic surgical tool according to claim 13, wherein: Also includes: A clamp driving assembly is connected to the proximal end of the connecting portion of the clamp assembly, and the clamp driving assembly is used to drive the clamp body to open and close.

15. The ultrasonic surgical tool according to claim 14, wherein: The connecting portion of the clamp assembly comprises: A first sliding groove is provided on a first side of the connecting portion; and a second chute, disposed on a second side of the connecting portion; the first chute and the second chute being disposed opposite to each other; The clamp drive assembly comprises: The first pin structure is provided at the distal end of the clamp driving assembly, and both ends of the first pin structure are slidably connected to the first sliding groove and the second sliding groove respectively.

16. The ultrasonic surgical tool according to claim 14, wherein: The clamp drive assembly covers at least a portion of the distal end of the inner shell of the knife bar, and the distal end section of the outer shell covers at least a portion of the clamp drive assembly, and the distal end section of the outer shell includes: The third slot structure exposes at least a portion of the clamp driving assembly to the outside.

17. The ultrasonic surgical tool according to claim 16, characterized in that: The distal end section of the outer shell further comprises a third slide groove and a fourth slide groove which are arranged opposite to each other; The clamp drive assembly further comprises: at least one first short pin structure or first protrusion, disposed on a first side of the proximal end of the clamp drive assembly, wherein the at least one first short pin structure or first protrusion is slidably connected to the third slide groove; and At least one second short pin structure or second protrusion is arranged on the second side of the proximal end of the clamp drive assembly and is arranged opposite to the at least one first short pin structure or first protrusion. The at least one second short pin structure or second protrusion is slidably connected to the fourth slide groove.

18. The ultrasonic surgical tool according to claim 14, wherein: The clamp drive assembly further comprises: a second pin structure disposed at a proximal end of the clamp drive assembly for receiving a drive to the clamp assembly; and The fourth slot structure is disposed at the proximal end of the clamp driving assembly and exposes at least a portion of the second pin structure.

19. The ultrasonic surgical tool according to any one of claims 13 to 18, characterized in that: The clamp assembly further comprises: The clamp torsion spring is arranged between the distal end section of the outer shell and the clamp body, and is used for applying a torque to the clamp body to make the clamp body tend to close.

20. An assemblable ultrasonic surgical tool assembly, characterized in that: include: The ultrasonic surgical tool according to any one of claims 1 to 19; as well as An auxiliary surgical tool, detachably connected to the ultrasonic surgical tool, for driving the ultrasonic surgical tool to move, the auxiliary surgical tool comprising: Arm body; as well as An assembly head is arranged at the distal end of the arm body, and the assembly head is detachably connected to the assembly structure of the ultrasonic surgical tool.

21. The mountable ultrasonic surgical tool assembly according to claim 20, wherein: The assembly head of the auxiliary surgical tool comprises: the subject; and A boss is arranged above the main body, and the boss includes a first track and a second track that are arranged opposite to each other, and the first track and the second track are used to be detachably connected to the assembly structure of the ultrasonic surgical tool.

22. The mountable ultrasonic surgical tool assembly according to claim 21, wherein: The main body includes a sliding space and a fifth sliding groove and a sixth sliding groove located on opposite sides of the sliding space; The assembly head also includes: A slider, wherein the slider is slidably connected to the fifth slide groove and the sixth slide groove through at least one pin or protrusion, and the slider comprises: At least one slot structure is provided on the upper portion of the slider, and the upper portion of the at least one slot structure extends out of the sliding space, and the at least one slot structure is used to be connected to the ultrasonic surgical tool.

23. The mountable ultrasonic surgical tool assembly according to claim 22, wherein: The slider further comprises: At least one arc-shaped groove is provided on the upper portion of the slider, and an opening of the at least one arc-shaped groove faces upward.

24. The mountable ultrasonic surgical tool assembly according to claim 22, wherein: The main body includes a first arm and a second arm, which are relatively arranged on both sides of the sliding space and extend toward the distal end of the arm body. The first arm includes the fifth sliding groove, and the second arm includes the sixth sliding groove.

25. The mountable ultrasonic surgical tool assembly according to claim 22, wherein: The auxiliary surgical tool also includes: A driving wire passes through the arm of the auxiliary surgical tool, and a distal end thereof is connected to the slider, for driving the slider to slide along the fifth sliding groove and the sixth sliding groove.

26. The mountable ultrasonic surgical tool assembly according to claim 20, wherein: The arm body comprises: A first continuum structure, the first continuum structure comprising: A first base plate, a plurality of first spacer plates and a plurality of first structural bones, wherein the plurality of first structural bones pass through the plurality of first spacer plates and the first base plate, and the proximal ends of the plurality of first structural bones are used to receive a push or pull drive to drive the first continuum structure to move.

27. The mountable ultrasonic surgical tool assembly according to claim 26, wherein: The arm also includes: A second continuum structure, the second continuum structure comprising: A second base plate, a plurality of second spacer plates, and a plurality of second structural bones, wherein the plurality of second structural bones pass through the plurality of second spacer plates and the second base plate, the proximal ends of the plurality of second structural bones are used to receive push or pull drive to drive the second continuum structure to move, the first continuum structure is located at the distal end of the second continuum structure, and the plurality of first structural bones pass through the plurality of second spacer plates and the second base plate.

28. A surgical robot, characterized in that: include: An operating table, comprising at least one robotic arm; as well as The mountable ultrasonic surgical tool assembly according to any one of claims 20-27, wherein the auxiliary surgical tool in the mountable ultrasonic surgical tool assembly is arranged at the distal end of the at least one robotic arm.

29. The surgical robot according to claim 28, characterized in that: Also includes: The equipment cart includes a power supply for connecting with the ultrasonic surgical tool in the mountable ultrasonic surgical tool assembly to provide energy to the ultrasonic transducer of the ultrasonic surgical tool.

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