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. The ultrasonic surgical tool comprises a cutter bar assembly, an ultrasonic transducer, an assembling structure and an operating handle, the cutter bar assembly comprises a cutter bar and a cutter bar shell covering at least one part of the cutter bar; 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 used for assembling or disassembling an ultrasonic operation tool and is arranged on the cutter bar shell; the operating handle is connected with the near end of the cutter bar shell and used for enabling at least one part of the cutter bar shell to move towards the near end so as to assemble or disassemble the ultrasonic surgical tool. The ultrasonic operation tool is convenient to assemble or disassemble, and the output power and the movement flexibility of the ultrasonic operation tool can be 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;

[0008] an assembly structure, used for assembling or disassembling the ultrasonic surgical tool, wherein the assembly structure is provided on the knife bar housing; and

[0009] An operating handle is connected to the proximal end of the knife rod housing and is used to move at least a portion of the knife rod housing toward the proximal end to assemble or disassemble the ultrasonic surgical tool.

[0010] In some embodiments, the present disclosure further provides an assembleable ultrasonic surgical tool assembly, comprising:

[0011] An ultrasonic surgical tool as in any one of the embodiments of the present disclosure; and

[0012] Auxiliary surgical tools are detachably connected to the ultrasonic surgical tools and are used to drive the ultrasonic surgical tools to move. The auxiliary surgical tools include:

[0013] Arm; and

[0014] The assembly head is arranged at the distal end of the arm body and is detachably connected to the assembly structure of the ultrasonic surgical tool.

[0015] In some embodiments, the present disclosure further provides a surgical robot comprising:

[0016] an operating table, comprising at least one robotic arm; and

[0017] 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

[0018] 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.

[0019] Figure 1A A schematic structural diagram of an ultrasonic surgical tool according to some embodiments of the present disclosure is shown;

[0020] Figure 1B A structural schematic diagram showing an assembly structure of an ultrasonic surgical tool according to some embodiments of the present disclosure;

[0021] 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;

[0022] Figure 3 A schematic structural diagram showing an assembleable ultrasonic surgical tool assembly according to some embodiments of the present disclosure is shown;

[0023] Figure 4 A schematic structural diagram of an ultrasonic surgical tool in a state ready for assembly according to some embodiments of the present disclosure is shown;

[0024] Figure 5 A schematic structural diagram showing an operating handle of an ultrasonic surgical tool according to some embodiments of the present disclosure is shown;

[0025] Figure 6A and Figure 6B A schematic structural diagram showing an operating handle of an ultrasonic surgical tool according to other embodiments of the present disclosure;

[0026] Figure 7A and Figure 7B A schematic structural diagram illustrating a clamp assembly of an ultrasonic surgical tool according to some embodiments of the present disclosure is shown;

[0027] Figure 7C A schematic structural diagram of a clamp driving assembly of an ultrasonic surgical tool according to some embodiments of the present disclosure is shown;

[0028] Figure 8A A relative pose diagram of an assembleable ultrasonic surgical tool assembly in a ready-to-assemble state according to some embodiments of the present disclosure is shown;

[0029] Figure 8B A schematic structural diagram showing an assembleable ultrasonic surgical tool assembly in an assembled state according to some embodiments of the present disclosure is shown;

[0030] Figure 8C A schematic diagram showing an open jaw assembly that can be equipped with an ultrasonic surgical tool assembly according to some embodiments of the present disclosure;

[0031] Figures 9A to 9C Schematic diagrams showing the assembly structure of an ultrasonic surgical tool in different states according to some embodiments of the present disclosure;

[0032] Figure 10A A schematic diagram showing an assembleable ultrasonic surgical tool assembly in a ready-to-assemble state according to some embodiments of the present disclosure;

[0033] Figure 10B A schematic diagram showing an assemblable ultrasonic surgical tool assembly during assembly according to some embodiments of the present disclosure;

[0034] Figure 11A and Figure 11B Schematic diagram showing the structure of an ultrasonic surgical tool in different states according to some embodiments of the present disclosure;

[0035] Figure 11C A schematic structural diagram illustrating an assembly structure resetting component of an ultrasonic surgical tool according to some embodiments of the present disclosure is shown;

[0036] Figure 11D A schematic diagram showing an assembleable ultrasonic surgical tool assembly in a ready-to-assemble state according to other embodiments of the present disclosure;

[0037] Figure 12A A schematic structural diagram of an auxiliary surgical tool according to some embodiments of the present disclosure is shown;

[0038] Figure 12B A schematic structural diagram showing a first continuum structure of an arm according to some embodiments of the present disclosure;

[0039] Figure 13 A schematic structural diagram of a driving device according to some embodiments of the present disclosure is shown;

[0040] Figure 14 A schematic diagram of a surgical robot system according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0041] 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.

[0042] 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.

[0043] 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.

[0044] Some embodiments of the present disclosure provide an ultrasonic surgical tool. Figure 1A FIG. 1 is a schematic structural diagram of an ultrasonic surgical tool 100 according to some embodiments of the present disclosure. Figure 2 A schematic structural diagram of an auxiliary surgical tool 200 according to some embodiments of the present disclosure is shown. Figure 3 FIG. 1 is a schematic structural diagram of an assembleable ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure.

[0045] like Figure 3As shown, in some embodiments, the assembled ultrasonic surgical tool assembly 10 provided by some embodiments of the present disclosure may include an ultrasonic surgical tool 100 and an auxiliary surgical tool 200. In some embodiments, the assembled ultrasonic surgical tool assembly 10 can be used in a surgical robot system. The surgical robot system can be various suitable surgical robot systems including a laparoscopic surgical robot system. In some embodiments, the auxiliary surgical tool 200 in the assembled ultrasonic surgical tool assembly 10 can be set 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 move under the control of a user (e.g., teleoperation).

[0046] Figure 1B FIG. 1 is a schematic structural diagram of an assembly structure 130 of an ultrasonic surgical tool 100 according to some embodiments of the present disclosure. Figure 1A and Figure 1B As shown, the ultrasonic surgical tool 100 may include a knife bar assembly 110, an ultrasonic transducer 120, a mounting structure 130, and an operating handle 140. The knife bar assembly 110 may include a knife bar 111 and a knife bar housing 112. The knife bar housing 112 may cover at least a portion of the knife bar 111.

[0047] like Figure 3 As shown, the ultrasonic transducer 120 of the ultrasonic surgical tool 100 can be coupled to the proximal end of the knife rod 111 to output vibrations to the knife rod 111. In some embodiments, the knife rod 111 can include a proximal section and a distal section (not shown in the figure). The proximal end of the proximal section can be coupled to the ultrasonic transducer 120 to receive vibrations, and the distal end of the distal section can form a blade structure, and the blade structure can extend out of the knife rod housing 112 to contact and operate on patient tissue. In some embodiments, the knife rod 111 can include at least one section with reduced transverse dimensions. For example, the transverse dimensions of the distal section of the knife rod can be smaller than those of the proximal section, so as to increase the amplitude of the vibrations transmitted in the knife rod 111 and improve the efficiency of tissue cutting or coagulation.

[0048] In some embodiments, as Figure 1B As shown, the distal end of the knife rod 111 may extend along a curved arc (e.g., arc h1) to facilitate performing surgical operations through the knife rod 111. In some embodiments, the distal end of the knife rod 111 may include at least one cutting edge structure to improve the mechanical cutting efficiency of the knife head structure on biological tissue.

[0049] like Figure 3As shown, the ultrasonic transducer 120 may include a front cover plate 121 at the distal end, a rear cover plate 122 at the proximal end, and an ultrasonic transducer section 123 disposed between the front cover plate 121 and the rear cover plate 122. In some embodiments, the front cover plate 121 may 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 may be made of a high acoustic impedance material such as stainless steel or tungsten alloy to reduce the amplitude of the rear end face of the ultrasonic transducer 120. The ultrasonic transducer section 123 may include multiple piezoelectric ceramic sheets and multiple electrode sheets (not shown in the figure). The multiple electrode sheets may be disposed between the front cover plate 121 and the ultrasonic transducer section 123, between the multiple piezoelectric ceramic sheets, and between the ultrasonic transducer section 123 and the rear cover plate 122. In some embodiments, the multiple electrode sheets may be copper electrode sheets.

[0050] 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, and the proximal ends of the plurality of wires being connected to a power source to transmit energy to the ultrasonic surgical tool 100. The plurality of wires may be constrained into a wire bundle at the proximal end of the ultrasonic transducer 120. The power source may apply a high-frequency voltage to the plurality of electrode sheets through the wire bundle. Due to the inverse piezoelectric effect, the plurality of piezoelectric ceramic sheets will vibrate at a high frequency along their thickness direction, and the high-frequency vibration will be transmitted to the knife rod 111. The distal end of the high-frequency vibrating knife rod 111 can cut or coagulate biological tissue when in contact with biological tissue. The plurality of piezoelectric ceramic sheets and the plurality of electrode sheets may include a central through hole for allowing the plurality of wires to pass through.

[0051] 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.

[0052] The assembly structure 130 of the ultrasonic surgical tool 100 can be used to assemble or disassemble the ultrasonic surgical tool 100. For example, the auxiliary surgical tool 200 can be assembled or disassembled with the ultrasonic surgical tool 100 through the assembly structure 130. Figure 1B As shown, the mounting structure 130 may be provided on the arbor housing 112 . Figure 4 A schematic structural diagram of an ultrasonic surgical tool 100 in a state ready for assembly according to some embodiments of the present disclosure is shown.

[0053] In some embodiments, as Figure 1B or Figure 4As shown, the blade rod housing 112 may include a blade rod outer housing 1121 and a blade rod inner housing 1122. The blade rod inner housing 1122 may cover at least a portion of the blade rod 111. In some embodiments, the blade rod 111 may further include a flange structure disposed between the proximal end section and the distal end section. The flange structure of the blade rod 111 may engage with the blade rod inner housing 1122, thereby securing the blade rod 111 within the blade rod inner housing 1122.

[0054] The outer shell 1121 of the knife bar can cover at least a portion of the inner shell 1122 of the knife bar. In some embodiments, the outer shell 1121 of the knife bar can include an outer shell distal section 1121a located at the distal end and an outer shell proximal section 1121b located at the proximal end. In some embodiments, at least a portion of the outer shell distal section 1121a can be fixedly connected to the distal end of the inner shell 1122 of the knife bar, for example, by a suitable method such as snapping or welding. Figure 4 As shown, the outer shell distal segment 1121a may include a distal portion p1 and a proximal portion d1, the distal portion p1 may cover a portion of 111, and the proximal portion d1 may cover a portion of the inner shell 1122 of the shank. Figure 4 As shown, the distal portion p1 may include a stepped surface to facilitate connection with the proximal portion d1.

[0055] In some embodiments, as Figure 1B As shown, the shank housing 111 (e.g., the outer housing distal segment 1121b) may include an assembly structure 130. For example, the assembly structure 130 may include a first slot structure C1 disposed at the distal end of the outer housing proximal segment 1121b. The first slot structure C1 may be used to assemble or disassemble the ultrasonic surgical tool 100. In some embodiments, the first slot structure C1 may be connected to at least a portion of the auxiliary surgical tool 200 to enable assembly of the ultrasonic surgical tool 100 with the auxiliary surgical tool 200. In some embodiments, the first slot structure C1 may also be a U-shaped slot, a special-shaped slot, or other suitable structure. In some embodiments, the assembly structure 130 may include multiple first slot structures C1 for assembly or disassembly. For example, multiple first slot structures C1 may be disposed side by side at the distal end of the outer housing proximal segment 1121b, and at least one of the multiple first slot structures C1 may be connected to the auxiliary surgical tool 200 for assembly.

[0056] like Figure 1AAs shown, the operating handle 140 of the ultrasonic surgical tool 100 can be connected to the proximal end of the shank housing 112. The operating handle 140 can be used to move at least a portion of the shank housing 112 proximally to assemble or disassemble the ultrasonic surgical tool 100. In some embodiments, the operating handle 140 can be used to move the proximal end section 1121b of the outer shell proximally or distally to assemble or disassemble the ultrasonic surgical tool 100. In some embodiments, as Figure 4 As shown, driven by the operating handle 140, the proximal end section 1121b of the blade housing moves toward the proximal end, away from the proximal end section of the outer housing. Figure 4 In the state shown, the first groove structure C1 at the distal end of the proximal end section 1121b of the outer shell can be in a closed state (eg Figure 1B As shown, the distal edge of the first slot structure C1 is close to the distal end section 1121a of the outer shell and is transformed into an open state (not shown in the figure). When the first slot structure C1 is in the open state, the ultrasonic surgical tool 100 can be assembled or disassembled through the first slot structure C1.

[0057] In some embodiments, the operating handle 140 can be directly connected to the outer shell proximal section 1121b to achieve the outer shell proximal section 1121b to move toward the proximal end or distal end. Figure 1A As shown, the ultrasonic surgical tool 100 may further include a knife bar housing drive assembly 150, which may be used to drive the outer shell proximal section 1121b to move toward the proximal end or distal end. Figure 1A As shown, the operating handle 140 can be connected to the knife bar housing drive assembly 150 to move the outer housing proximal end section 1121b toward the proximal end or distal end. During surgery, the operating handle 140 and the knife bar housing drive assembly 150 can both be located outside the patient's body to facilitate operation by a user (e.g., a doctor, etc.).

[0058] like Figure 1A As shown, the arbor housing drive assembly 150 can be disposed proximal to the proximal end section 1121b of the outer housing. In some embodiments, the arbor housing drive assembly 150 can include a fixed member 151, a movable member 152, and a first elastic member 153. The fixed member 151 is located at the proximal end of the arbor housing drive assembly 150, the movable member 152 is located at the distal end of the arbor housing drive assembly 150, and the second elastic member 153 is disposed between the fixed member 151 and the movable member 152.

[0059] like Figure 1AAs shown, the fixing member 151 can be fixedly connected to the proximal end of the inner shell 1122 of the knife bar to fix the position of the fixing member 151, for example, by welding, bonding, thermoplasticization or any other suitable method. In some embodiments, the fixing member 151 can be any suitable structure such as an annular structure or a plate-like structure with a central through hole, so that it can be sleeved on the inner shell 1122 of the knife bar. Figure 1A As shown, the movable member 152 can be connected to the proximal end of the outer housing proximal section 1121b, for example, by fixed connection, abutment, etc. In some embodiments, the movable member 152 can be any suitable structure, such as an annular structure or a plate-like structure with a central through-hole, so that it can be mounted on the outer housing proximal section 1121b. Based on this, the movable member 152 can be moved proximally by operating the operating handle 140, thereby driving the outer housing proximal section 1121b to move proximally, thereby facilitating assembly of the ultrasonic surgical tool 100 via the assembly structure 130 (e.g., the first groove structure C1) provided on the outer housing proximal section 1121b.

[0060] The first elastic member 153 can be used to apply a force to the outer shell proximal section 1121b to move the outer shell proximal section 1121b toward the distal end. The first elastic member 153 can be any suitable elastic element such as a coil spring, a gas spring, a rubber spring, etc. A person skilled in the art will understand that based on the action of the first elastic member 153, when the shank housing drive assembly 150 is not subjected to an external force, such as Figure 1A As shown, the movable member 152 is located at the distal position, and the outer shell proximal section 1121b is close to the outer shell distal section 1121a.

[0061] Figure 5 FIG. 1 is a schematic diagram showing the structure of the operating handle 140 of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure. Figure 1A and Figure 5 As shown, the operating handle 140 may include a grip portion 141 and an operating portion 142. The grip portion 141 may be fixedly connected to the fixing member 151 of the arbor housing drive assembly 150. The grip portion 141 may be used for holding by a user. The user may hold the grip portion 141 to stabilize the ultrasonic surgical tool 100 during surgery, and may hold the grip portion 141 to facilitate operation of the operating handle 140 during assembly or disassembly. Figure 1A and Figure 5 As shown, in some embodiments, the holding portion 141 can be cylindrical, and the holding portion 141 can cover the knife rod housing drive assembly 150 and a part of the proximal end of the outer housing proximal section 1121b, so as to facilitate the user to hold the holding portion 141.

[0062] like Figure 1AAs shown, the handle 141 can be fixedly connected to the fixing member 151. In some embodiments, as shown in FIG. Figure 1A As shown, the operating handle 140 may further include a second connecting portion 143, which may be fixedly connected to the grip portion 141, and the grip portion 141 may be fixedly connected to the fixing member 151 via the second connecting portion 143. In some embodiments, the second connecting portion 143 may be fixedly connected to the fixing member 151 by welding, thermoplasticization, snap-fitting, or other suitable means. In some embodiments, the fixing member 151 may include a first groove arranged along the circumference, and the second connecting portion 143 may snap-fit with the first groove to be fixedly connected to the fixing member 151. In some embodiments, the second connecting portion 143 may have a suitable shape, such as an annular shape, an arc shape, or a U-shape, to snap-fit with the first groove of the fixing member 151.

[0063] The operation unit 142 can be used for the user to operate. Figure 1A As shown, the distal end of the operating portion 142 can be rotatably connected to the handle portion 141, for example, hinged to the handle portion 141 at a point jd1 inside the handle portion 141. In some embodiments, the operating portion 142 can be connected to the movable member 152, for example, by abutting, directly connecting, or connecting through a connecting member. In some embodiments, as Figure 1A As shown, the operating handle 140 may further include a first connecting portion 144, and the operating portion 142 may be connected to the movable member 152 via the first connecting portion 144. The first connecting portion 144 may be fixedly connected to the movable member 152 by welding, thermoplasticization, snap-fitting, or other suitable means. In some embodiments, the first connecting portion 144 may be in a suitable shape such as a ring or an arc to facilitate connection with the movable member 152. Figure 1A As shown, the operating handle 140 may further include a second connecting rod 145 , and both ends of the second connecting rod 145 may be hinged to the operating portion 142 and the first connecting portion 144 or the movable member 152 , respectively.

[0064] The operating portion 142 can be used to receive a torque to move the movable member 152 toward the proximal end, thereby driving the outer shell proximal section 1121b to move toward the proximal end. Figure 1A As shown, under the action of the second elastic member 153, in the absence of external force, the movable member 152 is located at the far end, and the operating portion 142 connected to the movable member 152 is in the position shown in FIG. Figure 1A In some embodiments, the operating portion 142 receives a direction such as Figure 1A The moment indicated by the arrow J1 in the middle, under the action of the moment, the operating portion 142 rotates along the direction indicated by the arrow J1 around the hinge point jd1, for example, to Figure 5The state close to the grip portion 141 is shown. The rotation of the operating portion 142 can push the second connecting rod 145 and the first connecting portion 144 to move proximally, thereby driving the movable member 152 and the outer shell proximal section 1121b to move proximally, thereby enabling the assembly structure 130 (e.g. Figure 1B The first slot structure C1) is shown transformed into an open state to perform assembly.

[0065] In some embodiments, the operating portion 142 may be directly connected to the outer shell proximal section 1121b without passing through the movable member 152, and the operating portion 142 may receive a torque to drive the outer shell proximal section 1121b to move proximally. In some embodiments, the operating portion 142 may be connected to the outer shell proximal section 1121b via a connecting structure or directly connected to the outer shell proximal section 1121b.

[0066] like Figure 1A or Figure 5 As shown, the operating portion 142 can be rod-shaped, and the cylindrical handle portion 141 can cover a portion of the distal end of the operating portion 142. In some embodiments, the operating portion 142 can extend into the internal cavity of the handle portion 141 through the opening at the distal end of the handle portion 141, and the opening at the distal end of the handle portion 141 can accommodate the distal end of the operating portion 142 to rotate within the opening.

[0067] Figure 6A and Figure 6B FIG. 1 is a schematic structural diagram of an operating handle 140a of an ultrasonic surgical tool 100 according to other embodiments of the present disclosure. Figure 6A and Figure 6B As shown, the operating handle 140a may include a grip portion 141a for the user to hold, and an operating portion 142a for the user to operate. In some embodiments, the operating portion 142a may be connected to the movable member 152 via a first connecting rod 144a. The distal end of the first connecting rod 144a may be hinged to the operating portion 142a, and the proximal end of the first connecting rod 144a may be connected to (e.g., abutted against) the movable member 152. In some embodiments, as shown in FIG. Figure 6A or Figure 6B As shown, the operating handle 140a may further include a connecting member 145a, and the grip portion 141a and the operating portion 142a are hingedly connected to the connecting member 145a at opposite sides of the connecting member 145a, for example, at points jd2 and jd3, respectively.

[0068] like Figure 6A and Figure 6BAs shown, the operating handle 140a may further include connectors 143a and 146a. The grip portion 141a may be fixedly connected to the connector 143a, which in turn may be connected to the fixing member 151. The distal end of the grip portion 141a may be fixedly connected to the connector 146a, which in turn may be slidably connected to the distal end of the proximal end section 1121b of the outer shell. In some embodiments, the connector 143a may be detachably connected to the fixing member 151, and the connector 146a may be detachably connected to the proximal end section 1121b of the outer shell. This facilitates separation of the operating handle 140a from the rest of the ultrasonic surgical tool 100.

[0069] For the operating handle 140a, after receiving the direction Figure 6A Under the torque indicated by the arrow J2, the connecting member 145a rotates counterclockwise around the hinge point jd3, causing the operating portion 142a to move toward the proximal end. The operating portion 142a rotates in the direction indicated by the arrow J2 and around the hinge point jd2. The movement of the operating portion 142a can push the first connecting rod 144a to move toward the proximal end, thereby driving the movable member 152 and the outer shell proximal section 1121b to move toward the proximal end. For example, when the movable member 152 moves toward the proximal end, the movable member 152 and the outer shell proximal section 1121b can move toward the proximal end. Figure 6B When the outer shell proximal section 1121b is in the position shown, the assembly structure 130 (e.g. Figure 1B The first slot structure C1) shown is transformed into an open state, so that the ultrasonic surgical tool 100 can be assembled or disassembled.

[0070] In some embodiments, the operating handle 140a may further include a connecting torsion spring (not shown in the figure), which may be provided between the operating portion 142a and the first connecting rod 144a (for example, provided between the operating portion 142a and the first connecting rod 144a). Figure 6A The connecting torsion spring is used to apply a torque to the first connecting rod 144a, so that the proximal end of the first connecting rod 144a is close to the proximal end section 1121b of the outer housing. Based on this, the proximal end of the first connecting rod 144a can always abut the proximal end section 1121b of the outer housing. As the operating portion 142a moves toward the proximal end, the first connecting rod 162 is facilitated to abut and push the movable member 152 proximally.

[0071] When the operating handle 140 is operated to move the arbor housing 112 (for example, the outer housing proximal section 1121b) toward the proximal end, the outer housing proximal section 1121b will move relative to the arbor inner housing 1122. In some embodiments, the stability of the movement of the arbor outer housing can be improved by various suitable methods. In some embodiments, the outer housing proximal section 1121b can also include a plurality of annular bosses (not shown in the figure), and the plurality of annular bosses can be evenly arranged on the inner wall of the outer housing proximal section 1121b. The plurality of annular bosses can abut against the arbor inner housing 1122. Based on this, when the outer housing proximal section 1121b moves toward the proximal end or distal end, the arbor inner housing 1122 can move in the channel formed by the constraints of the plurality of annular bosses, thereby helping to prevent the arbor inner housing 1122 from swaying inside the arbor outer housing.

[0072] In some embodiments, the ultrasonic surgical tool 100 may further include a clamp assembly 160 and a clamp drive assembly 170 . Figure 7A and Figure 7B FIG. 1 is a schematic structural diagram of a clamp assembly 160 of an ultrasonic surgical tool 100 according to some embodiments of the present disclosure. Figure 7C FIG. 1 is a schematic structural diagram of a clamp driving assembly 170 of an ultrasonic surgical tool 100 according to some embodiments of the present disclosure.

[0073] like 7A to 7C As shown, the clamp assembly 160 can be provided at the distal end of the ultrasonic surgical tool 100. The clamp assembly 160 can include a connecting portion 161 and a clamp body 162. The connecting portion 161 can be hinged to the distal end of the distal end section 1121a of the outer shell. 7A to 7C Point A is shown hinged to the distal end of the distal segment 1121a of the outer shell. The forceps body 162 can be disposed at the distal end of the connecting portion 161. The forceps body 162 can be fixedly connected to the connecting portion 161. In some embodiments, the forceps body 162 and the connecting portion 161 can be integrally formed. During surgery, the forceps body 162 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 162 and the knife rod 111 can constitute a bipolar electrosurgical tool, which can perform a coagulation operation on the biological tissue when the forceps body 162 and the distal end of the knife rod 111 clamp the biological tissue.

[0074] The clamp drive assembly 170 can be used to drive the clamp body 162 to open and close. In some embodiments, the clamp drive assembly 170 can be connected to the proximal end of the connecting portion 161 of the clamp assembly 160. In some embodiments, the clamp drive assembly 170 and the connecting portion 161 can be connected through various suitable mutually cooperating structures, so that when the clamp drive assembly 170 moves, the connecting portion 161 connected thereto can move, thereby driving the clamp body 162 fixedly connected to the connecting portion 161 to open and close.

[0075] In some embodiments, as 7A to 7C As shown, the connecting portion 161 of the clamp assembly 160 may include a first driving slot 1611 and a second driving slot (not shown in the figure), wherein the first driving slot 1611 and the second driving slot may be arranged on both sides of the connecting portion 161 opposite to each other. Figures 7A to 7C As shown, the clamp driving assembly 170 may include a first pin structure 171, which may be disposed at a distal end of the clamp driving assembly 170. Both ends of the first pin structure 171 may be slidably connected to the first driving slot 1611 and the second driving slot, respectively.

[0076] In some embodiments, as Figure 7C As shown, the clamp drive assembly 170 may include a longitudinal portion 173 extending along the length direction of the ultrasonic surgical tool 100 and a transverse portion 172 distributed perpendicularly to the longitudinal portion 173. The transverse portion 172 may be located at the proximal end of the clamp drive assembly 170, and the longitudinal portion 173 may be located at the distal end of the clamp drive assembly 170. The transverse portion 172 and the longitudinal portion 173 are fixedly connected. In some embodiments, the transverse portion 172 and the longitudinal portion 173 may be integrally formed. In some embodiments, the axis of the transverse cross-section of the longitudinal portion 173 may be an arc line to reduce the contact between the clamp drive assembly 170 and the knife bar assembly 110 (e.g., the knife bar inner shell 1122) during movement. In some embodiments, as Figure 7C As shown, the transverse portion 172 can be annular and can be sleeved on the inner shell 1122 of the knife bar. In some embodiments, the transverse portion 172 can include two oppositely disposed portions, which can be respectively connected to the proximal ends of the longitudinal portion 173 of the clamp drive assembly 170.

[0077] In some embodiments, as Figure 7CAs shown, the clamp drive assembly 170 may further include a boss 174 disposed at the distal end of the longitudinal portion 173. The boss 174 may protrude upward from the upper surface of the longitudinal portion 173 and extend transversely along the longitudinal portion 173. A first pin structure 171 may extend transversely through the boss 174, with both ends extending out of the boss 174 to connect with the first drive slot 1611 and the second drive slot of the connecting portion 161 of the clamp assembly 160. In some embodiments, the first pin structure 171 may include two short pins disposed on either side of the boss 174, the two short pins being slidably connected to the first drive slot 1611 and the second drive slot, respectively. In some embodiments, as an alternative to the boss 174, the distal end of the clamp drive assembly 170 may include two raised ear structures on either side, and the first pin structure 171 may include two portions disposed on the ear structures to connect with the first drive slot 1611 and the second drive slot, respectively.

[0078] In some embodiments, as Figure 7C As shown, the clamp drive assembly 170 can cover at least a portion of the distal end of the inner shell 1122 of the cutter bar. For example, the transverse portion 172 and the longitudinal portion 173 of the clamp drive assembly 170 can each cover a portion of the inner shell 1122 of the cutter bar. The distal end section 1121a of the outer shell can cover at least a portion of the clamp drive assembly 170. In some embodiments, as shown in FIG. Figure 1B As shown, the outer shell distal segment 1121a may include a fourth groove structure C4. Figure 1B As shown, the fourth slot structure C4 exposes at least a portion of the clamp drive assembly 170. Based on this, the clamp drive assembly 170 can be moved by the portion of the clamp drive assembly 170 exposed through the fourth slot structure C4, thereby driving the clamp body 162 to open and close.

[0079] In some embodiments, as Figure 7A and Figure 7B As shown, the outer shell distal section 1121a may further include a third drive slot 11213 and a fourth drive slot (not shown) disposed opposite to each other. The third drive slot 11213 and the fourth drive slot may both extend along the length direction of the outer shell distal section 1121a. 7A to 7C As shown, the clamp drive assembly 170 may further include at least one first short pin structure or first protrusion structure 1721 disposed on a first side of the proximal end of the clamp drive assembly 170 (e.g., the transverse portion 172 of the clamp drive assembly 170). The first short pin structure or first protrusion structure 1721 may be slidably coupled to the third drive slot 11213 of the distal end section 1121a of the outer shell.

[0080] The clamp drive assembly 170 may further include at least one proximal end of the clamp drive assembly 170 (eg, Figure 7C The clamp drive assembly 170 is shown as a lateral portion 172 of the clamp drive assembly 170. The at least one second short pin structure or second protrusion structure can be positioned opposite the at least one short pin structure or first protrusion structure 1721. The at least one second short pin structure or second protrusion structure can be slidably connected to the fourth drive slot. In this manner, the clamp drive assembly 170 can slide relative to the fixed distal end section 1121a of the outer shell along the third drive slot 11213 and the fourth drive slot.

[0081] In some embodiments, as 7A to 7C As shown, the at least one first short pin structure 1721 may include two short pin structures arranged in parallel along the axis to improve the sliding stability of the clamp driving assembly 170. The at least one second short pin structure may also include two short pin structures arranged in parallel along the axis.

[0082] In some embodiments, as Figure 1B As shown, the clamp drive assembly 170 may further include a second pin structure 175. The second pin structure 175 may be disposed at the proximal end of the clamp drive assembly 170 (eg, Figure 7C In some embodiments, the second pin structure 175 can be fixedly connected to the transverse portion 172, such as by welding or other suitable means. The second pin structure 175 can be used to receive a drive for the clamp assembly 160.

[0083] In some embodiments, as Figure 1B As shown, the clamp driving assembly 170 may further include a fifth slot structure C5, which may be provided at the proximal end of the clamp driving assembly 170, for example, at the lower portion of the transverse portion 172 of the clamp driving assembly 170. Figure 1B or Figure 5 As shown, the fifth slot structure C5 can expose at least a portion of the second pin structure 175. 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 175 through the portion of the second pin structure 175 exposed through the fifth slot structure C5. When the second pin structure 175 receives the driving force, it drives the clamp driving assembly 170 to slide along the length direction, thereby driving the clamp assembly 160 connected to the clamp driving assembly 170 to open and close.

[0084] In some embodiments, the clamp assembly 160 may further include a clamp torsion spring (not shown). The clamp torsion spring may be disposed between the distal end section 1121a of the outer shell and the clamp body 162, for example Figure 7CThe position indicated by the arrow nh is shown. The clamp torsion spring can be used to apply a torque to the clamp body 162 to force the clamp body 162 to close. Under the action of the force applied by the clamp torsion spring, when the clamp drive assembly 170 is not subjected to external force, the clamp body 162 remains closed, facilitating the ultrasonic surgical tool 100 to enter and exit the patient's body or move within the patient.

[0085] Based on the clamp torsion spring, when the clamp driving assembly 170 is not subjected to external force, as shown in FIG. Figure 1B and Figure 7A As shown, the second pin structure 175 is located near the proximal end of the fifth slot structure C5; the first short pin structure or the first protrusion structure 1721 is located at the proximal end of the third drive slot 11213, and the second short pin structure or the second protrusion structure is located at the proximal end of the fourth drive slot (not shown in the figure); both ends of the first pin structure 171 are located at the proximal ends of the first drive slot 1611 and the second drive slot.

[0086] When the clamp driving assembly 170 is pushed by an external force, for example, the second pin structure 175 is pushed by an external force, for example, Figure 1B The force in the direction indicated by the arrow jp shown in the figure causes the second pin structure 175 to move distally along the length direction of the ultrasonic surgical tool 100 and drives the clamp driving assembly 170 to move distally. Figure 7B As shown, the first short pin structure or the first protrusion structure 1721 of the clamp driving assembly 170 can move to the distal end of the third driving slot 11213, and the second short pin structure or the second protrusion structure can move to the distal end of the fourth driving slot; the first end of the first pin structure 171 can move to the distal end of the first driving slot 1611, and the second end of the first pin structure 171 can move to the distal end of the second slot. When the first pin structure 171 moves toward the distal end, it pushes the fixedly connected connecting portion 161 and the clamp body 162 to rotate clockwise around the hinge point A. The clamp body 162 is as shown in FIG. Figure 7A The closed state shown is rotated as Figure 7B Shown in the open state.

[0087] In some embodiments, the clamp assembly 160 may further include a clamp pad (not shown), which may be disposed on the clamp body 162 and connected to the clamp body 162 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 162 is fully closed (fitting against the distal end of the knife rod 111).

[0088] In some embodiments, 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 The position indicated by p13 is threadedly connected. 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 operating handle (such as the operating handle 140 or 140a) can be detachably connected to the knife bar housing drive assembly 150, and the operating handle can be reused multiple times. In some embodiments, the clamp assembly 160 and the clamp drive assembly 170 can both be disposable. In some embodiments, for example, after surgery, the disposable part of the ultrasonic surgical tool 100 can be replaced by disassembling the connection between the knife bar 111 and the ultrasonic transducer 120 after removing the operating handle, so as to facilitate the operation of replacing consumables.

[0089] In the assembleable ultrasonic surgical tool assembly 10, the auxiliary surgical tool 200 can be detachably connected to the ultrasonic surgical tool 100, and the auxiliary surgical tool 200 can be used to drive the ultrasonic surgical tool 100 to move. Figure 3 As 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.

[0090] 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 oppositely disposed. The first track 2221 and the second track 2222 may be used to be detachably connected to the assembly structure 130 of the ultrasonic surgical tool 100.

[0091] In the assembled state, the boss 222 can be aligned with the assembly structure 130 (see FIG. Figure 1B ) connection. For example, the first groove structure C1 can be connected to the boss 222 via the first track 2221 and the second track 2222, so that the lower portion of the boss 222 can extend into the first groove structure C1. The boss 222 of the auxiliary surgical tool 200 and the assembly structure 130 of the ultrasonic surgical tool 100 can establish a rigid connection between the auxiliary surgical tool 200 and the ultrasonic surgical tool 100, thereby facilitating the auxiliary surgical tool 200 to drive the ultrasonic surgical tool 100 to move within the patient's body.

[0092] In some embodiments, as Figure 2As shown, in the auxiliary surgical tool 200, the main body 221 of the assembly head 220 may include a sliding space 2211, and a first arm 221a and a second arm 221b disposed on both sides of the sliding space 2211. The first arm 221a and the second arm 221b may be 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 driving slot 2212, and the second arm 221b may include a sixth driving slot 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.

[0093] like Figure 2 As shown, the assembly head 220 may further include a slider 223. The slider 223 may be slidably connected to the fifth drive slot 2212 and the sixth drive slot 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, with both ends of the pin structure 2231 slidably connected to the fifth drive slot 2212 and the sixth drive slot 2213, respectively. In some embodiments, as Figure 2 As shown, the pin structure 2231 may include two pins that slide in the fifth drive slot 2212 and the sixth drive slot 2213 to improve the sliding stability of the slider 223. In some embodiments, 2231 may be a raised structure disposed on opposite sides of the lower portion of the slider 223, with the raised structures 2231 being slidably connected to the fifth drive slot 2212 and the sixth drive slot 2213, respectively. Those skilled in the art will appreciate that when the pins 2231 slide in the fifth drive slot 2212 and the sixth drive slot 2213, the slider 223 can move within the sliding space 2211.

[0094] like Figure 2 As shown, the slider 223 may include at least one slot structure 2232 provided on the upper portion of the slider 223. 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 may be used to connect with the ultrasonic surgical tool 100, for example, by connecting the portion of the upper portion of the at least one slot structure 2232 extending out of the sliding space 2211 to the ultrasonic surgical tool 100 (for example, Figure 1BThe second pin structure 175 of the ultrasonic surgical tool 100 shown in FIG. 1 is connected to the second pin structure 175 of the ultrasonic surgical tool 100 shown in FIG. Based on this, the slider 223 of the auxiliary surgical tool 200 can be driven to move along the fifth drive slot 2212 and the sixth drive slot 2213, so that the slider 223 drives the second pin structure 175 of the ultrasonic surgical tool 100 connected thereto to move along the length direction of the ultrasonic surgical tool 100. The movement of the second pin structure 175 drives the clamp drive assembly 170 to move along the length direction and further drives the clamp body 162 to open and close. Thus, the slider 223 of the auxiliary surgical tool 200 can be driven to drive the clamp body 162 of the ultrasonic surgical tool 100 to open and close.

[0095] 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 drive chute 2212 and the sixth drive chute 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 162 in the ultrasonic surgical tool 100. In some embodiments, the drive wire can be a nickel-titanium alloy wire.

[0096] 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, which helps to prevent friction and collision between the slider 223 and the ultrasonic surgical tool 100 when the slider 223 slides along the fifth drive groove 2212 and the sixth drive groove 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.

[0097] Figure 8A The relative posture diagram of the assembled ultrasonic surgical tool assembly 10 in the state to be assembled according to some embodiments of the present disclosure is shown. In some embodiments, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be operated separately and moved to the following positions: Figure 8A The relative positions shown in FIG. 1 and the two are then assembled. A person skilled in the art will understand that Figure 8AAs shown, during surgery, the distal portion of the blade rod assembly 110, the assembly structure 130, the clamp assembly 160, and the clamp driving assembly 170 of the ultrasonic surgical tool 100 can enter the patient's body; the distal portion of the arm body 210 and the assembly head 220 of the auxiliary surgical tool 100 can also enter the patient's body. The proximal portion of the arm body 210 of the auxiliary surgical tool 200, the proximal portion of the blade rod assembly 110 of the ultrasonic surgical tool 100, the ultrasonic transducer 120, the operating handle (e.g., the operating handle 140 or 140a), and the blade rod housing driving assembly 150 can be located outside the body.

[0098] The ultrasonic surgical tool 100 can enter the patient's body through an opening in the patient (e.g., a natural opening or an incision). During operation, the user can hold the operating handle (e.g., the grip portion of the operating handle 140 or 140a) to insert the distal end of the ultrasonic surgical tool 100 into the patient's body. The auxiliary surgical tool 200 can enter the patient's body through a sheath connected to the patient's opening. In some embodiments, the auxiliary surgical tool 200 can be mounted on the distal end of a robotic arm of a surgical robot system, and the user can issue control commands through the surgical robot system to control the distal end of the auxiliary surgical tool 200 to enter the patient's body.

[0099] During the assembly process, the user can adjust the posture of the distal end of the ultrasonic surgical tool 100 by operating the operating handle (such as the operating handle 140 or 140a). The user can also issue control instructions through the surgical robot system to adjust the posture of the distal end of the auxiliary surgical tool 200.

[0100] Upon arrival Figure 8A After the relative posture is shown, the user can operate the operating handle, for example, to make the operating handle 140 be in the following position. Figure 5 or make the operating handle 140a be in the state shown in FIG. Figure 6B The state shown in FIG. 1 is such that the outer shell proximal end section 1121b moves proximally (e.g., moves to the position shown in FIG. 1 ). Figure 4 On this basis, the user can control the auxiliary surgical tool 200 to move along the direction shown in FIG. Figure 8A The user can also control the ultrasonic surgical tool 100 to move in the direction indicated by the arrow 81 to connect with the ultrasonic surgical tool 100. As an alternative embodiment, the user can also control the ultrasonic surgical tool 100 to move in the direction indicated by the arrow 81 to connect with the ultrasonic surgical tool 100. Figure 8A Move in the opposite direction of the middle arrow 81 to connect with the auxiliary surgical tool 200.

[0101] Due to the action of the clamp torsion spring, the clamp assembly 160 of the ultrasonic surgical tool 100 is in a closed state, and the second pin structure 175 of the clamp drive assembly 170 is located at the proximal end of the fourth slot structure C4. During assembly, the slider 223 of the auxiliary surgical tool 200 can be moved to the proximal end to connect with the second pin structure 175. Based on this, when the auxiliary surgical tool 200 moves in the direction indicated by the arrow 81, the slider 223 of the auxiliary surgical tool 200 (for example, the slot structure 2232 on the upper part of the slider 223) can be connected with the second pin structure 175, and the boss 222 can extend into the portion between the proximal end section 1121b of the outer shell and the distal end section 1121a of the outer shell (see Figure 4 ).

[0102] At this time, the user can operate the operating handle, for example, to make the operating handle 140 Figure 1A or make the operating handle 140a be in the state shown in FIG. Figure 6A In the state shown, the proximal end section 1121b of the outer shell moves toward the distal end. Figure 8B The following is a schematic diagram showing the structure of the assembled ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure. Under the user's operation, the proximal end section 1121b of the outer shell moves toward the distal end, and the assembly structure 130 (e.g., the first groove structure C1) at the distal end of the proximal end section 1121b of the outer shell can be connected to the boss 222 of the auxiliary surgical tool 200. Based on this, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can establish a rigid connection and be assembled as follows: Figure 8B The status shown.

[0103] Those skilled in the art will appreciate that the steps involved in assembling the installable ultrasonic surgical tool assembly 10 are not limited to the steps described above, nor are they limited to the order of the steps described above. After completing the assembly of the installable ultrasonic surgical tool assembly 10, the user can issue control commands through the surgical robot system to control the movement of the auxiliary surgical tool 200, thereby driving the ultrasonic surgical tool 100 to move within the human body. This facilitates movement of the ultrasonic surgical tool 100 to various locations within the patient's body for surgical procedures.

[0104] The user can also control the opening and closing of the clamp assembly 140 of the ultrasonic surgical tool 100 by issuing control instructions through the surgical robot system to perform operations such as clamping tissue and bipolar electrocoagulation. Under the action of the clamp torsion spring, when there is no external force, the clamp body 162 is in a closed state, and the ultrasonic surgical tool assembly 100 can be assembled in a state such as Figure 8B The status shown.

[0105] In some embodiments, a pushing force may be applied to the slider 223 to move the slider 223 distally, thereby opening the clamp assembly. Figure 8CA schematic diagram showing the opening of a clamp assembly that can be equipped with an ultrasonic surgical tool assembly according to some embodiments of the present disclosure. Figure 8B and Figure 8C As shown, the pin 2231 at the bottom of the slider 223 moves distally along the fifth drive slot 2212 and the sixth drive slot. Since the slider 223 is connected to the second pin structure 175 of the clamp drive assembly 170, the movement of the slider 223 drives the clamp drive assembly 170 to move distally. The movement of the clamp drive assembly 170 pushes the connecting portion 161 of the clamp assembly 160 connected thereto to move distally, thereby causing the clamp body 162 to rotate around the hinge point A. The clamp body 162 is rotated as shown in FIG. Figure 8B The closed state shown is rotated as Figure 8C Shown in the open state.

[0106] Some embodiments of the present disclosure provide another ultrasonic surgical tool 300 . Figures 9A to 9C Schematic diagrams of the structure of the assembly structure 330 of the ultrasonic surgical tool 300 in different states according to other embodiments of the present disclosure are shown. The ultrasonic surgical tool 300 may include a knife bar assembly 310, an ultrasonic transducer (not shown in the figure), an assembly structure 330 and an operating handle (not shown in the figure). In some embodiments, the ultrasonic surgical tool 300 may further include a knife bar housing drive assembly (not shown in the figure), a clamp assembly 360 and a clamp drive assembly 370. Among them, the knife bar assembly 310, ultrasonic transducer, operating handle, knife bar housing drive assembly, clamp assembly 360 and clamp drive assembly 370 of the ultrasonic surgical tool 300 may be similar to the above-mentioned parts of the ultrasonic surgical tool 100, and will not be repeated here to reduce repetition.

[0107] like Figures 9A to 9C As shown, the assembly structure 330 can be connected to the knife bar housing 312 (for example, including the knife bar outer shell 3121 and the knife bar inner shell 3122). The assembly structure 330 can include a knife bar connector 331 and an assembly connector 332. Figure 9B As shown, the shank connector 331 can be connected to the shank inner shell 3122. In some embodiments, the shank connector 331 can be annular, and the shank connector 331 can be sleeved on the shank inner shell 3122. In some embodiments, the shank connector 331 can be fixedly connected to the shank inner shell 3122 to fix the position of the assembly structure 330 so as to facilitate assembly or disassembly, for example, by any suitable means such as bonding, welding, thermoplasticization, etc. It will be understood by those skilled in the art that the shape of the shank connector 331 is not limited to the following. Figure 9B The shape shown can also be any suitable shape, such as U-shape, arc shape, etc.

[0108] like Figure 9A and Figure 9BAs shown, the assembly connector 332 can extend from the outer shell 3121 of the knife bar (e.g., the proximal end section 3121b of the outer shell) to disassemble or assemble the ultrasonic surgical tool 300, for example, to disassemble or assemble the ultrasonic surgical tool 300 with the auxiliary surgical tool 200. In some embodiments, the assembly connector 332 may include a proximal connecting portion 3321 and a distal assembly portion 3322. The proximal end of the proximal connecting portion 3321 may be connected to the knife bar connector 331. The distal assembly portion 3322 may be disposed at the distal end of the proximal connecting portion 3321 and may be used to assemble or disassemble the ultrasonic surgical tool 300.

[0109] In some embodiments, as Figure 9A and Figure 9B As shown, the distal assembly portion 3322 may include a second slot structure C2 and first and second connecting arms B1 and B2. The first and second connecting arms B1 and B2 may be disposed on opposite sides of the second slot structure C2. In the assembled state, the second slot structure C2 may engage with at least a portion of the auxiliary surgical tool 200, and the first and second connecting arms B1 and B2 may be connected to the auxiliary surgical tool 200. In other embodiments, the distal assembly portion 3322 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 3322 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 3322 is not limited to the aforementioned structures and may be any suitable structure.

[0110] like Figure 9A and Figure 9B As shown, when the assembly connector 332 extends out of the proximal end section 3121b of the outer shell, the second groove structure C2, the first connecting arm B1 and the second connecting arm B2 of the distal assembly portion 3322 are circumferentially oriented toward the outside of the knife rod assembly 310, thereby facilitating the assembly or disassembly of the ultrasonic surgical tool 300.

[0111] like Figure 9A and Figure 9B As shown, in some embodiments, the assembly structure 330 may further include an assembly torsion spring 333 to enable the assembly connector 332 to extend out of the knife bar outer shell 3121. The assembly torsion spring 333 may be disposed between the knife bar connector 331 and the assembly connector 332, and the assembly torsion spring 333 may be used to apply a torque to the assembly connector 332 that causes the assembly connector 332 to tend to extend out of the knife bar outer shell 3121.

[0112] like Figure 9C As shown, in some embodiments, the assembly connector 332 can be retracted into the outer housing 3121 of the blade shaft. In some embodiments, the assembly connector 332 can be retracted into the proximal end section 3121b of the outer housing. When the ultrasonic surgical tool 300 is in an unassembled state, the assembly connector 332 is retracted into the outer housing 3121 of the blade shaft, facilitating insertion and removal of the ultrasonic surgical tool 300 from the patient's body, such as through an opening in the patient's body. When the ultrasonic surgical tool 300 is in an assembled state (e.g., assembled with the auxiliary surgical tool 200), the assembly connector 332 is retracted into the outer housing 3121 of the blade shaft, enabling at least a portion of the auxiliary surgical tool 200 to be retracted into the outer housing 3121 of the blade shaft of the ultrasonic surgical tool 300, thereby facilitating enhanced stability of the connection between the two.

[0113] like Figure 9C As shown, in some embodiments, the outer shell proximal section 3121b can cover the proximal connection portion 3321 of the assembly connector 332 (see Figure 9A and Figure 9B ) so that the assembly connector 332 converges to the outer shell 3121 of the knife bar. Figure 9C As shown, in some embodiments, the outer shell proximal section 3121b may include a third groove structure C3. The third groove structure C3 may be located at the distal end of the outer shell proximal section 3121b. In some embodiments, as shown Figure 9C As shown, the distal assembly portion 3322 can converge to the third groove structure C3. In some embodiments, as shown in FIG. Figure 9A As shown, the assembly connector 332 can extend from the third slot structure C3 to the outer shell proximal end section 3121 b so as to assemble or disassemble the ultrasonic surgical tool 300 .

[0114] like Figure 9C As shown, when the outer shell proximal segment 3121b is close to the outer shell distal segment 3121a, the distal end of the outer shell proximal segment 3121b can cover the proximal connection portion 3321 of the assembly connector 332, and the assembly connector 332 can converge to the third groove structure C3. Figure 9A As shown, when the proximal end section 3121b of the outer shell is away from the distal end section 3121a of the outer shell, under the action of the assembly torsion spring 333, the assembly connector 332 extends out of the proximal end section 3121b of the outer shell, thereby enabling the ultrasonic surgical tool 300 to be disassembled or assembled.

[0115] In some embodiments, the ultrasonic surgical tool 300 can be used with auxiliary surgical tools (e.g. Figure 2 The auxiliary surgical tool 200 shown constitutes an installable ultrasonic surgical tool assembly 30. Figure 10AA schematic diagram of an assembleable ultrasonic surgical tool assembly 30 in a ready-to-assemble state according to some embodiments of the present disclosure is shown. In some embodiments, the ultrasonic surgical tool 300 and the auxiliary surgical tool 200 can be operated separately to move the two to the positions shown in FIG. Figure 10A The relative posture shown in the figure is then assembled. Figure 10A After the relative posture is shown, the user can operate the operating handle of the ultrasonic surgical tool 300 to move the proximal end section 3121b of the outer shell toward the proximal end (for example, to the position shown in FIG. Figure 9A , thereby causing the assembly structure 330 (eg, the assembly connector 332) to extend from the outer shell proximal end section 3121b.

[0116] On this basis, the user can control the ultrasonic surgical tool 300 along the Figure 10A As an alternative embodiment, the user can also control the auxiliary surgical tool 200 to move in the direction indicated by the arrow A1 to connect with the auxiliary surgical tool 200. Figure 10A Move in the opposite direction of the arrow A1 to connect with the ultrasonic surgical tool 300. Figure 10B FIG. 3 is a schematic diagram showing the assembly process of the ultrasonic surgical tool assembly 30 according to some embodiments of the present disclosure. Figure 10B As shown, the assembly connector 332 of the ultrasonic surgical tool 300 is connectable to the boss 222 of the auxiliary surgical tool 200 .

[0117] In reaching Figure 10B After the state shown, the user can operate the operating handle to move the outer shell proximal section 3121b to the distal end. The distal end of the outer shell proximal section 3121b can cover the proximal end connection portion 3321 of the assembly connector 332 (see Figure 9A and Figure 9B ), so that the assembly connector 332 converges to the proximal end section 3121b of the outer shell. Figure 10A ) is connected, and in the process of the assembly connector 332 converging to the proximal end section 3121b of the outer shell, the assembly head 220 of the auxiliary surgical tool 200 can move upward. The slider 223 can be connected to the pin structure 375 (see Figures 9A to 9C ) connection, the boss 222 can be pressed into the outer shell 3121 of the blade of the ultrasonic surgical tool 300. Based on this, the ultrasonic surgical tool 300 can establish a rigid connection with the auxiliary surgical tool 200, and the two can be assembled as follows Figure 8B The status shown.

[0118] Those skilled in the art will appreciate that the steps involved in assembling the attachable ultrasonic surgical tool assembly 30 are not limited to the steps described above, nor are they limited to the order of the steps described above. After completing assembly of the attachable ultrasonic surgical tool assembly 30, the user can issue control commands through the surgical robotic system to control the movement of the auxiliary surgical tool 200, thereby driving the ultrasonic surgical tool 300 to move within the patient's body, facilitating surgical operations at various locations within the patient's body. The user can also issue control commands through the surgical robotic system to control the movement of the slider 223 of the auxiliary surgical tool 200, thereby controlling the opening and closing of the clamp assembly 360 of the ultrasonic surgical tool 300.

[0119] Other embodiments of the present disclosure provide an ultrasonic surgical tool 500 . Figure 11A and Figure 11B Schematic diagrams of the structures of ultrasonic surgical tools 500 in different states according to other embodiments of the present disclosure are shown. The ultrasonic surgical tool 500 may include a knife bar assembly 510, an ultrasonic transducer (not shown in the figure), an assembly structure 530, and an operating handle (not shown in the figure). In some embodiments, the ultrasonic surgical tool 500 may further include a knife bar housing drive assembly (not shown in the figure), a clamp assembly 560, and a clamp drive assembly 570. Among them, the knife bar assembly 510, ultrasonic transducer, assembly structure 530, operating handle, knife bar housing drive assembly, clamp assembly 560, and clamp drive assembly 570 of the ultrasonic surgical tool 500 may be similar to the above-mentioned parts of the ultrasonic surgical tool 100 or 300, respectively, and will not be repeated here to reduce repetition.

[0120] In some embodiments, the knife bar connector 531 (see Figure 11C ) can be slidably connected to the inner shell 5122 of the blade rod. Based on this, when assembling or disassembling the ultrasonic surgical tool 500, for example, when assembling it with the auxiliary surgical tool 200, the assembly structure 530 can be slid toward the proximal end, thereby leaving more space for assembly or disassembly, thereby facilitating assembly or disassembly.

[0121] Figure 11C FIG. 5 is a schematic structural diagram of an assembly structure restoration component 580 of an ultrasonic surgical tool 500 according to some embodiments of the present disclosure. Figure 11CAs shown, the ultrasonic surgical tool 500 may further include an assembly structure reset assembly 580. The assembly structure reset assembly 580 may be disposed at the proximal end of the assembly structure 530 and configured to apply a force to the assembly structure 530 to cause the assembly structure 530 to move distally. In some embodiments, the distal end of the assembly structure reset assembly 580 may abut against the assembly structure 530 (e.g., the knife bar connector 531) to apply force to the assembly structure 530. In some embodiments, the assembly structure reset assembly 580 may be fixedly connected to the knife bar connector 531 by any suitable means, such as bonding, welding, or thermoplasticization.

[0122] In some embodiments, as Figure 11C As shown, the assembly structure reset component 580 may include a base 581 and a second elastic member 582. The base 581 may be fixedly connected to the inner shell 5122 of the knife bar. The second elastic member 582 may be disposed between the base 581 and the knife bar connector 531, and the second elastic member 582 may be used to apply a force to the knife bar connector 531 to cause the knife bar connector 531 to move toward the distal end. Figure 11C As shown, the second elastic member 582 can be sleeved on the inner shell 5122 of the knife bar. In some embodiments, the second elastic member 582 can be any suitable elastic element such as a coil spring, a gas spring, a rubber spring, etc. In some embodiments, as Figure 11C As shown, the assembly structure reset component 580 may further include a limit block 583, which may be provided on the inner shell 5122 of the cutter bar, for example, fixedly connected to the inner shell 5122 of the cutter bar. Figure 11C As shown, the limit block 583 can be located at the distal end of the knife rod connector 531. The limit block 583 can be used to prevent the knife rod connector 531 from moving toward the distal end. Figure 11C As shown, when the assembly structure 530 is not subjected to external force, due to the force applied by the first elastic member 582 , the knife rod connecting member 531 is located at the far end and abuts against the limit block 583 .

[0123] In some embodiments, as Figures 11A to 11C As shown, the shank connector 531 may include a first stop pin XX1, and the outer housing proximal section 5121b may include a first stop slot XC1. The first stop slot XC1 may be located distally of the outer housing proximal section 5121b and extend along the length of the outer housing proximal section 5121b. The first stop pin XX1 may be slidably connected to the first stop slot XC1. Therefore, when the outer housing proximal section 5121b moves proximally, the first stop slot XC1 may pull the first stop pin XX1 proximally, thereby driving the assembly structure 530 to move proximally.

[0124] like Figure 11AAs shown, when the outer shell proximal section 5121b is close to the outer shell distal section 5121a, the first limiting pin XX1 is located at the proximal end of the first limiting slot XC1. Figure 11B ) of the proximal connection portion, the assembly connector 532 converges to the outer shell 5121 of the knife bar. Figure 11A In the position shown, the outer shell proximal section 5121b can be moved proximally to disassemble or assemble the ultrasonic surgical tool 500.

[0125] In some embodiments, the outer shell proximal section 5121b moves proximally, for example, a distance equal to the length of the first limiting groove XC1, so that the first limiting pin XX1 is located at the distal end of the first limiting groove XC1. At this time, the outer shell proximal section 5121b releases the proximal connection portion of the assembly connector 532, and the assembly connector 532 can extend from the distal end of the outer shell proximal section 5121b.

[0126] On this basis, the outer shell proximal section 5121b can continue to move proximally, for example, to Figure 11B During this process, the first limiting slide XC1 can pull the first limiting pin XX1 toward the proximal end, thereby driving the assembly structure 530 to move toward the proximal end. Figure 11B As shown, the assembly structure 530 moves proximally, and the assembly connector 532 remains extended from the proximal end section 5121b of the outer shell during this process. When the assembly structure 530 is ready for assembly, pulling the assembly structure 530 proximally can expand the assembly space, thereby facilitating assembly. When the assembly structure 530 is ready for disassembly, pulling the assembly structure 530 proximally can separate the assembly structure 530 (e.g., the assembly connector 532) from the auxiliary surgical tool 200, thereby facilitating disassembly.

[0127] In some embodiments, the ultrasonic surgical tool 500 can be used with auxiliary surgical tools (e.g. Figure 2 The auxiliary surgical tool 200 shown constitutes an installable ultrasonic surgical tool assembly 50. Figure 11D A schematic diagram of an assembleable ultrasonic surgical tool assembly 50 in a ready-to-assemble state according to some embodiments of the present disclosure is shown. In some embodiments, the ultrasonic surgical tool 500 and the auxiliary surgical tool 200 can be operated separately to move the two to the positions shown in FIG. Figure 11D The relative posture shown in the figure is then assembled. Figure 11DAfter the relative position shown, the user can operate the operating handle of the ultrasonic surgical tool 500 to move the outer housing proximal section 5121b proximally, thereby extending the assembly structure 530 (e.g., the assembly connector 532) from the outer housing proximal section 3121b. Based on this, the user can continue to operate the operating handle to move the outer housing proximal section 5121b further proximally, thereby driving the assembly structure 530 to move proximally.

[0128] In this state, the user can operate the operating handle to move the outer housing proximal section 5121b distally. Under the action of the first elastic member 582 of the assembly structure reset assembly 580, the assembly structure 530 follows the outer housing proximal section 5121b in distal movement. Before the tool bar connector 531 of the assembly structure 530 abuts the stop block 583, the assembly connector 532 remains extended from the outer housing proximal section 5121b and is able to establish a connection with the auxiliary surgical tool 200 (e.g., the boss 222) during this distal movement.

[0129] After the assembly connector 532 establishes connection with the boss of the auxiliary surgical tool 200, the user can continue to operate the operating handle to cause the outer housing proximal segment 5121b to continue to move distally. However, due to the obstruction of the stop block 583, the assembly structure 530 no longer moves distally. Based on this, the distal end of the outer housing proximal segment 5121b can cover the proximal connection portion of the assembly connector 532, thereby driving the assembly connector 532 to converge with the outer housing proximal segment 5121b, and the boss 222 connected to the assembly connector 532 can also be pressed into the outer housing 5121 of the blade shaft of the ultrasonic surgical tool 500. During this process, the slider 222 of the auxiliary surgical tool 200 can be connected to the clamp drive assembly 570 (e.g., the pin structure at the bottom of the clamp drive assembly 570). Based on this, the ultrasonic surgical tool 500 can establish a rigid connection with the auxiliary surgical tool 200.

[0130] Those skilled in the art will appreciate that the steps involved in assembling the attachable ultrasonic surgical tool assembly 50 are not limited to the steps described above, nor are they limited to the order of the steps described above. After completing assembly of the attachable ultrasonic surgical tool assembly 50, the user can issue control commands through the surgical robotic system to control the movement of the auxiliary surgical tool 200, thereby driving the ultrasonic surgical tool 500 to move within the patient's body, facilitating surgical operations at various locations within the patient's body. The user can also issue control commands through the surgical robotic system to control the movement of the slider 223 of the auxiliary surgical tool 200, thereby controlling the opening and closing of the clamp assembly 560 of the ultrasonic surgical tool 500.

[0131] Figure 12AA 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 ultrasonic surgical tools (such as ultrasonic surgical tools 100, 300, 500) rigidly connected to the auxiliary surgical tool 200.

[0132] like Figure 12A As 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.

[0133] 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.

[0134] 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.

[0135] 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 12A The 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 .

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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 feed or retreat, thereby enabling the auxiliary surgical tool 200 to feed or retreat in the patient's body and then drive the ultrasonic surgical tool (such as ultrasonic surgical tool 100, 300, 500) to feed or retreat in the patient's body; or when the auxiliary surgical tool 200 is not connected to the ultrasonic surgical tool, the auxiliary surgical tool 200 is enabled to enter or exit the patient's body. In some embodiments, the second driving mechanism 1020 can be a linear driving mechanism for driving the arm 210 to move linearly. In some embodiments, the second driving mechanism 1020 can include a pedestal and a driving portion, the pedestal can be used to support the first driving mechanism 1010, and the driving portion is used to drive the pedestal 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 provided on the bracket 1021. A slider 1023 is sleeved 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 as a second driving unit can be provided at one end of the bracket 1021. The output shaft of the motor 1024 can be fixedly connected to the lead screw 1022 through a coupling 1025. In some embodiments, the slider 1023 also includes a sleeve 10231 for mounting the continuum frame 211. The sleeve 10231 can be mounted on the slider 1023, or the sleeve 10231 can 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 realizing the feeding movement of the arm body 210 and the auxiliary surgical tool 200 provided on the arm body 210. Those skilled in the art will appreciate that the second driving mechanism 1020 is not limited to the above structure, and any driving mechanism capable of achieving the feeding motion of the surgical tool does not depart from the scope of the present disclosure.

[0142] 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 As shown, the surgical robot system 400 may include an operating table 410 and an assembleable ultrasonic surgical tool assembly (e.g., an assembleable ultrasonic surgical tool assembly 10, 30, 50) as described in any of the embodiments of the present disclosure. The operating table 410 may include at least one robotic arm 411. The at least one robotic arm 411 may be a 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, shears, etc.). An auxiliary surgical tool (e.g., auxiliary surgical tool 200) that can be equipped with an ultrasonic surgical tool assembly can be disposed at the distal end of the at least one robotic arm 411.

[0143] 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 manipulator 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 operate the main manipulator 421 to adjust the position of the auxiliary surgical tool 200 located at the distal end of at least one robotic arm, thereby adjusting the position of the ultrasonic surgical tools (e.g., ultrasonic surgical tools 100, 300, 500) in the attachable ultrasonic surgical tool assembly. Furthermore, the user can also operate the main manipulator 421 to control the opening and closing of the ultrasonic surgical tool's jaws.

[0144] 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, 300, 500) in an attachable ultrasonic surgical tool assembly (e.g., attachable ultrasonic surgical tool assembly 10, 30, 50) to power an ultrasonic transducer (e.g., Figure 3 The ultrasonic transducer 120 shown in FIG. 1 is provided with energy. In some embodiments, a power source 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, enabling the blade structure of the ultrasonic surgical tool to perform cutting or coagulation operations on biological tissue.

[0145] 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 drive 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 drive device 413 may include a slider drive device for driving the slider 223 of the auxiliary surgical tool 200 to slide (thereby driving the clamp of the ultrasonic surgical tool to open and close) and / or a first continuum structure (such as a first continuous body structure) for driving the first continuous body structure. Figure 12A The first continuum structure 211 shown) and the second continuum structure (as shown Figure 12AA continuum drive device is shown for moving the second continuum structure 212).

[0146] 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.

[0147] In some embodiments, for ultrasonic surgical tools (e.g., ultrasonic surgical tools 100, 300, 500), due to the inverse piezoelectric effect, a high-frequency AC voltage is input to the ultrasonic transducer, causing the ultrasonic transducer to output high-frequency vibrations, which are then transmitted to the head of the blade through the blade. The high-frequency vibrating blade head contacts biological tissue, which, on the one hand, mechanically cuts the tissue. On the other hand, the high-frequency vibration causes internal energy loss in the tissue, causing it to heat up and produce coagulation. Ultrasonic surgical tools have a smaller range of tissue damage when cutting tissue. No current passes through the human body during surgery, resulting in no smoke or eschar, and are therefore safer.

[0148] When performing laparoscopic surgery using 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 tool. 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 (output power upper limit = 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 some embodiments of the present disclosure, the assembled ultrasonic surgical tool assembly (for example, the assembled ultrasonic surgical tool assembly 10, 30, 50) is provided. On the one hand, the distal end of the ultrasonic surgical tool (for example, the ultrasonic surgical tool 100, 300, 500) can be inserted 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 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.

[0149] The mobility of straight-rod ultrasonic surgical tools is limited by the structural characteristics of ultrasonic surgical tools, making it 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 assembled ultrasonic surgical tool assemblies (for example, assembled ultrasonic surgical tool assemblies 10, 30, 50) provided in 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, ultrasonic surgical tools 100, 300, 500). The auxiliary surgical tool 200 includes an arm with multiple degrees of freedom of movement. Based on this, driven by the auxiliary surgical tool 200, the flexibility of the ultrasonic surgical tool 100 in the patient's body can be improved.

[0150] 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.

[0151] In some embodiments, the assembly structure of the ultrasonic surgical tool can be moved proximally by the blade housing, thereby leaving more space for assembly or disassembly and facilitating assembly or disassembly. In some embodiments, the assembly structure reset assembly of the ultrasonic surgical tool can apply a force to the assembly structure to cause it to move distally, thereby enabling the assembly structure to remain extended from the blade housing within a certain range during proximal or distal movement, thereby facilitating assembly or disassembly of the ultrasonic surgical tool.

[0152] 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; An assembly structure, used for assembling or disassembling the ultrasonic surgical tool, wherein the assembly structure is provided on the knife rod housing; as well as An operating handle is connected to the proximal end of the knife rod housing and is used to move at least a portion of the knife rod housing toward the proximal end to assemble or disassemble the ultrasonic surgical tool.

2. The ultrasonic surgical tool according to claim 1, wherein: The arbor housing comprises: a cutter bar inner shell covering at least a portion of the cutter bar; and The outer shell of the tool bar covers at least a portion of the inner shell of the tool bar, and the outer shell of the tool bar includes: an outer housing distal segment; and The proximal end section of the outer shell is used for moving the proximal end section of the outer shell toward the proximal end or the distal end to assemble or disassemble the ultrasonic surgical tool.

3. The ultrasonic surgical tool according to claim 2, wherein: Also includes: A knife bar housing drive assembly is provided at the proximal end of the proximal end section of the outer housing, and is used to drive the proximal end section of the outer housing to move toward the proximal end or the distal end; The operating handle is connected to the knife bar housing driving assembly to move the proximal end section of the outer housing toward the proximal end or the distal end.

4. The ultrasonic surgical tool according to claim 3, 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 The first elastic member is disposed between the fixed member and the movable member, and is used for applying a force to the proximal end section of the outer shell to move the proximal end section of the outer shell toward the distal end.

5. The ultrasonic surgical tool according to claim 4, characterized in that: The operating handle comprises: a grip portion, fixedly connected to the fixing member; and An operating portion, the distal end of which is rotatably connected to the grip portion, and the operating portion is connected to the proximal end section of the outer shell or the movable member, and the operating portion is used to receive a torque to move the proximal end section of the outer shell or the movable member toward the proximal end.

6. The ultrasonic surgical tool according to claim 5, characterized in that: The operating portion is connected to the movable member via a first connecting rod, a distal end of the first connecting rod is hinged to the operating portion, and a proximal end of the first connecting rod can be connected to the movable member.

7. The ultrasonic surgical tool according to claim 6, characterized in that: The operating handle further comprises: a connecting torsion spring, disposed between the operating portion and the first connecting rod, the connecting torsion spring being configured to apply a torque to the first connecting rod so that the proximal end of the first connecting rod is close to the proximal end section of the outer shell; and The connecting piece, the holding portion and the operating portion are hinged to the connecting plate at opposite sides of the connecting plate respectively.

8. The ultrasonic surgical tool according to claim 5, characterized in that The operating handle further comprises: a first connecting portion, the first connecting portion being fixedly connected to the movable member; and A second connecting rod, where both ends of the second connecting rod are hinged to the operating portion and the first connecting portion respectively.

9. The ultrasonic surgical tool according to claim 8, characterized in that: The holding portion is cylindrical and covers the arbor housing drive assembly and a portion of the proximal end of the proximal end section of the outer shell. The distal end of the operating portion is hinged to the holding portion.

10. The ultrasonic surgical tool according to claim 9, characterized in that The operating portion is rod-shaped, and the grip portion covers a portion of a distal end of the operating portion.

11. The ultrasonic surgical tool according to claim 5, characterized in that The fixing piece is sleeved on the inner shell of the shank, and the fixing piece includes a first groove arranged along the circumferential direction. The operating handle further includes: The second connecting portion is fixedly connected to the holding portion and is engaged with the first groove.

12. The ultrasonic surgical tool according to claim 2, wherein: The arbor housing includes the assembly structure, and the assembly structure includes: The first groove structure is provided at the distal end of the proximal end section of the outer shell and is used for assembling or disassembling the ultrasonic surgical tool.

13. The ultrasonic surgical tool according to claim 2, wherein: The arbor housing is connected to the assembly structure, and the assembly structure includes: a knife bar connecting piece connected to the inner outer shell of the knife bar; and An assembly connector can be retracted into the outer shell of the knife rod, and can extend out of the outer shell of the knife rod to disassemble or assemble the ultrasonic surgical tool.

14. The ultrasonic surgical tool according to claim 13, wherein: The assembly structure further includes: 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 outer shell of the knife bar.

15. The ultrasonic surgical tool according to claim 13, wherein: 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 second slot structure; and The first connecting arm and the second connecting arm are oppositely arranged on two sides of the second slot structure.

16. The ultrasonic surgical tool according to claim 15, characterized in that The outer shell proximal section further comprises: The third slot structure is located at the distal end of the proximal segment of the outer shell. The proximal segment of the outer shell can cover the proximal connecting portion so that the distal assembly portion can converge into the third slot structure, and the assembly connecting piece can extend from the third slot structure to the proximal segment of the outer shell to disassemble or assemble the ultrasonic surgical tool.

17. The ultrasonic surgical tool according to claim 13, wherein: The knife rod connecting piece is slidably connected to the inner shell of the knife rod, and the ultrasonic surgical tool further includes: An assembly structure reset component is provided at the proximal end of the assembly structure, and the assembly structure reset component comprises: A base fixedly connected to the inner outer shell of the shank; and The second elastic member is arranged between the base and the knife rod connecting member, and the second elastic member is used to apply a force to the knife rod connecting member to make the knife rod connecting member move toward the distal end.

18. The ultrasonic surgical tool according to claim 17, wherein: The assembly structure reset component also includes: A limit block is provided on the inner shell of the knife rod and is located at the distal end of the knife rod connecting piece. The limit block is used to prevent the knife rod connecting piece from moving toward the distal end.

19. The ultrasonic surgical tool according to claim 17, wherein: The knife bar connecting piece comprises: First limit pin; The proximal end section of the outer shell comprises: The first limiting slide groove is located at the distal end of the proximal end section of the outer shell. The first limiting slide groove extends along the length direction of the proximal end section of the outer shell. The first limiting pin is slidably connected to the first limiting slide groove.

20. The ultrasonic surgical tool according to claim 2, 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 hingedly connected to the distal end of the distal end section of the outer shell; and a clamp body, disposed at the distal end of the connecting portion; 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.

21. The ultrasonic surgical tool according to claim 20, wherein: The connecting portion of the clamp assembly comprises: a first driving chute and a second driving chute, wherein the first driving chute and the second driving chute are arranged oppositely on two sides of the connecting portion; The clamp drive assembly comprises: The first pin structure is arranged at the distal end of the clamp driving assembly, and both ends of the first pin structure are slidably connected to the first driving slide groove and the second driving slide groove respectively.

22. The ultrasonic surgical tool according to claim 20, 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 fourth slot structure exposes at least a portion of the clamp driving assembly to the outside.

23. The ultrasonic surgical tool according to claim 22, wherein: The distal end section of the outer shell further comprises a third drive chute and a fourth drive chute disposed opposite to each other; The clamp drive assembly further includes: at least one first short pin structure or first protrusion, disposed on a first side of the proximal end of the clamp drive assembly, the at least one first short pin structure or first protrusion being slidably connected to the third drive slide; 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 drive slide groove.

24. The ultrasonic surgical tool according to claim 20, 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 fifth slot structure is provided at the proximal end of the clamp driving assembly and exposes at least a portion of the second pin structure.

25. An assemblable ultrasonic surgical tool assembly, characterized in that: include: The ultrasonic surgical tool according to any one of claims 1 to 24; 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.

26. The mountable ultrasonic surgical tool assembly according to claim 25, 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.

27. The mountable ultrasonic surgical tool assembly according to claim 26, wherein: The main body includes a sliding space and a first arm and a second arm, the first arm and the second arm are arranged on both sides of the sliding space and extend toward the distal end of the arm body, the first arm includes the fifth driving slot, and the second arm includes the sixth driving slot; The assembly head also includes: A slider, wherein the slider is slidably connected to the fifth drive slide groove and the sixth drive slide groove via at least one pin or protrusion, and the slider receives a push or pull force via a drive wire to slide along the fifth drive slide groove and the sixth drive slide groove, 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.

28. The mountable ultrasonic surgical tool assembly according to claim 25, 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; 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.

29. 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 25-28, 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.

30. The surgical robot according to claim 29, 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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