Movably-assembled ultrasonic surgical tool, assembly and surgical robot

Abstract

The invention relates to the field of medical instruments, and discloses an ultrasonic surgical tool capable of being movably assembled, an assembly and a surgical robot. The ultrasonic surgical tool comprises a cutter bar assembly, an ultrasonic transducer, an assembly structure and an assembly structure reset assembly, wherein the cutter bar assembly comprises a cutter bar and a cutter bar shell, the cutter bar shell covers at least one part of the cutter bar, and the ultrasonic transducer is coupled with the near end of the cutter bar so as to output vibration to the cutter bar; the assembling structure is connected with the cutter bar shell, at least one part of the assembling structure can extend out of the cutter bar shell to disassemble or assemble the ultrasonic operation tool, and the assembling structure can be driven by the cutter bar shell to move towards the near end; the assembly structure reset assembly is arranged at the near end of the assembly structure and used for applying force enabling the assembly structure to move towards the far end to the assembly structure. 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 a movably assembled ultrasonic surgical tool, component, and 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 tool bar assembly, the tool bar assembly includes a tool bar and a tool bar housing, the tool bar housing covering at least a portion of the tool bar;

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

[0008] an assembly structure connected to the knife rod housing, at least a portion of the assembly structure being able to extend from the knife rod housing to disassemble or assemble the ultrasonic surgical tool, and the assembly structure being able to move proximally under the drive of the knife rod housing; and

[0009] The assembly structure resetting component is arranged at the proximal end of the assembly structure and is used for applying a force to the assembly structure to move the assembly structure toward the distal end.

[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] Figures 1A to 1C Schematic diagrams showing the structure of a movably assembled ultrasonic surgical tool in different states according to some embodiments of the present disclosure;

[0020] Figure 1D A schematic structural diagram illustrating an assembly structure resetting component of a movably assembled 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 a movably assembled ultrasonic surgical tool assembly according to some embodiments of the present disclosure;

[0023] Figure 4 A cross-sectional view showing a partial structure of a knife bar and a knife bar housing of an ultrasonic surgical tool according to some embodiments of the present disclosure;

[0024] Figure 5 A bottom view showing a partial structure of an ultrasonic surgical tool according to some embodiments of the present disclosure;

[0025] Figure 6A A schematic diagram showing the assembly structure of an ultrasonic surgical tool according to some embodiments of the present disclosure moving toward the proximal end driven by a knife rod housing;

[0026] Figure 6B A schematic structural diagram of a first limiting slide groove of an ultrasonic surgical tool according to some embodiments of the present disclosure is shown;

[0027] Figure 7A A schematic structural diagram showing an operating handle of an ultrasonic surgical tool according to some embodiments of the present disclosure is shown;

[0028] Figure 7B A structural schematic diagram showing a partial structure of an operating handle of an ultrasonic surgical tool according to some embodiments of the present disclosure;

[0029] Figure 8A A schematic structural diagram showing an operating handle of an ultrasonic surgical tool according to other embodiments of the present disclosure;

[0030] Figure 8B A schematic structural diagram showing an operating handle of an ultrasonic surgical tool according to yet other embodiments of the present disclosure is shown;

[0031] Figure 9A A schematic structural diagram of a clamp driving assembly of an ultrasonic surgical tool according to some embodiments of the present disclosure is shown;

[0032] Figure 9B A schematic structural diagram of a clamp torsion spring of an ultrasonic surgical tool according to some embodiments of the present disclosure is shown;

[0033] Figure 10 A schematic diagram illustrating the relative positions of an ultrasonic surgical tool and an auxiliary surgical tool during an assembly process according to some embodiments of the present disclosure;

[0034] Figure 11A A schematic diagram illustrating the connection between the assembly connector and the boss of a movably assembled ultrasonic surgical tool assembly according to some embodiments of the present disclosure;

[0035] Figure 11B A side view illustrating the distal portion structure of a movably assembled ultrasonic surgical tool assembly according to some embodiments of the present disclosure;

[0036] Figure 12A A schematic structural diagram of an auxiliary surgical tool according to some embodiments of the present disclosure is shown;

[0037] Figure 12B A schematic structural diagram showing a first continuum structure of an arm according to some embodiments of the present disclosure;

[0038] Figure 13 A schematic structural diagram of a driving device according to some embodiments of the present disclosure is shown;

[0039] Figure 14 A schematic diagram of a surgical robot system according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0040] 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.

[0041] 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.

[0042] 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.

[0043] Some embodiments of the present disclosure provide an ultrasonic surgical tool. Figures 1A to 1C Schematic diagrams of the structures of a movably assembled ultrasonic surgical tool 100 in different states according to some embodiments of the present disclosure are respectively shown. Figure 1D A schematic structural diagram of an assembly structure restoration component 140 of a movably assembled ultrasonic surgical tool 100 according to some embodiments of the present disclosure is shown.

[0044] Figure 2 A structural schematic diagram showing a partial structure of an auxiliary surgical tool 200 according to some embodiments of the present disclosure. Figure 3FIG. 1 is a schematic diagram showing a structure of a movable assembled ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure. In some embodiments, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 may be composed as follows: Figure 3 The movably mounted ultrasonic surgical tool assembly 10 is shown. In some embodiments, the movably mounted ultrasonic surgical tool assembly 10 can be used in a surgical robotic system. The surgical robotic system can be any suitable surgical robotic system, including a laparoscopic surgical robotic system. In some embodiments, the auxiliary surgical tool 200 in the movably mounted ultrasonic surgical tool assembly 10 can be disposed at the distal end of a robotic arm of the surgical robotic system (e.g., a positioning arm of the surgical robotic system). The auxiliary surgical tool 200 can be moved under user control (e.g., teleoperation).

[0045] like Figures 1A to 1D and Figure 3 As shown, the ultrasonic surgical tool 100 may include a knife bar assembly 110, an ultrasonic transducer 120, an assembly structure 130, and an assembly structure reset assembly 140. The knife bar assembly 110 may include a knife bar 111 and a knife bar housing 112, and the knife bar housing 112 may cover at least a portion of the knife bar 111. It will be understood by those skilled in the art that Figures 1A to 1D Only a portion of the distal end of the shank 111 and the shank housing 112 is shown. Figure 3 As shown, the ultrasonic transducer 120 can be coupled to the proximal end of the knife rod 111 to output vibration to the knife rod 111.

[0046] Figure 4 FIG2 is a cross-sectional view showing a partial structure of the blade rod 111 and the blade rod housing 112 of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure. Figure 4 As shown, the blade rod 111 of the ultrasonic surgical tool 100 may include a proximal section 1111 and a distal section 1112. The proximal section 1111 may be coupled to the ultrasonic transducer 120 at the proximal end to receive the vibration transmitted by the ultrasonic transducer 120. In some embodiments, the blade rod 111 may include at least one section with a reduced transverse dimension to increase the amplitude of the vibration transmitted in the blade rod 111, thereby improving the efficiency of tissue cutting or coagulation. Figure 4 As shown, the transverse dimension of the distal segment 1112 is smaller than that of the proximal segment 1111 to increase the amplitude of the vibration transmitted in the distal segment 1112. The distal end of the distal segment 1112 can extend out of the cutter bar housing 112 and form a cutter head structure.

[0047] In the ultrasonic surgical tool 100, the vibrations output by the ultrasonic transducer 120 are transmitted via the proximal end section 1111 of the blade shaft 111 to the distal end section 1112. The reduced lateral dimensions of the distal end section 1112 effectively amplify the amplitude of the vibrations transmitted from the blade shaft 111. During surgery, the blade structure formed at the distal end of the distal end section 1112 contacts the patient's tissue to perform surgical operations such as cutting and coagulation.

[0048] Those skilled in the art will appreciate that the shape of the shank 111 is not limited to Figure 4 The shape shown can be a tool bar with an exponential curve, a rounded step or a slope on the longitudinal cross-section edge, or a tool bar with a suitable shape such as a cone or a step.

[0049] Figure 5 FIG2 is a bottom view showing a partial structure of an ultrasonic surgical tool 100 according to some embodiments of the present disclosure. In some embodiments, the distal end section 1112 of the knife bar 111 may be curved along a curved arc (eg, Figure 5 The distal end 1112 of the knife shaft 111 can be extended to facilitate surgical procedures performed using the knife shaft 111. In some embodiments, the distal end 1112 of the knife shaft 111 can include at least one cutting edge structure. The cutting edge structure helps enhance the mechanical cutting effect of the knife head structure on biological tissue, increases the cutting speed of the surgical tool, and also has the advantage of low manufacturing costs.

[0050] like Figure 3 As shown, the ultrasonic transducer 120 may include a front cover plate 121, a rear cover plate 122, and an ultrasonic transducer section 123. The front cover plate 121 is located at the distal end of the ultrasonic transducer 120, and the rear cover plate 122 is located at the proximal end of the ultrasonic transducer 120. The ultrasonic transducer section 123 may be disposed between the front cover plate 121 and the rear cover plate 122. The ultrasonic transducer section 123 may include a plurality of piezoelectric ceramic sheets and a plurality of electrode sheets (not shown in the figure). The plurality of electrode sheets may be disposed between the front cover plate 121 and the ultrasonic transducer section 123, between the plurality of piezoelectric ceramic sheets, and between the ultrasonic transducer section 123 and the rear cover plate 122. In some embodiments, the plurality of electrode sheets may be copper electrode sheets.

[0051] In some embodiments, the ultrasonic transducer 120 may further include a plurality of wires, the distal ends of the plurality of wires being respectively connected to a plurality of electrode sheets. The plurality of wires may be constrained into a wire bundle at the proximal end of the ultrasonic transducer 120. The proximal end of the wire bundle may be connected to a power source to transmit energy to the ultrasonic surgical tool 100. In some embodiments, the ultrasonic transducer 120 may further include an interface (not shown in the figure), which is provided at the proximal end of the plurality of wires, and the plurality of wires may be connected to a power source through the interface, thereby facilitating the convenience of connecting the ultrasonic surgical tool 100 to the power source and facilitating the movement and adjustment of the position of the ultrasonic surgical tool 100.

[0052] A power source applies a high-frequency voltage to the multiple electrode sheets via a wire bundle. Due to the inverse piezoelectric effect, the multiple piezoelectric ceramic sheets vibrate at high frequencies along their thickness, which are then transmitted to the blade rod 111. The distal end of the high-frequency vibrating blade rod 111 can cut or coagulate biological tissue upon contact. The multiple piezoelectric ceramic sheets and the multiple electrode sheets may include central through-holes for passing multiple wires.

[0053] In some embodiments, the front cover plate 121 can be made of a low acoustic impedance material such as titanium alloy or aluminum alloy to achieve a higher output amplitude; the rear cover plate 122 can be made of a high acoustic impedance material such as stainless steel or tungsten alloy to reduce the amplitude of the rear end surface of the ultrasonic transducer 120. In some embodiments, the ultrasonic transducer 120 can further include a transducer housing (not shown) that is mounted on the front cover plate 121, the ultrasonic transducer 123, and the rear cover plate 122.

[0054] 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.

[0055] like Figure 1C and 1D As shown, the assembly structure 130 can be connected to the shank housing 112. In some embodiments, the assembly structure 130 can include a shank connector 131. The shank connector 131 can be connected to the shank housing 112 to enable the assembly structure 130 to be connected to the shank housing 112. In some embodiments, as shown Figure 1C As shown, the blade rod housing 112 may include a blade rod inner shell 1122. The blade rod inner shell 1122 may cover at least a portion of the blade rod 111. Figure 1D As shown, the knife bar connector 131 can be slidably connected to the knife bar inner shell 1122. In some embodiments, as shown in FIG. Figure 1D As shown, the knife bar connecting member 131 can be annular, and the knife bar connecting member 131 can be sleeved on the knife bar inner shell 1122 to be slidably connected to the knife bar inner shell 1122. It can be understood by those skilled in the art that the shape of the knife bar connecting member 131 is not limited to the following. Figure 1D The shape shown can also be any suitable shape, such as U-shape, arc shape, etc.

[0056] like Figure 1C As shown, at least a portion of the mounting structure 130 can extend out of the arbor housing 112 (e.g., as shown in FIG. Figure 1CThe outer shell 1121 of the knife bar shown in FIG1 is used to disassemble or assemble the ultrasonic surgical tool 100, for example, to disassemble or assemble the ultrasonic surgical tool 100 with the auxiliary surgical tool 200 (see FIG11 ). Figure 2 ) for disassembly or assembly. In some embodiments, as Figure 1C or Figure 1D As shown, the assembly structure 130 may further include an assembly connector 132, which can extend out of the knife bar housing 112 to disassemble or assemble the ultrasonic surgical tool 100. Figure 1C As shown, the assembly connector 132 may include a proximal connection portion 1321 and a distal assembly portion 1322. The proximal end of the proximal connection portion 1321 may be connected to the knife bar connector 131. The distal assembly portion 1322 may be provided at the distal end of the proximal connection portion 1321 for assembling or disassembling the ultrasonic surgical tool 100.

[0057] In some embodiments, as Figure 1C As shown, the distal assembly portion 1322 may include a first slot structure C1 and a first connecting arm B1 and a second connecting arm B2. The first connecting arm B1 and the second connecting arm B2 may be disposed on opposite sides of the first slot structure C1. In the assembled state, the first slot structure C1 may engage with at least a portion of the auxiliary surgical tool 200, and the first connecting arm B1 and the second connecting arm B2 may be connected to the auxiliary surgical tool 200. In other embodiments, the distal assembly portion 1322 may include a retaining ring, which may be connected to the auxiliary surgical tool 200 in the assembled state, for example, by being positioned over or retaining at least a portion of the auxiliary surgical tool 200. In other embodiments, the distal assembly portion 1322 may include at least one connecting arm, which may extend into at least a portion of the auxiliary surgical tool 200, such as at least one slot structure of the auxiliary surgical tool 200, in the assembled state. Those skilled in the art will appreciate that the structure of the distal assembly portion 1322 is not limited to the aforementioned examples and may be any suitable structure.

[0058] In some embodiments, as Figure 1C As shown, the blade rod housing 112 may include a blade rod outer shell 1121, and the blade rod outer shell 1121 can cover at least a portion of the blade rod inner shell 1122. Figure 1C As shown, the assembly connector 132 of the assembly structure 130 can extend out of the outer shell 1121 of the knife bar to disassemble or assemble the ultrasonic surgical tool 100. Figure 1C As shown, the outer shell 1121 of the knife bar may include an outer shell distal end section 1121a located at the distal end and an outer shell proximal end section 1121b located at the proximal end. Figure 1CAs shown, the assembly connector 132 can extend out of the outer shell proximal section 1121b to assemble or disassemble the ultrasonic surgical tool 100. Figure 1C As shown, when the assembly connector 132 extends out of the proximal segment 1121b of the outer shell, the first groove structure C1, the first connecting arm B1 and the second connecting arm B2 of the distal assembly portion 1322 are oriented toward the circumferential outside of the knife rod assembly 110, thereby facilitating the assembly or disassembly of the ultrasonic surgical tool 100.

[0059] In some embodiments, the assembly structure 130 may further include an assembly torsion spring 133 to enable the assembly connector 132 to extend out of the shank housing 112. Figure 1C As shown, the assembly torsion spring 133 can be provided between the knife bar connector 131 and the assembly connector 132 . The assembly torsion spring 133 can be used to apply a torque to the assembly connector 132 to cause the assembly connector 132 to tend to extend out of the knife bar housing 112 .

[0060] In some embodiments, the assembly connector 132 can also be retracted into the shank housing 112 (e.g., the proximal end section 1121b of the outer housing). When the ultrasonic surgical tool 100 is in an unassembled state, the assembly connector 132 is retracted into the shank housing 112 (e.g., the proximal end section 1121b of the outer housing) to facilitate the ultrasonic surgical tool 100 to enter and exit the patient's body, such as from an opening in the patient's body. When the ultrasonic surgical tool 100 is in an assembled state (e.g., assembled with the auxiliary surgical tool 200), the assembly connector 132 is retracted into the shank housing 112, enabling at least a portion of the auxiliary surgical tool 200 to be retracted into the shank housing 112 of the ultrasonic surgical tool 100, thereby facilitating the stability of the connection between the two. For example Figure 5 As shown, the assembly connector 132 can converge to the outer shell proximal section 1121b. Figure 1C or Figure 5 As shown, the outer shell proximal section 1121b may include a second groove structure C2. The second groove structure C2 may be located at the distal end of the outer shell proximal section 1121b. Figure 5 As shown, the outer shell proximal section 1121b can cover the proximal connection portion 1321 of the assembly connector 132 (see Figure 1C ) so that the assembly connector 132 converges to the second groove structure C2. Figure 1C As shown, the assembly connector 132 can also extend from the second slot structure C2 to the outer shell proximal end section 1121 b to facilitate assembly or disassembly of the ultrasonic surgical tool 100 .

[0061] In some embodiments, the outer shell distal end section 1121a can be fixedly connected to the distal end of the inner shell 1122 of the shank, for example, by a suitable method such as snap-fitting or welding. In some embodiments, at least a portion of the outer shell distal end section 1121a can be fixedly connected to at least a portion of the inner shell 1122 of the shank, thereby achieving a fixed connection between the two. In some embodiments, as Figure 4 As shown, the knife rod 111 may further include a flange structure 1113 disposed between the proximal section 1111 and the distal section 1112. The flange structure 1113 may engage with the knife rod inner shell 1122, thereby securing the knife rod 111 within the knife rod inner shell 1122. In some embodiments, the proximal section 1111, the distal section 1112, and the flange structure 1113 included in the knife rod 111 may be integrally formed.

[0062] The assembly structure 130 can also move proximally driven by the blade rod housing 112. Those skilled in the art will appreciate that proximal movement of the assembly structure 130 can provide more space for assembly or disassembly, thereby facilitating assembly or disassembly of the ultrasonic surgical tool 100. In some embodiments, the blade rod connector 131 can be slidably connected to the blade rod inner housing 1122 to facilitate proximal or distal movement.

[0063] The assembly structure 130 and the shank housing 112 can each include mutually cooperating structures to enable the shank housing 112 to drive the assembly structure 130 toward proximal movement. For example, the outer housing proximal segment 1121b can include a first protrusion (not shown) disposed on the inner side, and the shank connector 131 can include a second protrusion (not shown) disposed on the outer side and proximal to the first protrusion. The second protrusion can cooperate with the first protrusion. Therefore, when the outer housing proximal segment 1121b moves proximally, the first protrusion can push the second protrusion proximally, thereby driving the assembly structure 130 toward proximal movement. In some embodiments, the outer housing proximal segment 1121b can include a protrusion (not shown) disposed on the inner side and distal to the shank connector 131. When the outer housing proximal segment 1121b moves proximally, the protrusion can push the shank connector 131 proximally, thereby driving the assembly structure 130 toward proximal movement.

[0064] Figure 6A FIG. 1 is a schematic diagram showing the assembly structure 130 of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure moving toward the proximal end driven by the knife rod housing 112. In some embodiments, as Figure 6A As shown, the knife bar connecting member 131 (see Figure 1D ) may include a first limiting pin XX1, and the outer shell proximal section 1121b may include a first limiting sliding groove XC1. Figure 6AAs shown, the first limiting groove XC1 can be located at the distal end of the outer shell proximal section 1121b, extending along the length of the outer shell proximal section 1121b. The first limiting pin XX1 can be slidably connected to the first limiting groove XC1. In this embodiment, when the outer shell proximal section 1121b moves proximally, the first limiting groove XC1 can pull the first limiting pin XX1 proximally, thereby driving the assembly structure 130 to move proximally.

[0065] Figure 6B FIG. 1 is a schematic structural diagram of the first limiting slide groove XC1 of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure. Figure 6B As shown, when the outer shell proximal section 1121b is close to the outer shell distal section 1121a, the first limiting pin XX1 is located at the proximal end of the first limiting slot XC1. At this time, the distal end of the outer shell proximal section 1121b covers the proximal connection portion 1321 of the assembly connector 132, and the assembly connector 132 converges to the outer shell 1121 of the knife bar (see Figure 5 ). Figure 6B In the position shown, the outer shell proximal section 1121 b can be moved proximally to disassemble or assemble the ultrasonic surgical tool 100 .

[0066] In some embodiments, the outer shell proximal section 1121b moves proximally, for example, moves a distance equal to the length of the first limiting slot XC1, so that the first limiting pin XX1 is located at the distal end of the first limiting slot XC1 (not shown in the figure). Figure 1C As shown, at this time, the proximal end section 1121b of the outer shell releases the proximal end connection portion 1321 of the assembly connector 132, and the assembly connector 132 can extend out of the proximal end section 1121b of the outer shell from the second groove structure C2.

[0067] In some embodiments, Figure 1C Based on the position shown, the outer shell proximal section 1121b can continue to move proximally, for example, to Figure 6A During this process, the first limiting slide XC1 can pull the first limiting pin XX1 toward the proximal end, thereby driving the assembly structure 130 to move toward the proximal end. Figure 6A As shown, the assembly structure 130 moves proximally, and the assembly connector 132 remains extended from the proximal end section 1121b of the outer shell during this process. When the assembly structure 130 is ready for assembly, pulling the assembly structure 130 proximally can expand the assembly space, thereby facilitating assembly. When the assembly structure 130 is ready for disassembly, pulling the assembly structure 130 proximally can separate the assembly structure 130 (e.g., the assembly connector 132) from the auxiliary surgical tool 200, thereby facilitating disassembly.

[0068] like Figure 1DAs shown, the ultrasonic surgical tool 100 may further include an assembly structure reset assembly 140. The assembly structure reset assembly 140 may be disposed at the proximal end of the assembly structure 130 and configured to apply a force to the assembly structure 130 to cause the assembly structure 130 to move distally. In some embodiments, the distal end of the assembly structure reset assembly 140 may abut against the assembly structure 130 (e.g., the blade rod connector 131) to apply force to the assembly structure 130. In some embodiments, the assembly structure reset assembly 140 may be fixedly connected to the blade rod connector 131 by a suitable method, such as bonding, welding, or thermoforming.

[0069] In some embodiments, as Figure 1D As shown, the assembly structure reset component 140 may include a base 141 and a first elastic member 142. The base 141 may be fixedly connected to the inner shell 1122 of the knife bar. The first elastic member 142 may be disposed between the base 141 and the knife bar connector 131, and the first elastic member 142 may be used to apply a force to the knife bar connector 131 to cause the knife bar connector 131 to move toward the distal end. Figure 1D As shown, the first elastic member 142 can be sleeved on the inner shell 1122 of the knife bar. In some embodiments, the first elastic member 142 can be any suitable elastic element such as a coil spring, a gas spring, a rubber spring, etc. In some embodiments, as Figure 1D As shown, the assembly structure reset component 140 may further include a limit block 143, which may be provided on the inner shell 1122 of the cutter bar, for example, fixedly connected to the inner shell 1122 of the cutter bar. Figure 1D As shown, the limit block 143 can be located at the distal end of the knife bar connector 131. The limit block 143 can be used to prevent the knife bar connector 131 from moving toward the distal end. Figure 1D As shown, when the assembly structure 130 is not subjected to external force, due to the force applied by the first elastic member 142 , the knife rod connecting member 131 is located at the far end and abuts against the limiting block 143 .

[0070] In some embodiments, the outer shell proximal segment 1121b is as follows Figure 6A The assembly structure 130 is positioned distally from the position shown. Before the shank connector 131 abuts the stop block 143, the first elastic member 142 allows the first stop pin XX1 to remain distal to the first stop slot XC1. This allows the assembly structure 130 to follow the distal movement of the outer housing proximal segment 1121b. Therefore, during assembly of the ultrasonic surgical tool 100, the assembly structure 130 can be moved distally by manipulating the outer housing proximal segment 1121b, thereby facilitating connection between the assembly connector 132 and the auxiliary surgical tool 200.

[0071] In some embodiments, when the outer shell proximal section 1121b moves distally to the point where the knife rod connector 131 abuts the stop block 143, the outer shell proximal section 1121b continues to move distally. Due to the obstruction of the stop block 143, the assembly structure 130 no longer moves distally. Based on this, the outer shell proximal section 1121b can cover the proximal connection portion 1321 of the assembly connector 132 (see FIG. Figure 1C ), so that the assembly connector 132 is retracted into the outer shell 1121 of the blade shaft. Based on this, the ultrasonic surgical tool 100 can be retracted to facilitate entry and exit of the patient's opening, or at least a portion of the auxiliary surgical tool 200 can be retracted into the outer shell 1121 of the blade shaft of the ultrasonic surgical tool 100, thereby achieving assembly of the ultrasonic surgical tool 100 and the auxiliary surgical tool 200.

[0072] In some embodiments, as Figure 3 As shown, the ultrasonic surgical tool 100 may further include a knife bar housing drive assembly 150. Figure 3 As shown, the blade rod housing drive assembly 150 can be disposed at the proximal end of the blade rod housing 112. The blade rod housing drive assembly 150 can be used to drive at least a portion of the blade rod housing 112 (e.g., the outer housing proximal end section 1121b) to move proximally or distally. In some embodiments, the blade rod housing drive assembly 150 can drive the blade rod housing 112 to move proximally, thereby driving the assembly structure 130 to move proximally.

[0073] In some embodiments, as Figure 1C As shown, the outer shell of the knife bar 1121 may include an outer shell distal section 1121a and an outer shell proximal section 1121b. The knife bar housing drive assembly 150 may be used to drive the outer shell proximal section 1121b to move proximally or distally away from the outer shell proximal section 1121a (e.g., in a position such as Figure 1C ), or near the outer shell proximal section 1121a (e.g., in the state shown in FIG. Figure 1A or Figure 1B status shown).

[0074] In some embodiments, as Figure 3 As shown, the arbor housing drive assembly 150 may include a fixed member 151, a movable member 152, and a second 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.

[0075] like Figure 3As shown, the fixing member 151 can be fixedly connected to the proximal end of the inner shell 1122 of the blade rod to fix the position of the fixing member 151, for example, by welding, bonding, thermoforming, 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, based on which the fixing member 151 can be mounted on the inner shell 1122 of the blade rod. In some embodiments, the fixing member 151 can be integrated or integrally formed with the inner shell 1122 of the blade rod.

[0076] The movable member 152 can be connected to the proximal end of the outer shell proximal section 1121b, for example, by fixed connection, abutment, etc. In some embodiments, the movable member 152 can be fixedly connected to the outer shell proximal section 1121b by any suitable means, such as welding or gluing. In some embodiments, the movable member 152 can be any suitable structure, such as an annular structure or a plate-like structure with a central through hole, and can be mounted on the outer shell proximal section 1121b. In some embodiments, the movable member 152 can be integrated or integrally formed with the outer shell proximal section 1121b.

[0077] The second elastic member 153 can be used to apply a force to the outer shell proximal section 1121b to bring the outer shell proximal section 1121b closer to the outer shell distal section 1121a. The second elastic member 153 can be any suitable elastic element such as a coil spring, a gas spring, or a rubber spring.

[0078] During surgery, the distal end of the ultrasonic surgical tool 100 extends into the patient's body, while the knife bar housing drive assembly 150 located at the proximal end is located outside the patient's body. When assembling or disassembling the ultrasonic surgical tool 100, the user can operate the knife bar housing drive assembly 150 located outside the patient's body to slide the outer housing proximal section 1121b proximally, causing the assembly structure (e.g., the assembly connector 132) to extend out of the outer housing proximal section 1121b and move proximally a certain distance, thereby facilitating assembly or disassembly of the ultrasonic surgical tool 100 at the distal end of the ultrasonic surgical tool 100 located inside the body.

[0079] In a state where no external force is applied, the outer shell proximal section 1121b is close to the outer shell distal section 1121a (eg, Figure 5 or Figure 6BAs shown in FIG1 , the knife bar connector 131 abuts against the limit block 143 under the action of the force applied by the first elastic member 142. When operating the knife bar housing drive assembly 150, the user can pull the movable member 152 proximally to bring it close to the fixed member 151. The movable member 152 moves proximally and drives the outer housing proximal section 1121b fixedly connected to the movable member 152 away from the outer housing distal section 1121a, thereby allowing the assembly connector 132 (for example, the distal assembly portion 1322) to extend out of the outer housing proximal section 1121b and then move proximally a certain distance, thereby allowing the ultrasonic surgical tool 100 to be assembled or disassembled.

[0080] In some embodiments, the user can directly operate the shank housing drive assembly 150. In some embodiments, the ultrasonic surgical tool 100 may further include an operating handle, through which the user can operate the shank housing drive assembly 150. In some embodiments, the operating handle may be connected to the shank housing drive assembly 150, or to both the shank housing drive assembly 150 and the shank assembly 110. The operating handle may be used to move the movable member 152 or the outer housing proximal section 1121b toward or away from the fixed member 151.

[0081] Figure 7A A schematic structural diagram of the operating handle 160a of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure is shown. Figure 7B FIG. 1 is a structural diagram showing a partial structure of the operating handle 160a of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure. Figure 7A or Figure 7B As shown, the operating handle 160a may include a grip portion 161a and an operating portion 162a.

[0082] The grip portion 161a can be used for the user to hold. The user can hold the grip portion 161a to stabilize the ultrasonic surgical tool 100 during surgery, and hold the grip portion 161a to facilitate operation of the operating handle 160a during assembly or disassembly. Figure 7A As shown, in some embodiments, the holding portion 161a can be cylindrical and can cover the arbor housing drive assembly 150 and a portion of the proximal end of the outer housing proximal segment 1121b, thereby making it easier for the user to hold the holding portion 161a.

[0083] like Figure 7BAs shown, the grip portion 161a can be fixedly connected to the fixing member 151. For example, the operating handle 160a can further include a second connecting portion 161j, which can be fixedly connected to the grip portion 161a, and the grip portion 161a can be fixedly connected to the fixing member 151 through the second connecting portion 161j. In some embodiments, the second connecting portion 161j can be fixedly connected to the fixing member 151 by welding, thermoplasticization, snap-fitting, or other suitable means. In some embodiments, the fixing member 151 can include a first groove arranged along the circumference, and the second connecting portion 161j can snap-fit with the first groove to be fixedly connected to the fixing member 151. In some embodiments, the second connecting portion 161j can be in 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.

[0084] The operation portion 162a can be used for the user to operate. Figure 7B As shown, the distal end of the operating portion 162a can be rotatably connected to the handle portion 161a, for example, hinged to the handle portion 161a at a point D1 inside the handle portion 161a. In some embodiments, the operating portion 162a can be connected to the movable member 152, for example, directly abutting, connecting, or connecting through a connecting member. In some embodiments, as Figure 7B As shown, the operating handle 160a may further include a first connecting portion 162j, and the operating portion 162a may be connected to the movable member 152 via the first connecting portion 162j. The first connecting portion 162j 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 162j may be in a suitable shape such as a ring or an arc to facilitate connection with the movable member 152. Figure 7B As shown, the operating handle 160a may further include a second connecting rod 162g, and both ends of the second connecting rod 162g may be hinged to the operating portion 162a and the first connecting portion 162j, respectively.

[0085] The operating portion 162a 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 7B 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 162a connected to the movable member 152 is in the position shown in FIG. Figure 7B In some embodiments, the operating portion 162a receives a direction such as Figure 7BThe torque indicated by arrow J1 causes the operating portion 162a to rotate about the hinge point D1 in the direction indicated by arrow J1. The rotation of the operating portion 162a pushes the second connecting rod 162g toward the proximal end, which in turn drives the movable member 152 toward the proximal end, thereby extending the assembly structure 130 from the proximal end section 1121b of the outer shell to perform assembly.

[0086] In some embodiments, the operating portion 162a can also be connected to the outer shell proximal section 1121b without passing through the movable member 152, and the operating portion 162a can receive a torque to drive the outer shell proximal section 1121b to move proximally. In some embodiments, the operating portion 162a can be connected to the outer shell proximal section 1121b via a connecting structure or directly connected to the outer shell proximal section 1121b.

[0087] like Figure 7A or Figure 7B As shown, the operating portion 162a can be rod-shaped, and the cylindrical handle portion 161a can cover a portion of the distal end of the operating portion 162a. In some embodiments, the operating portion 162a can extend into the internal cavity of the handle portion 161a through the opening at the distal end of the handle portion 161a, and the opening at the distal end of the handle portion 161a can accommodate the distal end of the operating portion 162a to rotate within the opening.

[0088] Figure 8A and Figure 8B FIG. 1 is a schematic structural diagram of the operating handle 160b of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure. Figure 8A and Figure 8B As shown, the operating handle 160b may include a grip portion 161b for the user to hold, and an operating portion 162b for the user to operate. In some embodiments, the operating portion 162b may be connected to the movable member 152 via a first connecting rod 162h. The distal end of the first connecting rod 162h may be hinged to the operating portion 162b, and the proximal end of the first connecting rod 162h may be connected to (e.g., abutted against) the movable member 152. In some embodiments, as shown in FIG. Figure 8A or Figure 8B As shown, the operating handle 160b may further include a connecting member 163, and the grip portion 161b and the operating portion 162b are hinged to the connecting member 163 at opposite sides of the connecting member 163. For example, they are hinged to the connecting member 163 at points D2 and D3, respectively.

[0089] For the operating handle 160b, after receiving the direction Figure 8AUnder the torque indicated by the arrow J2, the connecting member 163 rotates counterclockwise around the hinge point D3, causing the operating portion 162b to move toward the proximal end, and the operating portion 162b rotates along the direction indicated by the arrow J2 and around the hinge point D2. The movement of the operating portion 162b can push the first connecting rod 162h to move toward the proximal end, thereby driving the movable member 152 to move toward the proximal end. For example, when the movable member 152 moves to the proximal end, the movable member 152 can move toward the proximal end. Figure 8B When in the position shown, the assembly structure 130 can be ejected from the proximal end section 1121b of the outer shell and moved a certain distance toward the proximal end, thereby enabling assembly.

[0090] In some embodiments, the operating handle 160b may further include a connecting torsion spring (not shown in the figure), which may be provided between the operating portion 162b and the first connecting rod 162h (for example, provided at Figure 8A The connecting torsion spring is used to apply torque to the first connecting rod 162h, so that the proximal end of the first connecting rod 162h is close to the proximal end section 1121b of the outer shell. Based on this, the proximal end of the first connecting rod 162 can always abut the proximal end section 1121b of the outer shell. As the operating portion 162b moves toward the proximal end, the first connecting rod 162 is facilitated to abut and push the movable member 152 proximally.

[0091] When the arbor housing drive assembly 150 is operated, the proximal end section 1121b of the outer housing moves relative to the arbor inner housing 1122. In some embodiments, the stability of the arbor outer housing can be enhanced through various suitable methods to prevent the arbor inner housing 1122 from swaying within the arbor outer housing or even colliding with the arbor outer housing. In some embodiments, the proximal end section 1121b of the outer housing can further include multiple annular bosses (not shown), which can be evenly arranged on the inner wall of the proximal end section 1121b of the outer housing. The multiple annular bosses can abut against the arbor inner housing 1122. In some embodiments, the inner diameters of the multiple annular bosses can be equal. Based on this, when the arbor outer housing moves back and forth, the arbor inner housing 1122 can move within the channel formed by the inner walls of the multiple annular bosses, preventing the arbor inner housing 1122 from swaying within the arbor outer housing.

[0092] In some embodiments, the inner housing 1122 of the blade bar can include a second limiting groove (not shown) that can extend along the length of the inner housing 1122. For example, the second limiting groove can be disposed at the proximal end of the inner housing 1122. The blade bar housing can also include a second limiting pin (not shown), one end of which can be fixedly connected to the proximal end section 1121b of the outer housing, and the other end of which can be slidably connected to the second limiting groove. The second limiting pin fixedly connected to the proximal end section 1121b of the outer housing and the second limiting groove that cooperates with the second limiting pin can limit the movable range of the proximal end section 1121b of the outer housing, for example, limiting the movable distance of the proximal end section 1121b of the outer housing to no greater than the length of the second limiting groove. This can also help prevent the proximal end section 1121b of the outer housing from twisting during movement, thereby improving the stability of the movement of the proximal end section 1121b of the outer housing. Those skilled in the art will appreciate that the second limiting pin may include any suitable structure such as a columnar component, a columnar protrusion, a bump, a convex strip, etc.

[0093] In some embodiments, the length of the second limiting sliding groove may be greater than that of the first limiting sliding groove XC1 (see Figure 6A or Figure 6B Based on this, when the second limiting pin slides from the distal end to the proximal end in the second limiting slot, the first limiting slot XC1 will move proximally relative to the first limiting pin XX1 and thereby drive the first limiting pin XX1 to move proximally, thereby driving the proximal end section 1121b of the outer shell to move proximally.

[0094] In some embodiments, as Figure 1A 、 Figure 1B As shown, the ultrasonic surgical tool 100 may further include a clamp assembly 170, which may be disposed at the distal end of the ultrasonic surgical tool 100. Figure 1A 、 Figure 1B As shown, the clamp assembly 170 may include a connecting portion 171 and a clamp body 172. The connecting portion 171 may be hinged to the distal end of the outer shell distal segment 1121a, for example, as shown in FIG. Figure 1A or Figure 1B Point A is shown as being hinged to the distal end of the outer shell distal segment 1121a. Figure 1A 、 Figure 1BAs shown, the forceps body 172 can be disposed at the distal end of the connecting portion 171. The forceps body 172 can be fixedly connected to the connecting portion 171. In some embodiments, the forceps body 172 and the connecting portion 171 can be integrally formed. During surgery, the forceps body 172 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 172 and the blade structure formed at the distal end of the knife rod 111 can form a bipolar electrosurgical tool, which can perform a coagulation operation on the biological tissue when the forceps body 172 and the distal end of the knife rod 111 clamp the biological tissue.

[0095] In some embodiments, the ultrasonic surgical tool 100 may further include a clamp drive assembly for driving the clamp body 172 to open and close, so that the clamp formed by the clamp body 172 and the distal end of the knife rod 111 can open and close. In some embodiments, the clamp drive assembly can be connected to the proximal end of the connecting portion 171 of the clamp assembly 170. In some embodiments, the clamp drive assembly and the connecting portion 171 can be connected by various suitable mutually cooperating structures, so that when the clamp drive assembly moves, the connecting portion 171 connected to the clamp drive assembly can be driven to move, and then the clamp body 172 fixedly connected to the connecting portion 171 can be driven to open and close.

[0096] In some embodiments, as Figures 1A to 1C As shown, the connecting portion 171 of the clamp assembly 170 may include a first driving slot 1711 and a second driving slot 1712, wherein the first driving slot 1711 is disposed on a first side of the connecting portion 171 and the second driving slot 1712 is disposed on a second side of the connecting portion 171. Figure 1C As shown, the first driving slot 1711 and the second driving slot 1712 are arranged opposite to each other. Figure 9A FIG. 1 is a schematic structural diagram of a clamp driving assembly 180 of an ultrasonic surgical tool 100 according to some embodiments of the present disclosure. Figure 9A As shown, the clamp drive assembly 180 may include a first pin structure 181, which may be disposed at a distal end of the clamp drive assembly 180. Figure 1C The two ends of the first pin structure 181 can be slidably connected to the first driving slot 1711 and the second driving slot 1712 respectively.

[0097] In some embodiments, as Figure 9AAs shown, the clamp drive assembly 180 may include a longitudinal portion 183 extending along the length direction of the ultrasonic surgical tool 100 and a transverse portion 182 distributed perpendicular to the longitudinal portion 183. The transverse portion 182 may be located at the proximal end of the clamp drive assembly 180, and the longitudinal portion 183 may be located at the distal end of the clamp drive assembly 180. The transverse portion 182 and the longitudinal portion 183 are fixedly connected. In some embodiments, the transverse portion 182 and the longitudinal portion 183 may be integrally formed. In some embodiments, the axis of the transverse cross-section of the longitudinal portion 183 may be a circular arc to reduce contact with the knife bar assembly 110 (e.g., the knife bar inner shell 1122) during movement. In some embodiments, as Figure 9A As shown, the transverse portion 182 can be annular and can be sleeved on the inner shell 1122 of the knife bar. In some embodiments, the transverse portion 182 can include two oppositely disposed portions, which can be respectively connected to the proximal ends of the longitudinal portion 183 of the clamp drive assembly 180.

[0098] In some embodiments, as Figure 9A As shown, the clamp drive assembly 180 may further include a boss 184 disposed at the distal end of the longitudinal portion 183. The boss 184 may protrude upward from the upper surface of the longitudinal portion 183 and extend transversely along the longitudinal portion 183. A first pin structure 181 may extend transversely through the boss 184, with both ends extending out of the boss 184 to connect with the first drive slot 1711 and the second drive slot 1712 of the connecting portion 171 of the clamp assembly 170. In some embodiments, the first pin structure 181 may include two short pins disposed on either side of the boss 184, the two short pins being slidably connected to the first drive slot 1711 and the second drive slot 1712, respectively. In some embodiments, as an alternative to the boss 184, the distal end of the clamp drive assembly 180 may include two raised ear structures on either side, and the first pin structure 181 may include two portions disposed on the ear structures to connect with the first drive slot 1711 and the second drive slot 1712, respectively.

[0099] In some embodiments, as Figure 9A As shown, the clamp drive assembly 180 can cover at least a portion of the distal end of the inner shell 1122 of the cutter bar. For example, the transverse portion 182 and the longitudinal portion 183 of the clamp drive assembly 180 can each cover a portion of the inner shell 1122 of the cutter bar. Figure 1C As shown, the outer housing distal segment 1121a can cover at least a portion of the clamp drive assembly 180. In some embodiments, as shown in FIG. Figure 1C As shown, the outer shell distal segment 1121a may include a third groove structure C3. Figure 1CAs shown, the third slot structure C3 exposes at least a portion of the clamp drive assembly 180. Based on this, the clamp drive assembly 180 can be moved by the portion of the clamp drive assembly 180 exposed through the third slot structure C3 of the outer shell distal section 1121a, thereby driving the clamp body 172 to open and close.

[0100] In some embodiments, as Figure 1A 、 Figure 1B 、 Figure 1C 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. Figure 1A 、 Figure 1B or Figure 9A As shown, the clamp drive assembly 180 may further include at least one first short pin structure or first protrusion structure 1821 disposed on a first side of the proximal end of the clamp drive assembly 180 (e.g., the lateral portion 182 of the clamp drive assembly 180). Figure 1A 、 1B As shown, the first short pin structure or the first protrusion structure 1821 can be slidably connected to the third driving slot 11213 of the distal end section 1121a of the outer shell.

[0101] The clamp drive assembly 180 may further include at least one proximal end of the clamp drive assembly 180 (e.g., Figure 9A The clamp drive assembly 180 is shown as a lateral portion 182 of the clamp drive assembly 180. 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 1821. 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 180 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.

[0102] In some embodiments, as Figure 9A As shown, the at least one first short pin structure 1821 may include two short pin structures arranged in parallel along the axis to improve the sliding stability of the clamp driving assembly 180. The at least one second short pin structure may also include two short pin structures arranged in parallel along the axis.

[0103] In some embodiments, as Figure 1C 、 Figure 5 or Figure 9AAs shown, the clamp drive assembly 180 may further include a second pin structure 185. The second pin structure 185 may be disposed at the proximal end of the clamp drive assembly 180 (e.g., Figure 9A In some embodiments, the second pin structure 185 can be fixedly connected to the transverse portion 182, such as by welding or other suitable means. The second pin structure 185 can be used to receive a drive for the clamp assembly 170.

[0104] In some embodiments, as Figure 1C or Figure 5 As shown, the clamp driving assembly 180 may further include a fourth slot structure C4, which may be provided at the proximal end of the clamp driving assembly 180, for example, at the lower portion of the transverse portion 182 of the clamp driving assembly 180. Figure 1C or Figure 5 As shown, the fourth slot structure C4 can expose at least a portion of the second pin structure 185. 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 185 through the portion of the second pin structure 185 exposed through the fourth slot structure C4. When the second pin structure 185 receives the driving force, it drives the clamp driving assembly 180 to slide along the length direction, thereby driving the clamp assembly 170 connected to the clamp driving assembly 180 to open and close.

[0105] In some embodiments, the clamp assembly 170 may also include a clamp torsion spring. Figure 9B FIG. 1 is a structural diagram showing a partial structure of an ultrasonic surgical tool 100 including a clamp torsion spring 173 according to some embodiments of the present disclosure. Figure 9B As shown, the clamp torsion spring 173 can be provided between the outer shell distal end section 1121a and the clamp body 172. The clamp torsion spring 173 is used to apply pressure to the clamp body 172 to make the clamp body 172 tend to close (for example, in a position such as Figure 9B Based on this, when the clamp drive assembly 180 is not subjected to external force, the clamp body 172 remains closed, making it easy for the ultrasonic surgical tool 100 to enter and exit the patient's body or move within the patient's body.

[0106] Based on the clamp torsion spring 173, when the clamp driving assembly 180 is not subjected to external force, as shown in FIG. Figure 1C As shown, the second pin structure 185 is located near the proximal end of the third slot structure C3; the first short pin structure or the first protrusion structure 1821 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 181 are located at the proximal ends of the first drive slot 1711 and the second drive slot 1712.

[0107] When the clamp driving assembly 180 is pushed by an external force, for example, the second pin structure 185 is pushed by an external force, for example, Figure 5 The force in the direction indicated by the arrow 502 is applied, and the second pin structure 185 moves distally along the length direction of the ultrasonic surgical tool 100, and drives the clamp drive assembly 180 to move distally. The first short pin structure or the first protrusion structure 1821 of the clamp drive assembly 180 can move to a position such as Figure 1B The second short pin structure or the second protrusion structure can move to the position of the distal end of the fourth driving chute; the first end of the first pin structure 181 can move to the position of the distal end of the third driving chute 11213 shown in FIG. Figure 1B As shown in FIG1 , the first pin structure 181 moves to the distal end of the first driving slot 1711, and the second end of the first pin structure 181 can move to the distal end of the second slot. When the first pin structure 181 moves to the distal end, it pushes the fixedly connected connecting portion 171 and the clamp body 172 to rotate clockwise around the hinge point A. The clamp body 172 is as shown in FIG1 . Figure 1A The closed state shown is rotated as Figure 1B Shown in the open state.

[0108] In some embodiments, the clamp assembly 170 may further include a clamp pad (not shown), which may be disposed on the clamp body 172 and connected to the clamp body 172 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 172 is fully closed (fitting against the distal end of the knife rod 111).

[0109] Some embodiments of the present disclosure also provide a movably assembled ultrasonic surgical tool assembly. Figure 3 FIG. 1 is a schematic structural diagram of a movable assembled ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure. Figure 3 As shown, the removably assembled ultrasonic surgical tool assembly 10 may include a removably assembled ultrasonic surgical tool 100 as in any one of the embodiments of the present disclosure and an auxiliary surgical tool 200. The auxiliary surgical tool 200 may be detachably connected to the ultrasonic surgical tool 100. It will be understood by those skilled in the art that Figure 3 The auxiliary surgical tool 200 is shown as being connected to the ultrasonic surgical tool 100. The auxiliary surgical tool 200 can be used to drive the ultrasonic surgical tool 100 to move. Figure 3As shown, the auxiliary surgical tool 200 may include an arm body 210 and an assembly head 220. The assembly head 220 may be disposed at the distal end of the arm body 210 and may be detachably connected to the assembly structure 130 of the ultrasonic surgical tool 100. After the auxiliary surgical tool 200 is connected to the ultrasonic surgical tool 100, the auxiliary surgical tool 200 can drive the ultrasonic surgical tool 100 to move within the patient's body.

[0110] In some embodiments, as Figure 2 As shown, the assembly head 220 of the auxiliary surgical tool 200 may include a main body 221 and a boss 222 disposed above the main body 221. Figure 2 As shown, the boss 222 may include a first track 2221 and a second track 2222 that are disposed opposite to each other. Figure 2 As shown, the first track 2221 and the second track 2222 can be provided on opposite sides of the boss 222. The first track 2221 and the second track 2222 can be used to be detachably connected to the assembly structure 130 of the ultrasonic surgical tool 100.

[0111] In the assembled state, the first rail 2221 and the second rail 2222 can be connected to the assembly connector 132 of the assembly structure 130 of the ultrasonic surgical tool 100. For example, the first rail 2221 can be connected to the first connecting arm B1, and the second rail 2222 can be connected to the second connecting arm B2. The portion between the first rail 2221 and the second rail 2222 (for example, the columnar portion below the boss 222) can extend into the first groove structure C1. Through the boss 222 of the auxiliary surgical tool 200 and the assembly structure 130 of the ultrasonic surgical tool 100, the auxiliary surgical tool 200 and the ultrasonic surgical tool 100 can establish a rigid connection, which facilitates the auxiliary surgical tool 200 to drive the ultrasonic surgical tool 100 to move within the patient's body.

[0112] In some embodiments, as Figure 2 As shown, in the auxiliary surgical tool 200, the main body 221 of the assembly head 220 may include a sliding space 2211, and a fifth driving slot 2212 and a sixth driving slot 2213 located on opposite sides of the sliding space 2211. Figure 2 As shown, the assembly head 220 may further include a slider 223. The slider 223 may be slidably connected to the fifth 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 2As shown, the pin structure 2231 may include two pins that slide in the fifth drive slot 2212 and the sixth drive slot 2213 to enhance 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 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 slider 223 moves in the direction constrained by the fifth drive slot 2212 and the sixth drive slot 2213, the slider 223 can move within the sliding space 2211.

[0113] like Figure 2 As shown, the slider 223 may include at least one slot structure 2232 disposed 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 can be used to connect with the ultrasonic surgical tool 100, for example, by connecting with the ultrasonic surgical tool 100 (e.g., the second pin structure 185 of the ultrasonic surgical tool 100) via the portion of the at least one slot structure 2232 extending out of the sliding space 2211. Based on this, the slider 223 of the auxiliary surgical tool 200 can be driven to move along the fifth drive slot 2212 and the sixth drive slot 2213, causing the slider 223 to drive the second pin structure 185 of the ultrasonic surgical tool 100 connected thereto to move along the length of the ultrasonic surgical tool 100. The movement of the second pin structure 185 drives the clamp drive assembly 180 to move along the length, thereby driving the jaws 172 to open and close. Thus, the slider 223 of the auxiliary surgical tool 200 can be driven to drive the jaws 172 of the ultrasonic surgical tool 100 to open and close.

[0114] 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 172 in the ultrasonic surgical tool 100. In some embodiments, the drive wire can be a nickel-titanium alloy wire.

[0115] In some embodiments, as Figure 2As shown, the main body 221 may include a first arm 221a and a second arm 221b. The first arm 221a and the second arm 221b may be relatively disposed on both sides of the sliding space 2211 and extend toward the distal end of the arm body 210. Figure 2 As shown, the first arm 221a may include a fifth 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.

[0116] In some embodiments, as Figure 2 As shown, the slider 223 may further include at least one arcuate groove 2233 disposed on the upper portion of the slider 223. The opening of the at least one arcuate groove 2233 may be upward, thereby facilitating the sliding operation by preventing friction or collision between the slider 223 and the ultrasonic surgical tool 100 (e.g., the inner shell 1122 of the shank of the ultrasonic surgical tool 100) when the slider 223 slides along the fifth 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.

[0117] In some embodiments, before performing a surgical operation using the movably assembled ultrasonic surgical tool assembly 10 , the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 may be assembled through the following process.

[0118] The distal end of the ultrasonic surgical tool 100 may be placed into a patient's body.

[0119] For example, a user can hold the proximal end of the ultrasonic surgical tool 100, such as the grip portion of the operating handle (e.g., grip portion 161a or grip portion 161b), and insert the distal end of the ultrasonic surgical tool 100 into the patient's body. A portion of the distal end of the blade shaft assembly 110 of the ultrasonic surgical tool 100 (which may include the distal end portion of the blade shaft 111 and the blade shaft housing 112), the assembly structure 130, the assembly structure reset assembly 140, and the clamp assembly 170 can be inserted into the patient's body. A portion of the proximal end of the blade shaft assembly 110 of the ultrasonic surgical tool 100 (e.g., the proximal end portion of the blade shaft 111 and the blade shaft housing 112), the ultrasonic transducer 120, the blade shaft housing drive assembly 150, and the operating handle (e.g., operating handle 160a or 160b) can be located outside the patient's body.

[0120] The ultrasonic surgical tool 100 can be inserted into the patient's body through an opening in the patient (e.g., a natural opening or an incision). In some embodiments, the ultrasonic surgical tool 100 can include a clamp torsion spring 173 (see FIG. 1 ) that applies a torque to the clamp body 172 that tends to close. Figure 9B ), during the execution, the clamp body 172 in the ultrasonic surgical tool 100 remains in a closed state (for example, in a position such as Figure 1A The position shown is close to the distal end of the knife rod 111), so as to facilitate entry into the patient's body from the patient's opening and help avoid collision with tissues in the patient's body.

[0121] The distal end of the auxiliary surgical tool 200 can be extended into the patient's body.

[0122] For example, the distal end of the sheath can be first extended into the patient's body, and then the distal end of the auxiliary surgical tool 200 can be extended into the patient's body through the passage provided by the sheath can. It will be appreciated by those skilled in the art that the sheath can be used to provide the passage for surgical instruments to enter the patient's body. In certain embodiments, the sheath can be used to provide a plurality of surgical instruments to enter the patient's body through the sheath can. In certain embodiments, the distal end of the sheath can be extended into the patient's body through another incision (different from the incision through which the ultrasonic surgical tool 100 extends into the patient's body) on the patient's body surface.

[0123] The assembly head 220 at the distal end of the auxiliary surgical tool 200 and a portion of the distal end of the arm body 210 can be extended into the patient's body, while a portion of the proximal end of the arm body 210 is left outside the patient's body.

[0124] In some embodiments, the auxiliary surgical tool 200 can be set at the distal end of the robotic arm of the surgical robot system, and the distal end of the auxiliary surgical tool 200 can be controlled by the surgical robot system (for example, a driving device in the surgical robot system for driving the movement of the auxiliary surgical tool 200) to enter the patient's body through the sheath.

[0125] Then, the positions of the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 in the patient's body can be adjusted to a posture that is convenient for assembly.

[0126] Figure 10 A schematic diagram showing the relative positions of the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 during the assembly process according to some embodiments of the present disclosure. In some embodiments, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be moved to the positions shown in FIG. Figure 10In some embodiments, the user can hold the grip portion of the operating handle and adjust the ultrasonic surgical tool 100 to a position that facilitates assembly. In some embodiments, the auxiliary surgical tool 200 can be controlled by controlling the driving device for driving the auxiliary surgical tool 200 to move to a position near the ultrasonic surgical tool 100 and convenient for assembly with the ultrasonic surgical tool 100.

[0127] The operating handle may be operated to position the mounting structure 130 (eg, the mounting connector 132 ).

[0128] For example, the user can operate an operating handle (e.g. Figure 7A or Figure 7B The operating handle 160a shown, or Figure 8A or Figure 8B Under the above operation of the user, the operating portion drives the movable member 152 to move toward the proximal end, and drives the outer shell proximal section 1121b fixedly connected to the movable member 152 away from the outer shell distal section 1121a (for example, to move to the position shown in FIG. Figure 1C In the state shown in FIG. 1 , the assembly connector 132 of the assembly structure 130 extends out of the proximal section 1121b of the outer shell. Based on this, the user can continue to rotate the operating portion to cause the movable member 152 to continue to move proximally, and the proximal section 1121b of the outer shell continues to move proximally and drive the assembly structure 130 to move proximally. In some embodiments, when the operating portion of the operating handle is rotated to the extreme position or before the extreme position (for example, to be positioned as shown in FIG. 1 ), the assembly connector 132 of the assembly structure 130 extends out of the proximal section 1121b of the outer shell. Figure 8B ), the assembly structure 130 may be put into place.

[0129] Then, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 may be assembled.

[0130] During the assembly process, the jaws 172 of the ultrasonic surgical tool 100 remain in a closed state to facilitate entry into the patient's body and avoid encountering tissue in the patient's body. Figure 10 As shown, at this time, both ends of the first pin structure 181 of the clamp driving assembly 180 are in the first driving slot 1711 and the second driving slot 1712 (see Figure 1C ) proximal end; the first short pin structure or the first protruding structure 1821 and the second short pin structure or the second protruding structure of the clamp drive assembly 180 are respectively located at the proximal ends of the third drive chute 11213 and the fourth drive chute; the second pin structure 185 of the clamp drive assembly 180 is located as Figure 5 The position shown is near the proximal end of the third groove structure C3.

[0131] Based on this, during assembly, at least one pin or protrusion 2231 at the bottom of the slider 223 can be positioned as follows: Figure 10 The proximal ends of the fifth drive slot 2212 and the sixth drive slot 2213 are shown to facilitate the connection of the slot structure 2232 on the upper portion of the slider 223 of the auxiliary surgical tool 200 with the second pin structure 185 of the ultrasonic surgical tool 100. In some embodiments, the slider 223 can be moved to the position as shown in FIG. Figure 10 Position shown.

[0132] As described above, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be moved to Figure 10 The relative posture shown in Figure 10 Based on the posture shown, the user can release the proximal section 1121b of the outer shell by operating the operating handle to move it toward the distal end. Under the action of the first elastic member 142 of the assembly structure reset component 140, the assembly structure 130 follows the proximal section 1121b of the outer shell to move toward the distal end. Before the knife rod connector 131 of the assembly structure 130 moves to abut the limit block 143, the assembly connector 132 remains extended out of the proximal section 1121b of the outer shell and is able to establish a connection with the auxiliary surgical tool 200 during the process of distal movement. For example, the first connecting arm B1 and the second connecting arm B2 of the assembly connector 132 are respectively connected to the first track 2221 and the second track 2222 of the boss 222 and slide toward the distal end along the first track 2221 and the second track 2222.

[0133] Figure 11A A schematic diagram showing the connection between the assembly connector 132 and the boss 222 of the movably assembled ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure is shown. After the above operations, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be connected as shown in FIG. Figure 11A The status shown.

[0134] During the process of connecting the assembly connector 132 and the boss 222, the user can continue to operate the arbor housing drive assembly 150 to position the outer housing proximal end section 1121b away from the outer housing distal end section 1121a. Figure 11B A side view of the distal end portion of the movable assembly of the ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure is shown. Figure 11A After the position is shown, the user can continue to operate the operating handle to make the proximal end section 1121b of the outer shell move as shown. Figure 11AThe assembly structure 130 continues to move distally based on the position shown. However, due to the obstruction of the stop block 143, the assembly structure 130 no longer moves distally. Based on this, the distal end of the outer shell proximal section 1121b can cover the proximal connection portion 1321 of the assembly connector 132, thereby driving the assembly connector 132 to converge into the second groove structure C2 of the outer shell proximal section 1121b (see Figure 5 ), the boss 222 connected to the assembly connector 132 can also be pressed into the outer shell 1112 of the blade rod of the ultrasonic surgical tool 100, as shown in FIG. Figure 11B shown.

[0135] Based on the above process, the in vivo assembly of the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be completed, and the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be established as follows: Figure 3 or Figure 11B The rigid connection shown is made, thereby completing the preparation of the removably assembled ultrasonic surgical tool assembly 10. Those skilled in the art will appreciate that the steps included in the preparation of the removably assembled ultrasonic surgical tool assembly 10 are not limited to the above steps, nor are they limited to the above step order.

[0136] In some embodiments, the auxiliary surgical tool 200 can be mounted on the distal end of the robotic arm of the surgical robot system. Based on this, after the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 form a rigid connection in the patient's body, the user can drive the ultrasonic surgical tool 100 to move in the human body by controlling the movement of the auxiliary surgical tool. This facilitates the movement of the blade rod assembly 110 and the clamp assembly 170 at the distal end of the ultrasonic surgical tool 100 to different locations in the patient's body, and performs surgical operations on biological tissues at different locations. The surgical robot system can also control the opening and closing of the clamp assembly 170 of the ultrasonic surgical tool 100, so that the clamp composed of the clamp body 172 and the blade head structure at the distal end of the blade rod 111 in the ultrasonic surgical tool 100 can clamp biological tissue.

[0137] In natural state, Figure 11B As shown, in the clamp torsion spring 173 (see Figure 9B ) under the action of the torque applied, the clamp body 172 remains in a closed state, the clamp body 172 fits the distal end of the knife rod 111, the two ends of the first pin structure 181 of the clamp drive assembly 180 are at the proximal ends of the first drive slot 1711 and the second drive slot 1712, the first short pin structure or the first protrusion structure 1821 and the second short pin structure or the second protrusion structure are respectively located at the proximal ends of the third drive slot 11213 and the fourth drive slot, and the second pin structure 185 of the clamp drive assembly 180 is located as shown in FIG. Figure 5 The position near the proximal end of the third groove structure C3 is shown. Figure 2) and the second pin structure 185 of the ultrasonic surgical tool 100 (see Figure 5 ) snap together, in its natural state, such as Figure 11B As shown, the pin 2231 at the lower portion of the slider 223 is located at the proximal ends of the fifth driving slot 2212 and the sixth driving slot 2213 .

[0138] In some embodiments, under the control of the user, the surgical robot system pushes and pulls the driving wire of the slider 223 connected to the auxiliary surgical tool 200, thereby pushing and pulling the slider 223, so that the two ends of the pin 2231 at the bottom of the slider 223 slide toward the distal end in the fifth driving slot 2212 and the sixth driving slot 2213, and the slider 223 moves in the sliding space 2211 (see FIG. Figure 2 ) slides toward the far end. Due to the groove structure 2232 (see Figure 2 ) and the second pin structure 185 of the ultrasonic surgical tool 100 (see Figure 5 ) connection, the slider 223 moves toward the distal end, which drives the second pin structure 185 to move toward the distal end, thereby driving the clamp drive assembly 180 (see Figure 1C or Figure 5 The first short pin structure or the first protrusion structure 1821 and the second short pin structure or the second protrusion structure of the clamp driving assembly 180 move from the proximal end to the distal end along the third driving chute 11213 and the fourth driving chute, for example, to the position shown in FIG. Figure 1B The position shown; the first pin structure 181 of the clamp drive assembly 180 along the first drive chute 1711 and the second drive chute 1712 (see Figure 1C ) moves from the proximal end to the distal end, for example, Figure 1B The first pin structure 181 moves distally, pushing the fixedly connected connecting portion 171 and the clamp body 172 to rotate clockwise around the hinge point A. The clamp body 172 is as shown in FIG. Figure 11B The closed state shown is rotated as Figure 1B Based on this, the surgical robot system can control the opening and closing of the clamp in the ultrasonic surgical tool 100.

[0139] In some embodiments, in the ultrasonic surgical tool 100, the distal end of the ultrasonic transducer 120 can be detachably connected to the proximal end of the knife rod 111. For example, the distal end of the front cover 121 of the ultrasonic transducer 120 can be detachably connected to the proximal end of the knife rod 111. Figure 3 Based on this, in the ultrasonic surgical tool 100, the knife bar assembly 110 can be used once, while the ultrasonic transducer 120 can be used multiple times. In some embodiments, the assembly structure 130 (see Figure 1C or Figure 1D ), assembly structure reset component 140 (see Figure 1D), the arbor housing drive assembly 150 (see Figure 3 ), clamp assembly 170 (see Figures 1A to 1C ) and the clamp drive assembly 180 (see Figure 1C ) can be disposable. In some embodiments, the operating handle (see 7A to 8B ) can be detachably connected to the shank housing drive assembly 150, and the operating handle can be reused multiple times. In some embodiments, for example, after surgery, the disposable portion of the ultrasonic surgical tool 100 can be replaced by removing the operating handle and disconnecting the shank 111 from the ultrasonic transducer 120. This facilitates the replacement of consumables.

[0140] Figure 12A A schematic diagram of the structure of an auxiliary surgical tool 200 according to some embodiments of the present disclosure is shown. In some embodiments, the arm 210 can be a flexible arm to increase the degree of freedom of the auxiliary surgical tool 200, improve the flexibility of the auxiliary surgical tool 200 in performing surgical operations in the body, and further improve the flexibility of the movement of the ultrasonic surgical tool 100 rigidly connected to the auxiliary surgical tool 200.

[0141] 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.

[0142] 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 12BThe 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.

[0143] 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.

[0144] 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 .

[0145] 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.

[0146] 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.

[0147] 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 12AAs 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.

[0148] 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.

[0149] 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.

[0150] 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 12A The second driving mechanism 1020 is connected to the arm 210 in the patient's body and is used to drive the arm 210 to advance or retreat, thereby enabling the auxiliary surgical tool 200 to advance or retreat in the patient's body and thereby drive the ultrasonic surgical tool 100 to advance or retreat in the patient's body; or when the auxiliary surgical tool 200 is not connected to the ultrasonic surgical tool 100, it enables the auxiliary surgical tool 200 to enter or exit the patient's body. In some embodiments, the second driving mechanism 1020 can be a linear driving mechanism to drive the arm 210 to move linearly. In some embodiments, the second driving mechanism 1020 can include a base and a driving part. The base can be used to support the first driving mechanism 1010, and the driving part is used to drive the base forward or backward. In some embodiments, the second driving mechanism 1020 can include a bracket 1021 with a slide groove, and a lead screw 1022 is rotatably arranged on the bracket 1021. A slider 1023 is provided on the lead screw 1022 as a base. The slider 1023 is threadedly engaged with the lead screw 1022 and is slidably arranged in the slide groove of the bracket 1021. A motor 1024 serving as a second drive unit may be provided at one end of the bracket 1021, and the output shaft of the motor 1024 may be fixedly connected to the lead screw 1022 via a coupling 1025. In some embodiments, the slider 1023 further includes a sleeve 10231 for mounting the continuum frame 211. The sleeve 10231 may be mounted on the slider 1023, or the sleeve 10231 may be integrally formed with the slider 1023. The motor 1024 drives the lead screw 1022, thereby driving the slider 1023 and the sleeve 10231 to move linearly along the slide groove, thereby achieving the feeding movement of the arm 210 and the auxiliary surgical tool 200 provided on the arm 210. It will be understood by those skilled in the art that the second driving mechanism 1020 is not limited to the above-mentioned structure, and any driving mechanism capable of achieving the feeding movement of the surgical tool does not depart from the scope of the present disclosure.

[0151] Some embodiments of the present disclosure also provide a surgical robot system. Figure 14 FIG. 4 is a schematic diagram showing a surgical robot system 400 according to some embodiments of the present disclosure. Figure 14 , the surgical robotic system 400 may include a surgical trolley 410 and a movably assembled ultrasonic surgical tool assembly (eg, Figure 3 The movably assembled ultrasonic surgical tool assembly 10 is shown. The surgical trolley 410 may include at least one robotic arm 411. The at least one robotic arm 411 may be Figure 14The 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, bending shears, etc.). An auxiliary surgical tool (e.g., auxiliary surgical tool 200) of the removably assembled ultrasonic surgical tool assembly 10 can be disposed at the distal end of the at least one robotic arm 411.

[0152] In some embodiments, the surgical robotic system 400 may further include a master control trolley 420. The surgical trolley 410 and the master control trolley 420 may be connected via wired or wireless transmission. During surgery, the user operates the main operator 421 included in the master control trolley 420 to control the surgical tools (e.g., auxiliary surgical tools 200, clamps, shears, etc.) and / or imaging tools (e.g., endoscopes) included in the surgical trolley 410 to perform operations. The surgical trolley 410 is typically located at the patient's side and responds to control commands from the master control trolley 420 to perform surgical operations on the patient. In some embodiments, the user can also adjust the position of the auxiliary surgical tool 200 located at the distal end of at least one robotic arm by operating the main operator 421, thereby adjusting the position of the ultrasonic surgical tool 100 in the removably assembled ultrasonic surgical tool assembly 10. In addition, the user can also control the opening and closing of the jaws 172 of the ultrasonic surgical tool 100 by operating the main operator 421.

[0153] In some embodiments, the surgical robot system 400 may further include an equipment trolley 430. The equipment trolley 430 may include a power source (not shown) for connecting to the ultrasonic surgical tool (e.g., ultrasonic surgical tool 100) in the movably assembled ultrasonic surgical tool assembly 10 to power the ultrasonic transducer (e.g., Figure 3 The ultrasonic transducer 120 shown in the figure provides energy. In some embodiments, the power supply applies a high-frequency voltage to the ultrasonic transducer segment included in the ultrasonic transducer. Due to the reverse voltage effect, the ultrasonic transducer segment vibrates at a high frequency along the thickness direction. The high-frequency vibration is transmitted to the blade structure at the distal end of the ultrasonic surgical tool 100, enabling the blade structure of the ultrasonic surgical tool 100 to perform cutting or coagulation operations on biological tissue.

[0154] 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 14As shown, the surgical trolley 410 may include a single robotic arm 411, and multiple driving devices 413 may be provided on the robotic arm 411. It will be appreciated by those skilled in the art that the surgical trolley of the surgical robot system 400 may also include multiple robotic arms. At least one driving device 413 may include a slider driving device for driving the slider 223 of the auxiliary surgical tool 200 to slide (thereby driving the jaws 172 of the ultrasonic surgical tool 100 to open and close) and / or a first continuous structure (such as a first continuous structure) for driving the first continuous structure. Figure 12A The first continuum structure 211 shown) and the second continuum structure (as shown Figure 12A A continuum drive device is shown for moving the second continuum structure 212).

[0155] 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.

[0156] In some embodiments, the ultrasonic surgical tool 100 utilizes the inverse piezoelectric effect to apply a high-frequency AC voltage to the ultrasonic transducer 120, causing it to generate high-frequency vibrations. This vibration is then transmitted through the blade shaft 110 to the head of the blade shaft 110. The high-frequency vibration of the blade shaft head, upon contact with biological tissue, mechanically cuts the tissue while also causing internal energy loss in the tissue, resulting in heat and coagulation. The ultrasonic surgical tool 100 minimizes tissue damage during tissue cutting, and no current passes through the human body during surgery, resulting in smokeless and less eschar. This enhances safety.

[0157] 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 the removable assembly ultrasonic surgical tool assembly (for example, the removable assembly ultrasonic surgical tool assembly 10) provided in some embodiments of the present disclosure, on the one hand, the distal end of the ultrasonic surgical tool (for example, the removable assembly ultrasonic surgical tool 100) can be extended into the patient's body through the patient's opening (for example, an incision or a natural opening, etc.) without occupying the channel included in the sheath for the surgical instrument to enter the patient's body. On the other hand, the ultrasonic transducer of the ultrasonic surgical tool 100 can be located outside the patient's body, and the ultrasonic surgical tool can use a larger ultrasonic transducer (for example, the ultrasonic transducer can include a larger piezoelectric ceramic with a larger size and volume), which is beneficial to improving the output power of the ultrasonic transducer.

[0158] The mobility of straight-rod ultrasonic surgical tools is limited by the structural characteristics of ultrasonic surgical tools, and it is difficult to flexibly perform surgical operations in the patient's body (for example, in a natural cavity such as the abdominal cavity or oral cavity). Through the movably assembled ultrasonic surgical tool assembly (for example, the movably assembled ultrasonic surgical tool assembly 10) provided by some embodiments of the present disclosure, a rigid connection can be established between the auxiliary surgical tool (for example, the auxiliary surgical tool 200) and the ultrasonic surgical tool (for example, the movably assembled ultrasonic surgical tool 100). 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.

[0159] In some embodiments, the assembly structure of the removably assembled ultrasonic surgical tool can extend from the tool bar housing, thereby facilitating assembly of the ultrasonic surgical tool. In some embodiments, the ultrasonic surgical tool can be retracted into the tool bar housing. This, on the one hand, reduces the radial dimension of the ultrasonic surgical tool, thereby facilitating its insertion and exit from the patient opening. Furthermore, the retraction of the assembly structure into the tool bar housing allows the boss of the auxiliary surgical tool, connected to the assembly structure, to be pressed into the tool bar housing, thereby establishing a rigid connection between the ultrasonic surgical tool and the auxiliary surgical tool.

[0160] In some embodiments, the assembly structure of a removably assembled 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, a resetting assembly of the assembly structure 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.

[0161] 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 connected to the knife rod housing, at least a portion of the assembly structure being able to extend from the knife rod housing to disassemble or assemble the ultrasonic surgical tool, and the assembly structure being able to move proximally under the drive of the knife rod housing; as well as The assembly structure resetting component is arranged at the proximal end of the assembly structure and is used for applying a force to the assembly structure to move the assembly structure toward the distal end.

2. The ultrasonic surgical tool according to claim 1, wherein: The assembly structure comprises: a knife bar connecting piece, slidably connected to the knife bar housing; and An assembly connector can be retracted into the knife bar housing and can extend out of the knife bar housing to disassemble or assemble the ultrasonic surgical tool.

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

4. The ultrasonic surgical tool according to claim 2, wherein: The arbor housing comprises: The inner shell of the knife rod covers at least a portion of the knife rod, and the knife rod connecting piece is slidably sleeved on the inner shell of the knife rod.

5. The ultrasonic surgical tool according to claim 4, characterized in that: The assembly structure reset component includes: A base fixedly connected to the inner outer shell of the shank; and The first elastic member is arranged between the base and the knife rod connecting member, and is used to apply a force to the knife rod connecting member to make the knife rod connecting member move toward the distal end.

6. The ultrasonic surgical tool according to claim 5, characterized in that: 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.

7. The ultrasonic surgical tool according to claim 4, characterized in that: Also includes: A knife bar housing drive assembly is provided at the proximal end of the knife bar housing and is used to drive at least a portion of the knife bar housing to move toward the proximal end; The arbor housing further comprises: 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, the knife rod shell driving assembly is used to drive the proximal end section of the outer shell to move toward the proximal end or distal end to move away from or close to the distal end section of the outer shell.

8. The ultrasonic surgical tool according to claim 7, characterized in that: 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.

9. The ultrasonic surgical tool according to claim 8, characterized in that: The inner shell of the shank comprises: a second limiting sliding groove, the second limiting sliding groove extending along the length direction of the inner shell of the knife rod; The arbor housing further comprises: A second limiting pin, one end of which is fixedly connected to the proximal end section of the outer shell, and the other end of which is slidably connected to the second limiting sliding groove.

10. The ultrasonic surgical tool according to claim 9, characterized in that The length of the second limiting sliding groove is greater than that of the first limiting sliding groove.

11. The ultrasonic surgical tool according to claim 7, 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 first slot structure; and The first connecting arm and the second connecting arm are oppositely arranged on two sides of the first slot structure.

12. The ultrasonic surgical tool according to claim 11, wherein: The outer shell proximal section further comprises: The second groove structure is located at the distal end of the proximal section of the outer shell. The proximal section of the outer shell can cover the proximal connecting portion so that the distal assembly portion can converge into the second groove structure, and the assembly connecting piece can extend from the second groove structure to the proximal section of the outer shell to disassemble or assemble the ultrasonic surgical tool.

13. The ultrasonic surgical tool according to claim 7, wherein: 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 second 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.

14. The ultrasonic surgical tool according to claim 13, wherein: Also includes: An operating handle is connected to the knife bar housing drive assembly, or is connected to the knife bar housing drive assembly and the knife bar assembly, and is used to drive the movable part or the proximal end section of the outer shell to approach or move away from the fixed part.

15. The ultrasonic surgical tool according to claim 14, wherein: 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 holding 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.

16. The ultrasonic surgical tool according to claim 15, characterized in that The operating portion is connected to the movable member via a first connecting rod, the distal end of the first connecting rod is hinged to the operating portion, and the proximal end of the first connecting rod can be connected to the movable member. The operating handle further includes: A connecting torsion spring is provided between the operating portion and the first connecting rod, and is used for applying 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.

17. The ultrasonic surgical tool according to claim 15, 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.

18. The ultrasonic surgical tool according to claim 7, 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.

19. The ultrasonic surgical tool according to claim 18, wherein: The connecting portion of the clamp assembly comprises: A first driving chute is provided on a first side of the connecting portion; and A second driving chute is provided on a second side of the connecting portion; the first driving chute and the second driving chute are provided opposite to each other; The clamp drive assembly includes: 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.

20. The ultrasonic surgical tool according to claim 18, wherein The clamp drive assembly covers at least a portion of the distal end of the inner shell of the knife bar, and the distal end section of the outer shell covers at least a portion of the clamp drive assembly, and the distal end section of the outer shell includes: The third slot structure exposes at least a portion of the clamp driving assembly to the outside.

21. The ultrasonic surgical tool according to claim 20, 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.

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

23. An assemblable ultrasonic surgical tool assembly, characterized in that: include: The ultrasonic surgical tool according to any one of claims 1 to 22; 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.

24. The mountable ultrasonic surgical tool assembly according to claim 23, 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.

25. The mountable ultrasonic surgical tool assembly according to claim 24, 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 chute and the sixth drive chute via at least one pin or protrusion, and the slider comprises: At least one slot structure is provided on the upper portion of the slider, and the upper portion of the at least one slot structure extends out of the sliding space, and the at least one slot structure is used to be connected to the ultrasonic surgical tool.

26. The mountable ultrasonic surgical tool assembly according to claim 25, wherein: The auxiliary surgical tool also includes: A driving wire passes through the arm of the auxiliary surgical tool and is connected to the slider at its distal end, so as to drive the slider to slide along the fifth driving slot and the sixth driving slot.

27. The mountable ultrasonic surgical tool assembly according to claim 23, 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.

28. A surgical robot, characterized in that: include: An operating table, comprising at least one robotic arm; as well as The mountable ultrasonic surgical tool assembly according to any one of claims 23 to 27, wherein the auxiliary surgical tool in the mountable ultrasonic surgical tool assembly is arranged at the distal end of the at least one robotic arm.

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

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